fp@922: /*****************************************************************************
fp@922:  *
fp@922:  * $Id$
fp@922:  *
fp@922:  ****************************************************************************/
fp@922: 
fp@922: #include <getopt.h>
fp@922: 
fp@922: #include <iostream>
fp@922: #include <string>
fp@956: #include <vector>
fp@922: using namespace std;
fp@922: 
fp@922: #include "Master.h"
fp@922: 
fp@922: /*****************************************************************************/
fp@922: 
fp@922: #define DEFAULT_MASTER 0
fp@922: 
fp@922: static unsigned int masterIndex = DEFAULT_MASTER;
fp@968: static int slavePosition = -1;
fp@968: static int domainIndex = -1;
fp@968: static string command;
fp@956: vector<string> commandArgs;
fp@966: static bool quiet = false;
fp@968: string dataTypeStr;
fp@922: 
fp@922: /*****************************************************************************/
fp@922: 
fp@922: void printUsage()
fp@922: {
fp@922:     cerr
fp@922:         << "Usage: ethercat <COMMAND> [OPTIONS]" << endl
fp@922: 		<< "Commands:" << endl
fp@949:         << "  data               Output binary domain process data." << endl
fp@956:         << "  debug              Set the master debug level." << endl
fp@948:         << "  domain             Show domain information." << endl
fp@922:         << "  list (ls, slaves)  List all slaves (former 'lsec')." << endl
fp@957:         << "  master             Show master information." << endl
fp@965:         << "  pdos               List Pdo mapping." << endl
fp@965:         << "  sdos               List Sdo dictionaries." << endl
fp@968:         << "  sdo_upload (su)    Read Sdo entries." << endl
fp@965:         << "  state              Request slave states." << endl
fp@965:         << "  xml                Generate slave information xmls." << endl
fp@922: 		<< "Global options:" << endl
fp@922:         << "  --master  -m <master>  Index of the master to use. Default: "
fp@953: 		<< DEFAULT_MASTER << endl
fp@948:         << "  --slave   -s <index>   Positive numerical ring position,"
fp@936:         << endl
fp@953:         << "                         or 'all' for all slaves (default)."
fp@936:         << endl
fp@948:         << "  --domain  -d <index>   Positive numerical index,"
fp@948:         << endl
fp@953:         << "                         or 'all' for all domains (default)."
fp@953:         << endl
fp@968:         << "  --type    -t <type>    Forced Sdo data type." << endl
fp@966:         << "  --quiet   -q           Show less output." << endl
fp@922:         << "  --help    -h           Show this help." << endl;
fp@922: }
fp@922: 
fp@922: /*****************************************************************************/
fp@922: 
fp@922: void getOptions(int argc, char **argv)
fp@922: {
fp@922:     int c, argCount, optionIndex, number;
fp@922: 	char *remainder;
fp@922: 
fp@922:     static struct option longOptions[] = {
fp@922:         //name,    has_arg,           flag, val
fp@922:         {"master", required_argument, NULL, 'm'},
fp@922:         {"slave",  required_argument, NULL, 's'},
fp@948:         {"domain", required_argument, NULL, 'd'},
fp@968:         {"type",   required_argument, NULL, 't'},
fp@966:         {"quiet",  no_argument,       NULL, 'q'},
fp@922:         {"help",   no_argument,       NULL, 'h'},
fp@922:         {}
fp@922:     };
fp@922: 
fp@922:     do {
fp@968:         c = getopt_long(argc, argv, "m:s:d:t:qh", longOptions, &optionIndex);
fp@922: 
fp@922:         switch (c) {
fp@922:             case 'm':
fp@922:                 number = strtoul(optarg, &remainder, 0);
fp@922:                 if (remainder == optarg || *remainder || number < 0) {
fp@922:                     cerr << "Invalid master number " << optarg << "!" << endl;
fp@922:                     printUsage();
fp@922:                     exit(1);
fp@922:                 }
fp@922: 				masterIndex = number;
fp@922:                 break;
fp@922: 
fp@922:             case 's':
