fp@922: /*****************************************************************************
fp@922:  *
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@922:  *
fp@922:  ****************************************************************************/
fp@922: 
fp@922: #include <getopt.h>
fp@1118: #include <libgen.h> // basename()
fp@1222: #include <stdlib.h>
fp@922: 
fp@922: #include <iostream>
fp@1126: #include <iomanip>
fp@922: using namespace std;
fp@922: 
fp@1142: #include "CommandAlias.h"
fp@1142: #include "CommandConfig.h"
fp@1514: #include "CommandCStruct.h"
fp@1142: #include "CommandData.h"
fp@1142: #include "CommandDebug.h"
fp@1142: #include "CommandDomains.h"
fp@1165: #include "CommandDownload.h"
fp@1485: #include "CommandEoe.h"
fp@1335: #include "CommandFoeRead.h"
fp@1335: #include "CommandFoeWrite.h"
fp@1422: #include "CommandGraph.h"
fp@1142: #include "CommandMaster.h"
fp@1142: #include "CommandPdos.h"
fp@1388: #include "CommandRegRead.h"
fp@1388: #include "CommandRegWrite.h"
fp@1142: #include "CommandSdos.h"
fp@1142: #include "CommandSiiRead.h"
fp@1142: #include "CommandSiiWrite.h"
fp@1165: #include "CommandSlaves.h"
fp@1142: #include "CommandStates.h"
fp@1165: #include "CommandUpload.h"
fp@1165: #include "CommandVersion.h"
fp@1142: #include "CommandXml.h"
fp@1122: 
fp@1122: /*****************************************************************************/
fp@1122: 
fp@1142: typedef list<Command *> CommandList;
fp@1142: CommandList commandList;
fp@1142: 
fp@1142: MasterDevice masterDev;
fp@1142: 
fp@1122: string binaryBaseName;
fp@1142: string commandName;
fp@1142: Command::StringVector commandArgs;
fp@1142: 
fp@1142: // option variables
fp@1122: unsigned int masterIndex = 0;
fp@1122: int slavePosition = -1;
fp@1151: int slaveAlias = -1;
fp@1122: int domainIndex = -1;
fp@968: string dataTypeStr;
fp@1142: Command::Verbosity verbosity = Command::Normal;
fp@980: bool force = false;
fp@1121: bool helpRequested = false;
fp@1335: string outputFile;
fp@922: 
fp@1122: /*****************************************************************************/
fp@1122: 
fp@1144: string usage()
fp@1122: {
fp@1144:     stringstream str;
fp@1142:     CommandList::const_iterator ci;
fp@1126:     size_t maxWidth = 0;
fp@1126: 
fp@1142:     for (ci = commandList.begin(); ci != commandList.end(); ci++) {
fp@1142:         if ((*ci)->getName().length() > maxWidth) {
fp@1142:             maxWidth = (*ci)->getName().length();
fp@1126:         }
fp@1126:     }
fp@1126: 
fp@1144:     str << "Usage: " << binaryBaseName << " <COMMAND> [OPTIONS] [ARGUMENTS]"
fp@1137:         << endl << endl
fp@1137: 		<< "Commands (can be abbreviated):" << endl;
fp@1126: 
fp@1144:     str << left;
fp@1142:     for (ci = commandList.begin(); ci != commandList.end(); ci++) {
fp@1144:         str << "  " << setw(maxWidth) << (*ci)->getName()
fp@1142:             << "  " << (*ci)->getBriefDescription() << endl;
fp@1126:     }
fp@1126: 
fp@1144:     str << endl
fp@1122: 		<< "Global options:" << endl
fp@1137:         << "  --master  -m <master>  Index of the master to use. Default: 0."
