fp@1837: /*****************************************************************************
fp@1837:  *
fp@1837:  *  $Id$
fp@1837:  *
fp@1837:  *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
fp@1837:  *
fp@1837:  *  This file is part of the IgH EtherCAT Master.
fp@1837:  *
fp@1837:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1837:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1837:  *  published by the Free Software Foundation.
fp@1837:  *
fp@1837:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1837:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1837:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1837:  *  Public License for more details.
fp@1837:  *
fp@1837:  *  You should have received a copy of the GNU General Public License along
fp@1837:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@1837:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1837:  *
fp@1837:  *  ---
fp@1837:  *
fp@1837:  *  The license mentioned above concerns the source code only. Using the
fp@1837:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1837:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@1837:  *
fp@1837:  ****************************************************************************/
fp@1837: 
fp@1837: #include <iostream>
fp@1968: #include <iomanip>
fp@1837: using namespace std;
fp@1837: 
fp@1837: #include "CommandSoeWrite.h"
fp@1837: #include "MasterDevice.h"
fp@1837: 
fp@1837: /*****************************************************************************/
fp@1837: 
fp@1837: CommandSoeWrite::CommandSoeWrite():
fp@1966:     Command("soe_write", "Write an SoE IDN to a slave.")
fp@1837: {
fp@1837: }
fp@1837: 
fp@1837: /*****************************************************************************/
fp@1837: 
fp@1968: string CommandSoeWrite::helpString(const string &binaryBaseName) const
fp@1837: {
fp@1837:     stringstream str;
fp@1837: 
fp@1968:     str << binaryBaseName << " " << getName()
fp@1968:         << " [OPTIONS] <IDN> <VALUE>" << endl
fp@1968:         << binaryBaseName << " " << getName()
fp@1968:         << " [OPTIONS] <DRIVE> <IDN> <VALUE>" << endl
fp@1837:         << endl
fp@1837:         << getBriefDescription() << endl
fp@1837:         << endl
fp@1837:         << "This command requires a single slave to be selected." << endl
fp@1837:         << endl
fp@1837:         << "Arguments:" << endl
fp@1968:         << "  DRIVE    is the drive number (0 - 7). If omitted, 0 is assumed."
fp@1968:         << endl
fp@1868:         << "  IDN      is the IDN and must be either an unsigned" << endl
fp@1868:         << "           16 bit number acc. to IEC 61800-7-204:" << endl
fp@1868:         << "             Bit 15: (0) Standard data, (1) Product data" << endl
fp@1868:         << "             Bit 14 - 12: Parameter set (0 - 7)" << endl
fp@1868:         << "             Bit 11 - 0: Data block number" << endl
fp@1868:         << "           or a string like 'P-0-150'." << endl
fp@1872:         << "  VALUE    is the value to write (see below)." << endl
fp@1868: 		<< endl
fp@1872:         << "The VALUE argument is interpreted as the given data type" << endl
fp@1872: 		<< "(--type is mandatory) and written to the selected slave." << endl
fp@1872:         << endl
fp@1868: 		<< typeInfo()
fp@1837:         << endl
fp@1837:         << "Command-specific options:" << endl
fp@1837:         << "  --alias    -a <alias>" << endl
fp@1837:         << "  --position -p <pos>    Slave selection. See the help of" << endl
fp@1837:         << "                         the 'slaves' command." << endl
fp@1837:         << "  --type     -t <type>   Data type (see above)." << endl
fp@1837:         << endl
fp@1837:         << numericInfo();
fp@1837: 
fp@1837:     return str.str();
fp@1837: }
fp@1837: 
fp@1837: /****************************************************************************/
fp@1837: 
fp@1837: void CommandSoeWrite::execute(const StringVector &args)
fp@1837: {
fp@1968:     stringstream err;