fp@936:                 if (!strcmp(optarg, "all")) {
fp@936:                     slavePosition = -1;
fp@936:                 } else {
fp@936:                     number = strtoul(optarg, &remainder, 0);
fp@936:                     if (remainder == optarg || *remainder
fp@936:                             || number < 0 || number > 0xFFFF) {
fp@936:                         cerr << "Invalid slave position "
fp@936:                             << optarg << "!" << endl;
fp@936:                         printUsage();
fp@936:                         exit(1);
fp@936:                     }
fp@936:                     slavePosition = number;
fp@935:                 }
fp@922:                 break;
fp@922: 
fp@948:             case 'd':
fp@948:                 if (!strcmp(optarg, "all")) {
fp@948:                     domainIndex = -1;
fp@948:                 } else {
fp@948:                     number = strtoul(optarg, &remainder, 0);
fp@948:                     if (remainder == optarg || *remainder || number < 0) {
fp@948:                         cerr << "Invalid domain index "
fp@948: 							<< optarg << "!" << endl;
fp@948:                         printUsage();
fp@948:                         exit(1);
fp@948:                     }
fp@948:                     domainIndex = number;
fp@948:                 }
fp@948:                 break;
fp@948: 
fp@968:             case 't':
fp@968:                 dataTypeStr = optarg;
fp@968:                 break;
fp@968: 
fp@966:             case 'q':
fp@966:                 quiet = true;
fp@966:                 break;
fp@966: 
fp@922:             case 'h':
fp@922:             case '?':
fp@922:                 printUsage();
fp@922:                 exit(0);
fp@922: 
fp@922:             default:
fp@922:                 break;
fp@922:         }
fp@922:     }
fp@922:     while (c != -1);
fp@922: 
fp@922: 	argCount = argc - optind;
fp@922: 
fp@922: 	if (!argCount) {
fp@922:         cerr << "Please specify a command!" << endl;
fp@922: 		printUsage();
fp@922:         exit(1);
fp@922: 	}
fp@922: 
fp@922:     command = argv[optind];
fp@956:     while (++optind < argc)
fp@956:         commandArgs.push_back(string(argv[optind]));
fp@922: }
fp@922: 
fp@922: /****************************************************************************/
fp@922: 
fp@922: int main(int argc, char **argv)
fp@922: {
fp@922:     Master master;
fp@922:     
fp@922: 	getOptions(argc, argv);
fp@922: 
fp@935:     try {
fp@935:         master.open(masterIndex);
fp@922: 
fp@949:         if (command == "data") {
fp@949:             master.outputData(domainIndex);
fp@956:         } else if (command == "debug") {
fp@956:             master.setDebug(commandArgs);
fp@949:         } else if (command == "domain") {
fp@948:             master.showDomains(domainIndex);
fp@948: 		} else if (command == "list" || command == "ls" || command == "slaves") {
fp@935:             master.listSlaves();
fp@957: 		} else if (command == "master") {
fp@957:             master.showMaster();
fp@935:         } else if (command == "pdos") {
fp@966:             master.listPdos(slavePosition, quiet);
fp@965:         } else if (command == "sdos") {
fp@966:             master.listSdos(slavePosition, quiet);
fp@968:         } else if (command == "sdo_upload" || command == "su") {
fp@968:             master.sdoUpload(slavePosition, dataTypeStr, commandArgs);
fp@960:         } else if (command == "state") {
fp@960:             master.requestStates(slavePosition, commandArgs);
fp@938:         } else if (command == "xml") {
fp@938:             master.generateXml(slavePosition);
fp@935:         } else {
fp@935:             cerr << "Unknown command " << command << "!" << endl;
fp@935:             printUsage();
fp@935:             exit(1);
fp@935:         }
fp@935:     } catch (MasterException &e) {
fp@935:         cerr << e.what() << endl;
fp@922:         exit(1);
fp@922:     }
fp@922: 
fp@922: 	return 0;
fp@922: }
fp@922: 
fp@922: /****************************************************************************/