fp@1122: 		<< endl
fp@1137:         << "  --force   -f           Force a command." << 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@1137:         << endl
fp@1144:         << Command::numericInfo()
fp@1137:         << endl
fp@1122:         << "Call '" << binaryBaseName
fp@1122:         << " <COMMAND> --help' for command-specific help." << endl
fp@1137:         << endl
fp@1122:         << "Send bug reports to " << PACKAGE_BUGREPORT << "." << endl;
fp@1144: 
fp@1144:     return str.str();
fp@1122: }
fp@1122: 
fp@1122: /*****************************************************************************/
fp@1122: 
fp@1122: void getOptions(int argc, char **argv)
fp@1122: {
fp@1158:     int c, argCount;
fp@1158:     stringstream str;
fp@1122: 
fp@1122:     static struct option longOptions[] = {
fp@1335:         //name,         has_arg,           flag, val
fp@1335:         {"master",      required_argument, NULL, 'm'},
fp@1335:         {"alias",       required_argument, NULL, 'a'},
fp@1335:         {"position",    required_argument, NULL, 'p'},
fp@1335:         {"domain",      required_argument, NULL, 'd'},
fp@1335:         {"type",        required_argument, NULL, 't'},
fp@1335:         {"output-file", required_argument, NULL, 'o'},
fp@1335:         {"force",       no_argument,       NULL, 'f'},
fp@1335:         {"quiet",       no_argument,       NULL, 'q'},
fp@1335:         {"verbose",     no_argument,       NULL, 'v'},
fp@1335:         {"help",        no_argument,       NULL, 'h'},
fp@1122:         {}
fp@1122:     };
fp@1122: 
fp@1122:     do {
fp@1335:         c = getopt_long(argc, argv, "m:a:p:d:t:o:fqvh", longOptions, NULL);
fp@1122: 
fp@1122:         switch (c) {
fp@1122:             case 'm':
fp@1158:                 str.clear();
fp@1158:                 str.str("");
fp@1158:                 str << optarg;
fp@1158:                 str >> resetiosflags(ios::basefield) // guess base from prefix
fp@1158:                     >> masterIndex;
fp@1158:                 if (str.fail() || masterIndex < 0) {
fp@1144:                     cerr << "Invalid master number " << optarg << "!" << endl
fp@1144:                         << endl << usage();
fp@1122:                     exit(1);
fp@1122:                 }
fp@1122:                 break;
fp@1122: 
fp@1151:             case 'a':
fp@1158:                 str.clear();
fp@1158:                 str.str("");
fp@1158:                 str << optarg;
fp@1158:                 str >> resetiosflags(ios::basefield) // guess base from prefix
fp@1158:                     >> slaveAlias;
fp@1158:                 if (str.fail() || slaveAlias < 0 || slaveAlias > 0xFFFF) {
fp@1158:                     cerr << "Invalid slave alias " << optarg << "!" << endl
fp@1158:                         << endl << usage();
fp@1158:                     exit(1);
fp@1151:                 }
fp@1151:                 break;
fp@1151: 
fp@1151:             case 'p':
fp@1158:                 str.clear();
fp@1158:                 str.str("");
fp@1158:                 str << optarg;
fp@1158:                 str >> resetiosflags(ios::basefield) // guess base from prefix
fp@1158:                     >> slavePosition;
fp@1158:                 if (str.fail()
fp@1158:                         || slavePosition < 0 || slavePosition > 0xFFFF) {
fp@1158:                     cerr << "Invalid slave position " << optarg << "!" << endl
fp@1158:                         << endl << usage();
fp@1158:                     exit(1);
fp@1122:                 }
fp@1122:                 break;
fp@1122: 
fp@1122:             case 'd':
fp@1158:                 str.clear();
fp@1158:                 str.str("");
fp@1158:                 str << optarg;
fp@1158:                 str >> resetiosflags(ios::basefield) // guess base from prefix
fp@1158:                     >> domainIndex;
fp@1158:                 if (str.fail() || domainIndex < 0) {
fp@1158:                     cerr << "Invalid domain index " << optarg << "!" << endl
fp@1158:                         << endl << usage();
fp@1158:                     exit(1);
fp@1122:                 }
fp@1122:                 break;
fp@1122: 
fp@1122:             case 't':
fp@1122:                 dataTypeStr = optarg;
fp@1122:                 break;
fp@1122: 
fp@1335:             case 'o':
fp@1335:                 outputFile = optarg;
fp@1335:                 break;
fp@1335: 
fp@1122:             case 'f':
fp@1122:                 force = true;
fp@1122:                 break;
fp@1122: 
fp@1122:             case 'q':
fp@1142:                 verbosity = Command::Quiet;
fp@1122:                 break;
fp@1122: 
fp@1122:             case 'v':
fp@1142:                 verbosity = Command::Verbose;
fp@1122:                 break;
fp@1122: 
fp@1122:             case 'h':
fp@1122:                 helpRequested = true;
fp@1122:                 break;
fp@1122: 
fp@1122:             case '?':
fp@1144:                 cerr << endl << usage();
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@1144:         if (helpRequested) {
