fp@1142: /*****************************************************************************
fp@1142:  *
fp@1363:  *  $Id$
fp@1363:  *
fp@1363:  *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
fp@1363:  *
fp@1363:  *  This file is part of the IgH EtherCAT Master.
fp@1363:  *
fp@1363:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1363:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1363:  *  published by the Free Software Foundation.
fp@1363:  *
fp@1363:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1363:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1363:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1363:  *  Public License for more details.
fp@1363:  *
fp@1363:  *  You should have received a copy of the GNU General Public License along
fp@1363:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@1363:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1363:  *
fp@1363:  *  ---
fp@1363:  *
fp@1363:  *  The license mentioned above concerns the source code only. Using the
fp@1363:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1363:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@1142:  *
fp@1880:  *  vim: expandtab
fp@1880:  *
fp@1142:  ****************************************************************************/
fp@1142: 
fp@1142: #include <iostream>
fp@1142: using namespace std;
fp@1142: 
fp@1142: #include "CommandData.h"
fp@1826: #include "MasterDevice.h"
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: CommandData::CommandData():
fp@1142:     Command("data", "Output binary domain process data.")
fp@1142: {
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1968: string CommandData::helpString(const string &binaryBaseName) const
fp@1142: {
fp@1142:     stringstream str;
fp@1142: 
fp@1968:     str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
fp@1804:         << endl
fp@1804:         << getBriefDescription() << endl
fp@1144:         << endl
fp@1144:         << "Data of multiple domains are concatenated." << endl
fp@1804:         << endl
fp@1804:         << "Command-specific options:" << endl
fp@1804:         << "  --domain -d <index>  Positive numerical domain index." << endl
fp@1804:         << "                       If omitted, data of all domains" << endl
fp@1804:         << "                       are output." << endl
fp@1804:         << endl
fp@1804:         << numericInfo();
fp@1142: 
fp@1804:     return str.str();
fp@1142: }
fp@1142: 
fp@1142: /****************************************************************************/
fp@1142: 
fp@1826: void CommandData::execute(const StringVector &args)
fp@1142: {
fp@1880:     MasterIndexList masterIndices;
fp@1804:     DomainList domains;
fp@1804:     DomainList::const_iterator di;
fp@1804: 
fp@1373:     if (args.size()) {
fp@1373:         stringstream err;
fp@1373:         err << "'" << getName() << "' takes no arguments!";
fp@1373:         throwInvalidUsageException(err);
fp@1373:     }
fp@1373: 
fp@1880:     masterIndices = getMasterIndices();
fp@1827:     MasterIndexList::const_iterator mi;
fp@1869:     for (mi = masterIndices.begin();
fp@1869:             mi != masterIndices.end(); mi++) {
fp@2453:         ec_ioctl_master_t io;
fp@1827:         MasterDevice m(*mi);
fp@1827:         m.open(MasterDevice::Read);
fp@2453:         m.getMaster(&io);
fp@2453: 
fp@2453:         domains = selectedDomains(m, io);
fp@1142: 
fp@1827:         for (di = domains.begin(); di != domains.end(); di++) {
fp@1827:             outputDomainData(m, *di);
fp@1827:         }
fp@1804:     }
fp@1142: }
fp@1142: 
fp@1142: /****************************************************************************/
fp@1142: 
fp@1166: void CommandData::outputDomainData(
fp@1804:         MasterDevice &m,
fp@1804:         const ec_ioctl_domain_t &domain
fp@1804:         )
fp@1142: {
fp@1142:     ec_ioctl_domain_data_t data;
fp@1142:     unsigned char *processData;
fp@1142:     unsigned int i;
fp@2421: 
fp@1142:     if (!domain.data_size)
fp@1142:         return;
fp@1142: 
fp@1142:     processData = new unsigned char[domain.data_size];
fp@1142: 
fp@1142:     try {
fp@1166:         m.getData(&data, domain.index, domain.data_size, processData);
fp@1142:     } catch (MasterDeviceException &e) {
fp@1142:         delete [] processData;
fp@1142:         throw e;
fp@1142:     }
fp@1142: 
fp@1142:     for (i = 0; i < data.data_size; i++)
fp@1142:         cout << processData[i];
fp@1142:     cout.flush();
fp@1142: 
fp@1142:     delete [] processData;
fp@1142: }
fp@1142: 
fp@1142: /****************************************************************************/