fp@1200: /*****************************************************************************
fp@1200:  *
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@1200:  *
fp@1200:  ****************************************************************************/
fp@1200: 
fp@1200: #include <iostream>
fp@1200: #include <iomanip>
fp@1200: using namespace std;
fp@1200: 
fp@1388: #include "CommandRegRead.h"
fp@1826: #include "MasterDevice.h"
fp@1200: 
fp@1200: /*****************************************************************************/
fp@1200: 
fp@1388: CommandRegRead::CommandRegRead():
fp@1835:     Command("reg_read", "Output a slave's register contents.")
fp@1200: {
fp@1200: }
fp@1200: 
fp@1200: /*****************************************************************************/
fp@1200: 
fp@1388: string CommandRegRead::helpString() const
fp@1200: {
fp@1200:     stringstream str;
fp@1200: 
fp@1387:     str << getName() << " [OPTIONS] <OFFSET> [LENGTH]" << endl
fp@1804:         << endl
fp@1804:         << getBriefDescription() << endl
fp@1804:         << endl
fp@1200:         << "This command requires a single slave to be selected." << endl
fp@1804:         << endl
fp@1200:         << "Arguments:" << endl
fp@1388:         << "  OFFSET is the register address. Must" << endl
fp@1200:         << "         be an unsigned 16 bit number." << endl
fp@1200:         << "  LENGTH is the number of bytes to read and must also be" << endl
fp@1200:         << "         an unsigned 16 bit number. OFFSET plus LENGTH" << endl
fp@1387:         << "         may not exceed 64k. The length is ignored (and" << endl
fp@1387:         << "         can be omitted), if a selected data type" << endl
fp@1387:         << "         implies a length." << endl
fp@1387:         << endl
fp@1868:         << typeInfo()
fp@1200:         << endl
fp@1804:         << "Command-specific options:" << endl
fp@1200:         << "  --alias    -a <alias>" << endl
fp@1200:         << "  --position -p <pos>    Slave selection. See the help of" << endl
fp@1200:         << "                         the 'slaves' command." << endl
fp@1387:         << "  --type     -t <type>   Data type (see above)." << endl
fp@1804:         << endl
fp@1804:         << numericInfo();
fp@1804: 
fp@1804:     return str.str();
fp@1200: }
fp@1200: 
fp@1200: /****************************************************************************/
fp@1200: 
fp@1826: void CommandRegRead::execute(const StringVector &args)
fp@1200: {
fp@1200:     SlaveList slaves;
fp@1388:     ec_ioctl_slave_reg_t data;
fp@1387:     stringstream strOffset, err;
fp@1387:     const DataType *dataType = NULL;
fp@1387: 
fp@1387:     if (args.size() < 1 || args.size() > 2) {
fp@1387:         err << "'" << getName() << "' takes one or two arguments!";
fp@1200:         throwInvalidUsageException(err);
fp@1200:     }
fp@1200: 
fp@1200:     strOffset << args[0];
fp@1200:     strOffset
fp@1200:         >> resetiosflags(ios::basefield) // guess base from prefix
fp@1200:         >> data.offset;
fp@1200:     if (strOffset.fail()) {
fp@1200:         err << "Invalid offset '" << args[0] << "'!";
fp@1200:         throwInvalidUsageException(err);
fp@1200:     }
fp@1200: 
fp@1387:     if (args.size() > 1) {
fp@1387:         stringstream strLength;
fp@1387:         strLength << args[1];
fp@1387:         strLength
fp@1387:             >> resetiosflags(ios::basefield) // guess base from prefix
fp@1387:             >> data.length;
fp@1387:         if (strLength.fail()) {
fp@1387:             err << "Invalid length '" << args[1] << "'!";
fp@1387:             throwInvalidUsageException(err);
fp@1387:         }
fp@1387: 
fp@1387:         if (!data.length) {
fp@1387:             err << "Length may not be zero!";
fp@1387:             throwInvalidUsageException(err);
fp@1387:         }
fp@1387:     } else { // no length argument given
fp@1387:         data.length = 0;
fp@1387:     }
fp@1387: 
fp@1387:     if (!getDataType().empty()) {
fp@1387:         if (!(dataType = findDataType(getDataType()))) {
fp@1387:             err << "Invalid data type '" << getDataType() << "'!";
fp@1387:             throwInvalidUsageException(err);
fp@1387:         }
fp@1387: 
fp@1387:         if (dataType->byteSize) {
fp@1387:             // override length argument
fp@1387:             data.length = dataType->byteSize;
fp@1387:         }
fp@1200:     }
fp@1200: 
fp@1200:     if (!data.length) {
fp@1387:         err << "The length argument is mandatory, if no datatype is " << endl
fp@1387:             << "specified, or the datatype does not imply a length!";
fp@1387:         throwInvalidUsageException(err);
fp@1200:     }
fp@1200: 
fp@1200:     if ((uint32_t) data.offset + data.length > 0xffff) {
fp@1200:         err << "Offset and length exceeding 64k!";
fp@1200:         throwInvalidUsageException(err);
fp@1200:     }
fp@1200:     
fp@1826:     if (getMasterIndices().size() != 1) {
fp@1826:         err << getName() << " requires to select a single master!";
fp@1826:         throwInvalidUsageException(err);
fp@1826:     }
fp@1826:     MasterDevice m(getMasterIndices().front());
fp@1200:     m.open(MasterDevice::Read);
fp@1200:     slaves = selectedSlaves(m);
fp@1200: 
fp@1200:     if (slaves.size() != 1) {
fp@1200:         throwSingleSlaveRequired(slaves.size());
fp@1200:     }
fp@1200:     data.slave_position = slaves.front().position;
fp@1200: 
fp@1200:     data.data = new uint8_t[data.length];
fp@1200: 
fp@1804:     try {
fp@1804:         m.readReg(&data);
fp@1804:     } catch (MasterDeviceException &e) {
fp@1200:         delete [] data.data;
fp@1804:         throw e;
fp@1804:     }
fp@1200: 
fp@1835:     try {
fp@1835:         outputData(cout, dataType, data.data, data.length);
fp@1835:     } catch (SizeException &e) {
fp@1835:         delete [] data.data;
fp@1835:         throwCommandException(e.what());
fp@1200:     }
fp@1200: 
fp@1200:     delete [] data.data;
fp@1200: }
fp@1200: 
fp@1200: /*****************************************************************************/