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@1142:  ****************************************************************************/
fp@1142: 
fp@1142: #include <iostream>
fp@1222: #include <algorithm>
fp@1142: using namespace std;
fp@1142: 
fp@1142: #include "CommandStates.h"
fp@1826: #include "MasterDevice.h"
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: CommandStates::CommandStates():
fp@1142:     Command("states", "Request application-layer states.")
fp@1142: {
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1968: string CommandStates::helpString(const string &binaryBaseName) const
fp@1142: {
fp@1142:     stringstream str;
fp@1142: 
fp@1968:     str << binaryBaseName << " " << getName() << " [OPTIONS] <STATE>" << endl
fp@1142:         << endl
fp@1142:         << getBriefDescription() << endl
fp@1142:         << endl
fp@1142:         << "Arguments:" << endl
fp@1337:         << "  STATE can be 'INIT', 'PREOP', 'BOOT', 'SAFEOP', or 'OP'." << endl
fp@1142:         << endl
fp@1142:         << "Command-specific options:" << endl
fp@1157:         << "  --alias    -a <alias>" << endl
fp@1157:         << "  --position -p <pos>    Slave selection. See the help of" << endl
fp@1157:         << "                         the 'slaves' command." << endl
fp@1142:         << endl
fp@1142:         << numericInfo();
fp@1142: 
fp@1142:     return str.str();
fp@1142: }
fp@1142: 
fp@1142: /****************************************************************************/
fp@1142: 
fp@1826: void CommandStates::execute(const StringVector &args)
fp@1142: {
fp@1869: 	MasterIndexList masterIndices;
fp@1151:     SlaveList slaves;
fp@1151:     SlaveList::const_iterator si;
fp@1142:     stringstream err;
fp@1142:     string stateStr;
fp@1142:     uint8_t state = 0x00;
fp@2421: 
fp@1142:     if (args.size() != 1) {
fp@1142:         err << "'" << getName() << "' takes exactly one argument!";
fp@1142:         throwInvalidUsageException(err);
fp@1142:     }
fp@1142: 
fp@1142:     stateStr = args[0];
fp@1142:     transform(stateStr.begin(), stateStr.end(),
fp@1142:             stateStr.begin(), (int (*) (int)) std::toupper);
fp@1142: 
fp@1142:     if (stateStr == "INIT") {
fp@1142:         state = 0x01;
fp@1142:     } else if (stateStr == "PREOP") {
fp@1142:         state = 0x02;
fp@1337:     } else if (stateStr == "BOOT") {
fp@1337:         state = 0x03;
fp@1142:     } else if (stateStr == "SAFEOP") {
fp@1142:         state = 0x04;
fp@1142:     } else if (stateStr == "OP") {
fp@1142:         state = 0x08;
fp@1142:     } else {
fp@1142:         err << "Invalid state '" << args[0] << "'!";
fp@1142:         throwInvalidUsageException(err);
fp@1142:     }
fp@1142: 
fp@1869: 	masterIndices = getMasterIndices();
fp@1826:     MasterIndexList::const_iterator mi;
fp@1869:     for (mi = masterIndices.begin();
fp@1869:             mi != masterIndices.end(); mi++) {
fp@1826:         MasterDevice m(*mi);
fp@1826:         m.open(MasterDevice::ReadWrite);
fp@1826:         slaves = selectedSlaves(m);
fp@1142: 
fp@1826:         for (si = slaves.begin(); si != slaves.end(); si++) {
fp@1826:             m.requestState(si->position, state);
fp@1826:         }
fp@1142:     }
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/