fp@1837:     const DataType *dataType = NULL;
fp@1837:     ec_ioctl_slave_soe_write_t ioctl;
fp@1837:     SlaveList slaves;
fp@1837:     size_t memSize;
fp@1968:     int driveArgIndex = -1, idnArgIndex = -1, valueArgIndex = -1;
fp@1837: 
fp@1968:     if (args.size() == 2) {
fp@1968:         idnArgIndex = 0;
fp@1968:         valueArgIndex = 1;
fp@1968:     } else if (args.size() == 3) {
fp@1968:         driveArgIndex = 0;
fp@1968:         idnArgIndex = 1;
fp@1968:         valueArgIndex = 2;
fp@1968:     } else {
fp@1968:         err << "'" << getName() << "' takes eiter 2 or 3 arguments!";
fp@1837:         throwInvalidUsageException(err);
fp@1837:     }
fp@1837: 
fp@1968:     if (driveArgIndex >= 0) {
fp@1968:         stringstream str;
fp@1968:         unsigned int number;
fp@1968:         str << args[driveArgIndex];
fp@1968:         str
fp@1968:             >> resetiosflags(ios::basefield) // guess base from prefix
fp@1968:             >> number;
fp@1968:         if (str.fail() || number > 7) {
fp@1968:             err << "Invalid drive number '" << args[driveArgIndex] << "'!";
fp@1968:             throwInvalidUsageException(err);
fp@1968:         }
fp@1968:         ioctl.drive_no = number;
fp@1968:     } else {
fp@1968:         ioctl.drive_no = 0;
fp@1968:     }
fp@1953: 
fp@1868:     try {
fp@1968:         ioctl.idn = parseIdn(args[idnArgIndex]);
fp@1868:     } catch (runtime_error &e) {
fp@1968:         err << "Invalid IDN '" << args[idnArgIndex] << "': " << e.what();
fp@1837:         throwInvalidUsageException(err);
fp@1837:     }
fp@1837: 
fp@1870:     MasterDevice m(getSingleMasterIndex());
fp@1837:     m.open(MasterDevice::ReadWrite);
fp@1837:     slaves = selectedSlaves(m);
fp@1837:     if (slaves.size() != 1) {
fp@1837:         throwSingleSlaveRequired(slaves.size());
fp@1837:     }
fp@1837:     ioctl.slave_position = slaves.front().position;
fp@1837: 
fp@1837:     if (!getDataType().empty()) { // data type specified
fp@1837:         if (!(dataType = findDataType(getDataType()))) {
fp@1837:             err << "Invalid data type '" << getDataType() << "'!";
fp@1837:             throwInvalidUsageException(err);
fp@1837:         }
fp@1837:     } else { // no data type specified
fp@1837:         err << "Please specify a data type.";
fp@1837:         throwInvalidUsageException(err); // FIXME read from stream
fp@1837:     }
fp@1837: 
fp@1837:     if (dataType->byteSize) {
fp@1837:         memSize = dataType->byteSize;
fp@1837:     } else {
fp@1837:         // guess string type size
fp@1968:         memSize = args[valueArgIndex].size() + 1;
fp@1837:         if (!memSize) {
fp@1837:             err << "Empty argument not allowed.";
fp@1837:             throwInvalidUsageException(err);
fp@1837:         }
fp@1837:     }
fp@1837: 
fp@1867:     ioctl.data = new uint8_t[memSize];
fp@1837: 
fp@1837:     try {
fp@1837:         ioctl.data_size = interpretAsType(
fp@1968:                 dataType, args[valueArgIndex], ioctl.data, memSize);
fp@1837:     } catch (SizeException &e) {
fp@1837:         delete [] ioctl.data;
fp@1837:         throwCommandException(e.what());
fp@1837:     } catch (ios::failure &e) {
fp@1837:         delete [] ioctl.data;
fp@1968:         err << "Invalid value argument '" << args[valueArgIndex]
fp@1837:             << "' for type '" << dataType->name << "'!";
fp@1837:         throwInvalidUsageException(err);
fp@1837:     }
fp@1837: 
fp@1837:     try {
fp@1837:         m.writeSoe(&ioctl);
fp@1837:     } catch (MasterDeviceSoeException &e) {
fp@1837:         delete [] ioctl.data;
fp@1877:         err << "SoE write command failed with code " << errorMsg(e.errorCode);
fp@1837:         throwCommandException(err);
fp@1837:     } catch (MasterDeviceException &e) {
fp@1837:         delete [] ioctl.data;
fp@1837:         throw e;
fp@1837:     }
fp@1837: 
fp@1837:     delete [] ioctl.data;
fp@1837: }
fp@1837: 
fp@1837: /*****************************************************************************/