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@1142: #include <iomanip>
fp@1142: #include <fstream>
fp@1142: using namespace std;
fp@1142: 
fp@1142: #include "CommandSiiWrite.h"
fp@1142: #include "sii_crc.h"
fp@1826: #include "MasterDevice.h"
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: CommandSiiWrite::CommandSiiWrite():
fp@1142:     Command("sii_write", "Write SII contents to a slave.")
fp@1142: {
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1968: string CommandSiiWrite::helpString(const string &binaryBaseName) const
fp@1142: {
fp@1142:     stringstream str;
fp@1142: 
fp@1968:     str << binaryBaseName << " " << getName()
fp@1968:         << " [OPTIONS] <FILENAME>" << endl
fp@2421:         << endl
fp@1142:         << getBriefDescription() << endl
fp@1142:         << endl
fp@1157:         << "This command requires a single slave to be selected." << endl
fp@1804:         << endl
fp@1142:         << "The file contents are checked for validity and integrity." << endl
fp@1142:         << "These checks can be overridden with the --force option." << endl
fp@1142:         << endl
fp@1142:         << "Arguments:" << endl
fp@1142:         << "  FILENAME must be a path to a file that contains a" << endl
fp@1161:         << "           positive number of words. If it is '-'," << endl
fp@1161:         << "           data are read from stdin." << 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@1157:         << "  --force    -f          Override validity checks." << 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 CommandSiiWrite::execute(const StringVector &args)
fp@1142: {
fp@1142:     stringstream err;
fp@1142:     ec_ioctl_slave_sii_t data;
fp@1142:     ifstream file;
fp@1161:     SlaveList slaves;
fp@1142: 
fp@1142:     if (args.size() != 1) {
fp@1142:         err << "'" << getName() << "' takes exactly one argument!";
fp@1142:         throwInvalidUsageException(err);
fp@1142:     }
fp@1142: 
fp@1161:     if (args[0] == "-") {
fp@1161:         loadSiiData(&data, cin);
fp@1161:     } else {
fp@1161:         file.open(args[0].c_str(), ifstream::in | ifstream::binary);
fp@1161:         if (file.fail()) {
fp@1161:             err << "Failed to open '" << args[0] << "'!";
fp@1161:             throwCommandException(err);
fp@1161:         }
fp@1161:         loadSiiData(&data, file);
fp@1161:         file.close();
fp@1142:     }
fp@1142: 
fp@1166:     if (!getForce()) {
fp@1161:         try {
fp@1161:             checkSiiData(&data);
fp@1161:         } catch (CommandException &e) {
fp@1161:             delete [] data.words;
fp@1161:             throw e;
fp@1142:         }
fp@1142:     }
fp@1142: 
fp@1870:     MasterDevice m(getSingleMasterIndex());
fp@1161:     try {
fp@1161:         m.open(MasterDevice::ReadWrite);
fp@1161:     } catch (MasterDeviceException &e) {
fp@1161:         delete [] data.words;
fp@1161:         throw e;
fp@1161:     }
fp@1161: 
fp@1157:     slaves = selectedSlaves(m);
fp@1157:     if (slaves.size() != 1) {
fp@1161:         delete [] data.words;
fp@1157:         throwSingleSlaveRequired(slaves.size());
fp@1157:     }
fp@1157:     data.slave_position = slaves.front().position;
fp@1157: 
fp@1142:     // send data to master
fp@1142:     data.offset = 0;
fp@1161:     try {
fp@1161:         m.writeSii(&data);
fp@1161:     } catch (MasterDeviceException &e) {
fp@1161:         delete [] data.words;
fp@1161:         throw e;
fp@1161:     }
fp@1161: 
fp@1161:     if (getVerbosity() == Verbose) {
fp@1161:         cerr << "SII writing finished." << endl;
fp@1161:     }
fp@1161: 
fp@1161:     delete [] data.words;
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1161: 
fp@1161: void CommandSiiWrite::loadSiiData(
fp@1161:         ec_ioctl_slave_sii_t *data,
fp@1161:         const istream &in
fp@1161:         )
fp@1161: {
fp@1161:     stringstream err;
fp@1161:     ostringstream tmp;
fp@1161: 
fp@1161:     tmp << in.rdbuf();
fp@1161:     string const &contents = tmp.str();
fp@1161: 
fp@1161:     if (getVerbosity() == Verbose) {
fp@1161:         cerr << "Read " << contents.size() << " bytes of SII data." << endl;
fp@1161:     }
fp@1161: 
fp@1161:     if (!contents.size() || contents.size() % 2) {
fp@1161:         err << "Invalid data size " << contents.size() << "! "
fp@1161:             << "Must be non-zero and even.";
fp@1161:         throwCommandException(err);
fp@1161:     }
fp@1161:     data->nwords = contents.size() / 2;
fp@1161: 
fp@1161:     // allocate buffer and read file into buffer
fp@1161:     data->words = new uint16_t[data->nwords];
fp@1161:     contents.copy((char *) data->words, contents.size());
fp@1161: }
fp@1161: 
fp@1161: /*****************************************************************************/
fp@1161: 
fp@1161: void CommandSiiWrite::checkSiiData(
fp@1161:         const ec_ioctl_slave_sii_t *data
fp@1161:         )
fp@1161: {
fp@1161:     stringstream err;
fp@1161:     const uint16_t *categoryHeader;
fp@1161:     uint16_t categoryType, categorySize;
fp@1161:     uint8_t crc;
fp@1161: 
fp@1161:     if (data->nwords < 0x0041) {
fp@1161:         err << "SII data too short (" << data->nwords << " words)! Mimimum is"
fp@1161:             " 40 fixed words + 1 delimiter. Use --force to write anyway.";
fp@1161:         throwCommandException(err);
fp@1161:     }
fp@1161: 
fp@1161:     // calculate checksum over words 0 to 6
fp@1161:     crc = calcSiiCrc((const uint8_t *) data->words, 14);
fp@1161:     if (crc != ((const uint8_t *) data->words)[14]) {
fp@1161:         err << "CRC incorrect. Must be 0x"
fp@1161:             << hex << setfill('0') << setw(2) << (unsigned int) crc
fp@1161:             << ". Use --force to write anyway.";
fp@1161:         throwCommandException(err);
fp@1161:     }
fp@1161: 
fp@1161:     // cycle through categories to detect corruption
fp@1161:     categoryHeader = data->words + 0x0040U;
fp@1254:     categoryType = le16_to_cpup(categoryHeader);
fp@1161:     while (categoryType != 0xffff) {
fp@1161:         if (categoryHeader + 1 > data->words + data->nwords) {
fp@1161:             err << "SII data seem to be corrupted! "
fp@1161:                 << "Use --force to write anyway.";
fp@1161:             throwCommandException(err);
fp@1161:         }
fp@1254:         categorySize = le16_to_cpup(categoryHeader + 1);
fp@1161:         if (categoryHeader + 2 + categorySize + 1
fp@1161:                 > data->words + data->nwords) {
fp@1161:             err << "SII data seem to be corrupted! "
fp@1161:                 "Use --force to write anyway.";
fp@1161:             throwCommandException(err);
fp@1161:         }
fp@1161:         categoryHeader += 2 + categorySize;
fp@1254:         categoryType = le16_to_cpup(categoryHeader);
fp@1161:     }
fp@1161: }
fp@1161: 
fp@1161: /*****************************************************************************/