fp@922: /*****************************************************************************
fp@922:  *
fp@922:  * $Id$
fp@922:  *
fp@922:  ****************************************************************************/
fp@922: 
fp@922: #include <getopt.h>
fp@1118: #include <libgen.h> // basename()
fp@922: 
fp@922: #include <iostream>
fp@1126: #include <iomanip>
fp@922: #include <string>
fp@956: #include <vector>
fp@1126: #include <list>
fp@922: using namespace std;
fp@922: 
fp@1122: #include "globals.h"
fp@1122: 
fp@1122: /*****************************************************************************/
fp@1122: 
fp@1122: string binaryBaseName;
fp@1122: unsigned int masterIndex = 0;
fp@1122: int slavePosition = -1;
fp@1122: int domainIndex = -1;
fp@1125: string commandName;
fp@956: vector<string> commandArgs;
fp@1122: Verbosity verbosity = Normal;
fp@968: string dataTypeStr;
fp@980: bool force = false;
fp@1122: 
fp@1121: bool helpRequested = false;
fp@922: 
fp@1122: MasterDevice masterDev;
fp@1122: 
fp@1122: /*****************************************************************************/
fp@1122: 
fp@1122: struct Command {
fp@1125:     const char *name;
fp@1122:     void (*func)(void);
fp@1122:     const char *helpString;
fp@1126:     const char *briefDesc;
fp@1122: 
fp@1122:     int execute(void) const;
fp@1122:     void displayHelp(void) const;
fp@1122: };
fp@1122: 
fp@1122: /*****************************************************************************/
fp@1122: 
fp@1126: #define DEFINE_EXTERN_COMMAND(name) \
fp@1122:     void command_##name(void); \
fp@1125:     extern const char *help_##name
fp@1125: 
fp@1126: #define INIT_COMMAND(name, desc) \
fp@1126:     {#name, command_##name, help_##name, desc}
fp@1126: 
fp@1126: DEFINE_EXTERN_COMMAND(alias);
fp@1126: DEFINE_EXTERN_COMMAND(config);
fp@1126: DEFINE_EXTERN_COMMAND(data);
fp@1126: DEFINE_EXTERN_COMMAND(debug);
fp@1126: DEFINE_EXTERN_COMMAND(domains);
fp@1126: DEFINE_EXTERN_COMMAND(master);
fp@1126: DEFINE_EXTERN_COMMAND(pdos);
fp@1126: DEFINE_EXTERN_COMMAND(sdos);
fp@1126: DEFINE_EXTERN_COMMAND(sdo_download);
fp@1126: DEFINE_EXTERN_COMMAND(sdo_upload);
fp@1126: DEFINE_EXTERN_COMMAND(slaves);
fp@1126: DEFINE_EXTERN_COMMAND(sii_read);
fp@1126: DEFINE_EXTERN_COMMAND(sii_write);
fp@1126: DEFINE_EXTERN_COMMAND(states);
fp@1126: DEFINE_EXTERN_COMMAND(xml);
fp@1122: 
fp@1125: static const Command commands[] = {
fp@1126:     INIT_COMMAND(alias, "Write alias addresses."),
fp@1126:     INIT_COMMAND(config, "Show bus configuration."),
fp@1126:     INIT_COMMAND(data, "Output binary domain process data."),
fp@1126:     INIT_COMMAND(debug, "Set the master's debug level."),
fp@1126:     INIT_COMMAND(domains, "Show domain information."),
fp@1126:     INIT_COMMAND(master, "Show master information."),
fp@1126:     INIT_COMMAND(pdos, "List Pdo assignment/mapping."),
fp@1126:     INIT_COMMAND(sdos, "List Sdo dictionaries."),
fp@1126:     INIT_COMMAND(sdo_download, "Write an Sdo entry."),
fp@1126:     INIT_COMMAND(sdo_upload, "Read an Sdo entry."),
fp@1126:     INIT_COMMAND(slaves, "Show slaves."),
fp@1126:     INIT_COMMAND(sii_read, "Output a slave's SII contents."),
fp@1126:     INIT_COMMAND(sii_write, "Write slave's SII contents."),
fp@1126:     INIT_COMMAND(states, "Request slave states."),
fp@1126:     INIT_COMMAND(xml, "Generate slave information xmls."),
fp@1122: };
fp@1122: 
fp@1126: static const Command *cmdEnd = commands + sizeof(commands) / sizeof(Command);
fp@1122: 
fp@1122: /*****************************************************************************/
fp@1122: 
fp@1122: void printUsage()
fp@1122: {
fp@1126:     const Command *cmd;
fp@1126:     size_t maxWidth = 0;
fp@1126: 
fp@1126:     for (cmd = commands; cmd < cmdEnd; cmd++) {
fp@1126:         if (strlen(cmd->name) > maxWidth) {
fp@1126:             maxWidth = strlen(cmd->name);
fp@1126:         }
fp@1126:     }
fp@1126: 
fp@1122:     cerr
fp@1122:         << "Usage: " << binaryBaseName << " <COMMAND> [OPTIONS]" << endl
fp@1126: 		<< "Commands:" << endl;
fp@1126: 
fp@1126:     cerr << left;
fp@1126:     for (cmd = commands; cmd < cmdEnd; cmd++) {
fp@1126:         cerr << "  " << setw(maxWidth) << cmd->name
fp@1126:             << " " << cmd->briefDesc << endl;
fp@1126:     }
fp@1126: 
fp@1126:     cerr
fp@1125:         << "Commands can be generously abbreviated." << endl
fp@1122: 		<< "Global options:" << endl
fp@1122:         << "  --master  -m <master>  Index of the master to use. Default: 0"
fp@1122: 		<< endl
fp@1122:         << "  --slave   -s <index>   Positive numerical ring position,"
fp@1122:         << endl
fp@1122:         << "                         or 'all' for all slaves (default)."