fp@1144:             cout << usage();
fp@1144:             exit(0);
fp@1144:         } else {
fp@1144:             cerr << "Please specify a command!" << endl
fp@1144:                 << endl << usage();
fp@1144:             exit(1);
fp@1144:         }
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@1142: list<Command *> getMatchingCommands(const string &cmdStr)
fp@1122: {
fp@1142:     CommandList::iterator ci;
fp@1142:     list<Command *> res;
fp@1125: 
fp@1127:     // find matching commands from beginning of the string
fp@1142:     for (ci = commandList.begin(); ci != commandList.end(); ci++) {
fp@1142:         if ((*ci)->matchesSubstr(cmdStr)) {
fp@1142:             res.push_back(*ci);
fp@1125:         }
fp@1125:     }
fp@1125: 
fp@1127:     if (!res.size()) { // nothing found
fp@1127:         // find /any/ matching commands
fp@1142:         for (ci = commandList.begin(); ci != commandList.end(); ci++) {
fp@1142:             if ((*ci)->matchesAbbrev(cmdStr)) {
fp@1142:                 res.push_back(*ci);
fp@1127:             }
fp@1127:         }
fp@1127:     }
fp@1127: 
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@1142:     list<Command *> matchingCommands;
fp@1142:     list<Command *>::const_iterator ci;
fp@1142:     Command *cmd;
fp@1122: 
fp@1122:     binaryBaseName = basename(argv[0]);
fp@1142: 
fp@1142:     commandList.push_back(new CommandAlias());
fp@1142:     commandList.push_back(new CommandConfig());
fp@1514:     commandList.push_back(new CommandCStruct());
fp@1142:     commandList.push_back(new CommandData());
fp@1142:     commandList.push_back(new CommandDebug());
fp@1142:     commandList.push_back(new CommandDomains());
fp@1142:     commandList.push_back(new CommandDownload());
fp@1485:     commandList.push_back(new CommandEoe());
fp@1335:     commandList.push_back(new CommandFoeRead());
fp@1335:     commandList.push_back(new CommandFoeWrite());
fp@1422:     commandList.push_back(new CommandGraph());
fp@1142:     commandList.push_back(new CommandMaster());
fp@1142:     commandList.push_back(new CommandPdos());
fp@1388:     commandList.push_back(new CommandRegRead());
fp@1388:     commandList.push_back(new CommandRegWrite());
fp@1142:     commandList.push_back(new CommandSdos());
fp@1142:     commandList.push_back(new CommandSiiRead());
fp@1142:     commandList.push_back(new CommandSiiWrite());
fp@1142:     commandList.push_back(new CommandSlaves());
fp@1142:     commandList.push_back(new CommandStates());
fp@1142:     commandList.push_back(new CommandUpload());
fp@1165:     commandList.push_back(new CommandVersion());
fp@1142:     commandList.push_back(new CommandXml());
fp@1142: 
fp@1122: 	getOptions(argc, argv);
fp@1122: 
fp@1142:     matchingCommands = getMatchingCommands(commandName);
fp@1142:     masterDev.setIndex(masterIndex);
fp@1142: 
fp@1142:     if (matchingCommands.size()) {
fp@1142:         if (matchingCommands.size() == 1) {
fp@1142:             cmd = matchingCommands.front();
fp@1125:             if (!helpRequested) {
fp@1142:                 try {
fp@1144:                     cmd->setVerbosity(verbosity);
fp@1151:                     cmd->setAlias(slaveAlias);
fp@1151:                     cmd->setPosition(slavePosition);
fp@1166:                     cmd->setDomain(domainIndex);
fp@1166:                     cmd->setDataType(dataTypeStr);
fp@1335:                     cmd->setOutputFile(outputFile);
fp@1166:                     cmd->setForce(force);
fp@1142:                     cmd->execute(masterDev, commandArgs);
fp@1142:                 } catch (InvalidUsageException &e) {
fp@1142:                     cerr << e.what() << endl << endl;
fp@1144:                     cerr << binaryBaseName << " " << cmd->helpString();
fp@1142:                     retval = 1;
fp@1142:                 } catch (CommandException &e) {
fp@1142:                     cerr << e.what() << endl;
fp@1142:                     retval = 1;
fp@1142:                 } catch (MasterDeviceException &e) {
fp@1142:                     cerr << e.what() << endl;
fp@1142:                     retval = 1;
fp@1142:                 }
fp@1125:             } else {
fp@1144:                 cout << binaryBaseName << " " << cmd->helpString();
fp@1125:             }
fp@935:         } else {
fp@1128:             cerr << "Ambiguous command abbreviation! Matching:" << endl;
fp@1142:             for (ci = matchingCommands.begin();
fp@1142:                     ci != matchingCommands.end();
fp@1142:                     ci++) {
fp@1142:                 cerr << (*ci)->getName() << endl;
fp@1125:             }
fp@1144:             cerr << endl << usage();
fp@1125:             retval = 1;
fp@935:         }
fp@1125:     } else {
fp@1144:         cerr << "Unknown command " << commandName << "!" << endl
fp@1144:             << endl << usage();
fp@1122:         retval = 1;
fp@922:     }
fp@922: 
fp@1122: 	return retval;
fp@922: }
fp@922: 
fp@922: /****************************************************************************/