fp@1388: /*****************************************************************************
fp@1388:  *
fp@1388:  *  $Id$
fp@1388:  *
fp@1388:  *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
fp@1388:  *
fp@1388:  *  This file is part of the IgH EtherCAT Master.
fp@1388:  *
fp@1388:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1388:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1388:  *  published by the Free Software Foundation.
fp@1388:  *
fp@1388:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1388:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1388:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1388:  *  Public License for more details.
fp@1388:  *
fp@1388:  *  You should have received a copy of the GNU General Public License along
fp@1388:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@1388:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1388:  *
fp@1388:  *  ---
fp@1388:  *
fp@1388:  *  The license mentioned above concerns the source code only. Using the
fp@1388:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1388:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@1388:  *
fp@1388:  ****************************************************************************/
fp@1388: 
fp@1388: #include <iostream>
fp@1388: #include <iomanip>
fp@1388: #include <fstream>
fp@1388: using namespace std;
fp@1388: 
fp@1388: #include "CommandRegWrite.h"
fp@1388: #include "sii_crc.h"
fp@1388: 
fp@1388: /*****************************************************************************/
fp@1388: 
fp@1388: CommandRegWrite::CommandRegWrite():
fp@1389:     CommandReg("reg_write", "Write data to a slave's registers.")
fp@1388: {
fp@1388: }
fp@1388: 
fp@1388: /*****************************************************************************/
fp@1388: 
fp@1388: string CommandRegWrite::helpString() const
fp@1388: {
fp@1388:     stringstream str;
fp@1388: 
fp@1389:     str << getName() << " [OPTIONS] <OFFSET> <DATA>" << endl
fp@1388:         << endl 
fp@1388:         << getBriefDescription() << endl
fp@1388:         << endl
fp@1388:         << "This command requires a single slave to be selected." << endl
fp@1388:     	<< endl
fp@1388:         << "Arguments:" << endl
fp@1389:         << "  OFFSET  is the register address to write to." << endl
fp@1389:         << "  DATA    depends on whether a datatype was specified" << endl
fp@1389: 		<< "          with the --type option: If not, DATA must be" << endl
fp@1389: 		<< "          either a path to a file with data to write," << endl
fp@1389: 		<< "          or '-', which means, that data are read from" << endl
fp@1389: 		<< "          stdin. If a datatype was specified, VALUE is" << endl
fp@1389: 		<< "          interpreted respective to the given type." << endl
fp@1388:         << endl
fp@1389:         << "These are the valid data types:" << endl
fp@1389:         << "  int8, int16, int32, int64, uint8, uint16, uint32," << endl
fp@1389:         << "  uint64, string." << endl
fp@1389: 		<< endl
fp@1388:         << "Command-specific options:" << endl
fp@1388:         << "  --alias    -a <alias>" << endl
fp@1388:         << "  --position -p <pos>    Slave selection. See the help of" << endl
fp@1388:         << "                         the 'slaves' command." << endl
fp@1389:         << "  --type     -t <type>   Data type (see above)." << endl
fp@1388:         << endl
fp@1388:         << numericInfo();
fp@1388: 
fp@1388:     return str.str();
fp@1388: }
fp@1388: 
fp@1388: /****************************************************************************/
fp@1388: 
fp@1388: void CommandRegWrite::execute(MasterDevice &m, const StringVector &args)
fp@1388: {
fp@1388:     stringstream strOffset, err;
fp@1388:     ec_ioctl_slave_reg_t data;
fp@1388:     ifstream file;
fp@1388:     SlaveList slaves;
fp@1388: 
fp@1388:     if (args.size() != 2) {
fp@1388:         err << "'" << getName() << "' takes exactly two arguments!";
fp@1388:         throwInvalidUsageException(err);
fp@1388:     }
fp@1388:     
fp@1388:     strOffset << args[0];
fp@1388:     strOffset
fp@1388:         >> resetiosflags(ios::basefield) // guess base from prefix
fp@1388:         >> data.offset;
fp@1388:     if (strOffset.fail()) {
fp@1388:         err << "Invalid offset '" << args[0] << "'!";
fp@1388:         throwInvalidUsageException(err);
fp@1388:     }
fp@1388: 
fp@1389: 	if (getDataType().empty()) {
fp@1389: 		if (args[1] == "-") {
fp@1389: 			loadRegData(&data, cin);
fp@1389: 		} else {
fp@1389: 			file.open(args[1].c_str(), ifstream::in | ifstream::binary);
fp@1389: 			if (file.fail()) {
fp@1389: 				err << "Failed to open '" << args[1] << "'!";
fp@1389: 				throwCommandException(err);
fp@1389: 			}
fp@1389: 			loadRegData(&data, file);
fp@1389: 			file.close();
fp@1389: 		}
fp@1389: 	} else {
fp@1389: 		stringstream strValue;
fp@1389: 		const DataType *dataType = findDataType(getDataType());
fp@1389: 
fp@1389:         if (!dataType) {
fp@1389:             err << "Invalid data type '" << getDataType() << "'!";