fp@1122:         << endl
fp@1122:         << "                         or 'all' for all domains (default)."
fp@1122:         << endl
fp@1122:         << "  --type    -t <type>    Forced Sdo data type." << endl
fp@1122:         << "  --force   -f           Force action." << endl
fp@1122:         << "  --quiet   -q           Output less information." << endl
fp@1122:         << "  --verbose -v           Output more information." << endl
fp@1122:         << "  --help    -h           Show this help." << endl
fp@1122:         << "Call '" << binaryBaseName
fp@1122:         << " <COMMAND> --help' for command-specific help." << endl
fp@1122:         << "Send bug reports to " << PACKAGE_BUGREPORT << "." << endl;
fp@1122: }
fp@1122: 
fp@1122: /*****************************************************************************/
fp@1122: 
fp@1122: void getOptions(int argc, char **argv)
fp@1122: {
fp@1122:     int c, argCount, optionIndex, number;
fp@1122: 	char *remainder;
fp@1122: 
fp@1122:     static struct option longOptions[] = {
fp@1122:         //name,     has_arg,           flag, val
fp@1122:         {"master",  required_argument, NULL, 'm'},
fp@1122:         {"slave",   required_argument, NULL, 's'},
fp@1122:         {"domain",  required_argument, NULL, 'd'},
fp@1122:         {"type",    required_argument, NULL, 't'},
fp@1122:         {"force",   no_argument,       NULL, 'f'},
fp@1122:         {"quiet",   no_argument,       NULL, 'q'},
fp@1122:         {"verbose", no_argument,       NULL, 'v'},
fp@1122:         {"help",    no_argument,       NULL, 'h'},
fp@1122:         {}
fp@1122:     };
fp@1122: 
fp@1122:     do {
fp@1122:         c = getopt_long(argc, argv, "m:s:d:t:fqvh", longOptions, &optionIndex);
fp@1122: 
fp@1122:         switch (c) {
fp@1122:             case 'm':
fp@1122:                 number = strtoul(optarg, &remainder, 0);
fp@1122:                 if (remainder == optarg || *remainder || number < 0) {
fp@1122:                     cerr << "Invalid master number " << optarg << "!" << endl;
fp@1122:                     printUsage();
fp@1122:                     exit(1);
fp@1122:                 }
fp@1122: 				masterIndex = number;
fp@1122:                 break;
fp@1122: 
fp@1122:             case 's':
fp@1122:                 if (!strcmp(optarg, "all")) {
fp@1122:                     slavePosition = -1;
fp@1122:                 } else {
fp@1122:                     number = strtoul(optarg, &remainder, 0);
fp@1122:                     if (remainder == optarg || *remainder
fp@1122:                             || number < 0 || number > 0xFFFF) {
fp@1122:                         cerr << "Invalid slave position "
fp@1122:                             << optarg << "!" << endl;
fp@1122:                         printUsage();
fp@1122:                         exit(1);
fp@1122:                     }
fp@1122:                     slavePosition = number;
fp@1122:                 }
fp@1122:                 break;
fp@1122: 
fp@1122:             case 'd':
fp@1122:                 if (!strcmp(optarg, "all")) {
fp@1122:                     domainIndex = -1;
fp@1122:                 } else {
fp@1122:                     number = strtoul(optarg, &remainder, 0);
fp@1122:                     if (remainder == optarg || *remainder || number < 0) {
fp@1122:                         cerr << "Invalid domain index "
fp@1122: 							<< optarg << "!" << endl;
fp@1122:                         printUsage();
fp@1122:                         exit(1);
fp@1122:                     }
fp@1122:                     domainIndex = number;
fp@1122:                 }
fp@1122:                 break;
fp@1122: 
fp@1122:             case 't':
fp@1122:                 dataTypeStr = optarg;
fp@1122:                 break;
fp@1122: 
fp@1122:             case 'f':
fp@1122:                 force = true;
fp@1122:                 break;
fp@1122: 
fp@1122:             case 'q':
fp@1122:                 verbosity = Quiet;
fp@1122:                 break;
fp@1122: 
fp@1122:             case 'v':
fp@1122:                 verbosity = Verbose;
fp@1122:                 break;
fp@1122: 
fp@1122:             case 'h':
fp@1122:                 helpRequested = true;
fp@1122:                 break;
fp@1122: 
fp@1122:             case '?':
fp@1122:                 printUsage();
fp@1122:                 exit(1);
fp@1122: 
fp@1122:             default:
fp@1122:                 break;