fp@1389:             throwInvalidUsageException(err);
fp@1388:         }
fp@1389: 
fp@1389: 		if (dataType->byteSize) {
fp@1389: 			data.length = dataType->byteSize;
fp@1389: 			data.data = new uint8_t[data.length];
fp@1389: 		}
fp@1389: 
fp@1389: 		strValue << args[1];
fp@1389: 		strValue >> resetiosflags(ios::basefield); // guess base from prefix
fp@1389: 		strValue.exceptions(ios::failbit);
fp@1389: 
fp@1389: 		try {
fp@1431: 			if (string(dataType->name) == "int8") {
fp@1389: 				int16_t val; // uint8_t is interpreted as char
fp@1389: 				strValue >> val;
fp@1389: 				if (val > 127 || val < -128)
fp@1389: 					throw ios::failure("Value out of range");
fp@1389: 				*data.data = (int8_t) val;
fp@1431: 			} else if (string(dataType->name) == "int16") {
fp@1389: 				int16_t val;
fp@1389: 				strValue >> val;
fp@1389: 				*(int16_t *) data.data = cpu_to_le16(val);
fp@1431: 			} else if (string(dataType->name) == "int32") {
fp@1389: 				int32_t val;
fp@1389: 				strValue >> val;
fp@1389: 				*(int32_t *) data.data = cpu_to_le32(val);
fp@1431: 			} else if (string(dataType->name) == "int64") {
fp@1395: 				int64_t val;
fp@1395: 				strValue >> val;
fp@1395: 				*(int64_t *) data.data = cpu_to_le64(val);
fp@1431: 			} else if (string(dataType->name) == "uint8") {
fp@1389: 				uint16_t val; // uint8_t is interpreted as char
fp@1389: 				strValue >> val;
fp@1389: 				if (val > 0xff)
fp@1389: 					throw ios::failure("Value out of range");
fp@1389: 				*data.data = (uint8_t) val;
fp@1431: 			} else if (string(dataType->name) == "uint16") {
fp@1389: 				uint16_t val;
fp@1389: 				strValue >> val;
fp@1389: 				*(uint16_t *) data.data = cpu_to_le16(val);
fp@1431: 			} else if (string(dataType->name) == "uint32") {
fp@1389: 				uint32_t val;
fp@1389: 				strValue >> val;
fp@1389: 				*(uint32_t *) data.data = cpu_to_le32(val);
fp@1431: 			} else if (string(dataType->name) == "uint64") {
fp@1395: 				uint64_t val;
fp@1395: 				strValue >> val;
fp@1395: 				*(uint64_t *) data.data = cpu_to_le64(val);
fp@1431: 			} else if (string(dataType->name) == "string" ||
fp@1431: 					string(dataType->name) == "octet_string") {
fp@1389: 				data.length = strValue.str().size();
fp@1389: 				if (!data.length) {
fp@1389: 					err << "Zero-size string now allowed!";
fp@1389: 					throwCommandException(err);
fp@1389: 				}
fp@1389: 				data.data = new uint8_t[data.length];
fp@1389: 				strValue >> (char *) data.data;
fp@1389: 			} else {
fp@1389: 				err << "Invalid data type " << dataType->name;
fp@1389: 				throwCommandException(err);
fp@1389: 			}
fp@1389: 		} catch (ios::failure &e) {
fp@1389: 			delete [] data.data;
fp@1389: 			err << "Invalid value argument '" << args[1]
fp@1389: 				<< "' for type '" << dataType->name << "'!";
fp@1389: 			throwInvalidUsageException(err);
fp@1389: 		}
fp@1389: 	}
fp@1388: 
fp@1388:     if ((uint32_t) data.offset + data.length > 0xffff) {
fp@1388:         err << "Offset and length exceeding 64k!";
fp@1388:         delete [] data.data;
fp@1388:         throwInvalidUsageException(err);
fp@1388:     }
fp@1388: 
fp@1388:     try {
fp@1388:         m.open(MasterDevice::ReadWrite);
fp@1388:     } catch (MasterDeviceException &e) {
fp@1388:         delete [] data.data;
fp@1388:         throw e;
fp@1388:     }
fp@1388: 
fp@1388:     slaves = selectedSlaves(m);
fp@1388:     if (slaves.size() != 1) {
fp@1388:         delete [] data.data;
fp@1388:         throwSingleSlaveRequired(slaves.size());
fp@1388:     }
fp@1388:     data.slave_position = slaves.front().position;
fp@1388: 
fp@1388:     // send data to master
fp@1388:     try {
fp@1388:         m.writeReg(&data);
fp@1388:     } catch (MasterDeviceException &e) {
fp@1388:         delete [] data.data;
fp@1388:         throw e;
fp@1388:     }
fp@1388: 
fp@1388:     if (getVerbosity() == Verbose) {
fp@1388:         cerr << "Register writing finished." << endl;
fp@1388:     }
fp@1388: 
fp@1388:     delete [] data.data;
fp@1388: }
fp@1388: 
fp@1388: /*****************************************************************************/
fp@1388: 
fp@1388: void CommandRegWrite::loadRegData(
fp@1388:         ec_ioctl_slave_reg_t *data,
fp@1388:         const istream &in
fp@1388:         )
fp@1388: {
fp@1388:     stringstream err;
fp@1388:     ostringstream tmp;
fp@1388: 
fp@1388:     tmp << in.rdbuf();
fp@1388:     string const &contents = tmp.str();
fp@1388: 
fp@1388:     if (getVerbosity() == Verbose) {
fp@1388:         cerr << "Read " << contents.size() << " bytes of data." << endl;
fp@1388:     }
fp@1388: 
fp@1388:     if (contents.size() > 0xffff) {
fp@1388:         err << "Invalid data size " << contents.size() << "!";
fp@1388:         throwInvalidUsageException(err);
fp@1388:     }
fp@1388:     data->length = contents.size();
fp@1388: 
fp@1388:     // allocate buffer and read file into buffer
fp@1388:     data->data = new uint8_t[data->length];
fp@1388:     contents.copy((char *) data->data, contents.size());
fp@1388: }
fp@1388: 
fp@1388: /*****************************************************************************/