fp@1122:         }
fp@1122:     }
fp@1122:     while (c != -1);
fp@1122: 
fp@1122: 	argCount = argc - optind;
fp@1122: 
fp@1122:     if (!argCount) {
fp@1122:         if (!helpRequested) {
fp@1122:             cerr << "Please specify a command!" << endl;
fp@1122:         }
fp@1122:         printUsage();
fp@1122:         exit(!helpRequested);
fp@1122: 	}
fp@1122: 
fp@1125:     commandName = argv[optind];
fp@1122:     while (++optind < argc)
fp@1122:         commandArgs.push_back(string(argv[optind]));
fp@1122: }
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1122: int Command::execute() const
fp@1122: {
fp@1122:     try {
fp@1122:         func();
fp@1122:     } catch (InvalidUsageException &e) {
fp@1122:         cerr << e.what() << endl << endl;
fp@1122:         displayHelp();
fp@1122:         return 1;
fp@1122:     } catch (ExecutionFailureException &e) {
fp@1122:         cerr << e.what() << endl;
fp@1122:         return 1;
fp@1122:     } catch (MasterDeviceException &e) {
fp@1122:         cerr << e.what() << endl;
fp@1122:         return 1;
fp@1122:     }
fp@1122: 
fp@1122:     return 0;
fp@1122: }
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1122: void Command::displayHelp() const
fp@1122: {
fp@1125:     cerr << binaryBaseName << " " << commandName << " " << helpString;
fp@1125: }
fp@1125: 
fp@1125: /****************************************************************************/
fp@1125: 
fp@1125: bool abbrevMatch(const string &abb, const string &full)
fp@1125: {
fp@1125:     unsigned int abbIndex;
fp@1125:     size_t fullPos = 0;
fp@1125: 
fp@1125:     for (abbIndex = 0; abbIndex < abb.length(); abbIndex++) {
fp@1125:         fullPos = full.find(abb[abbIndex], fullPos);
fp@1125:         if (fullPos == string::npos)
fp@1125:             return false;
fp@1125:     }
fp@1125: 
fp@1125:     return true;
fp@1125: }
fp@1125:     
fp@1125: /****************************************************************************/
fp@1125: 
fp@1125: list<const Command *> getMatchingCommands(const string &cmdStr)
fp@1125: {
fp@1126:     const Command *cmd;
fp@1125:     list<const Command *> res;
fp@1125: 
fp@1125:     // find matching commands
fp@1126:     for (cmd = commands; cmd < cmdEnd; cmd++) {
fp@1125:         if (abbrevMatch(cmdStr, cmd->name)) {
fp@1125:             res.push_back(cmd);
fp@1125:         }
fp@1125:     }
fp@1125: 
fp@1125:     return res;
fp@1122: }
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1122: int main(int argc, char **argv)
fp@1122: {
fp@1122:     int retval = 0;
fp@1125:     list<const Command *> commands;
fp@1125:     list<const Command *>::const_iterator ci;
fp@1125:     const Command *cmd;
fp@1122: 
fp@1122:     binaryBaseName = basename(argv[0]);
fp@1122: 	getOptions(argc, argv);
fp@1122: 
fp@1125:     commands = getMatchingCommands(commandName);
fp@1125: 
fp@1125:     if (commands.size()) {
fp@1125:         if (commands.size() == 1) {
fp@1125:             cmd = commands.front();
fp@1125:             if (!helpRequested) {
fp@1125:                 masterDev.setIndex(masterIndex);
fp@1125:                 retval = cmd->execute();
fp@1125:             } else {
fp@1125:                 cmd->displayHelp();
fp@1125:             }
fp@935:         } else {
fp@1125:             cerr << "Ambigous command abbreviation! Matching:" << endl;
fp@1125:             for (ci = commands.begin(); ci != commands.end(); ci++) {
fp@1125:                 cerr << (*ci)->name << endl;
fp@1125:             }
fp@1125:             cerr << endl;
fp@1125:             printUsage();
fp@1125:             retval = 1;
fp@935:         }
fp@1125:     } else {
fp@1125:         cerr << "Unknown command " << commandName << "!" << endl << endl;
fp@1122:         printUsage();
fp@1122:         retval = 1;
fp@922:     }
fp@922: 
fp@1122: 	return retval;
fp@922: }
fp@922: 
fp@922: /****************************************************************************/
fp@1126: 
fp@1126: void printRawData(
fp@1126: 		const uint8_t *data,
fp@1126: 		unsigned int size
fp@1126: 		)
fp@1126: {
fp@1126:     cout << hex << setfill('0');
fp@1126:     while (size--) {
fp@1126:         cout << "0x" << setw(2) << (unsigned int) *data++;
fp@1126:         if (size)
fp@1126:             cout << " ";
fp@1126:     }
fp@1126:     cout << endl;
fp@1126: }
fp@1126: 
fp@1126: /****************************************************************************/