fp@1831: /*****************************************************************************
fp@1831:  *
fp@1831:  *  $Id$
fp@1831:  *
fp@1831:  *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
fp@1831:  *
fp@1831:  *  This file is part of the IgH EtherCAT Master.
fp@1831:  *
fp@1831:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1831:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1831:  *  published by the Free Software Foundation.
fp@1831:  *
fp@1831:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1831:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1831:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1831:  *  Public License for more details.
fp@1831:  *
fp@1831:  *  You should have received a copy of the GNU General Public License along
fp@1831:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@1831:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1831:  *
fp@1831:  *  ---
fp@1831:  *
fp@1831:  *  The license mentioned above concerns the source code only. Using the
fp@1831:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1831:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@1831:  *
fp@1831:  ****************************************************************************/
fp@1831: 
fp@1831: #include <iostream>
fp@1831: #include <iomanip>
fp@1831: using namespace std;
fp@1831: 
fp@1831: #include "CommandSoeRead.h"
fp@1831: #include "MasterDevice.h"
fp@1831: 
fp@1831: /*****************************************************************************/
fp@1831: 
fp@1831: CommandSoeRead::CommandSoeRead():
fp@1831:     Command("soe_read", "Read an SoE IDN from a slave.")
fp@1831: {
fp@1831: }
fp@1831: 
fp@1831: /*****************************************************************************/
fp@1831: 
fp@1831: string CommandSoeRead::helpString() const
fp@1831: {
fp@1831:     stringstream str;
fp@1831: 
fp@1831:     str << getName() << " [OPTIONS] <INDEX> <SUBINDEX>" << endl
fp@1831:         << endl
fp@1831:         << getBriefDescription() << endl
fp@1831:         << endl
fp@1831:         << "This command requires a single slave to be selected." << endl
fp@1831:         << endl
fp@1831:         << "Arguments:" << endl
fp@1831:         << "  IDN      is the IDN and must be an unsigned" << endl
fp@1831:         << "           16 bit number." << endl
fp@1831:         << endl
fp@1831:         << "Command-specific options:" << endl
fp@1831:         << "  --alias    -a <alias>" << endl
fp@1831:         << "  --position -p <pos>    Slave selection. See the help of" << endl
fp@1831:         << "                         the 'slaves' command." << endl
fp@1831:         << endl
fp@1831:         << numericInfo();
fp@1831: 
fp@1831:     return str.str();
fp@1831: }
fp@1831: 
fp@1831: /****************************************************************************/
fp@1831: 
fp@1831: void CommandSoeRead::execute(const StringVector &args)
fp@1831: {
fp@1831:     SlaveList slaves;
fp@1831:     stringstream err, strIdn;
fp@1835:     const DataType *dataType = NULL;
fp@1837:     ec_ioctl_slave_soe_read_t ioctl;
fp@1831: 
fp@1831:     if (args.size() != 1) {
fp@1831:         err << "'" << getName() << "' takes one argument!";
fp@1831:         throwInvalidUsageException(err);
fp@1831:     }
fp@1831: 
fp@1831:     strIdn << args[0];
fp@1831:     strIdn
fp@1831:         >> resetiosflags(ios::basefield) // guess base from prefix
fp@1837:         >> ioctl.idn;
fp@1831:     if (strIdn.fail()) {
fp@1831:         err << "Invalid IDN '" << args[0] << "'!";
fp@1831:         throwInvalidUsageException(err);
fp@1831:     }
fp@1831: 
fp@1831:     if (getMasterIndices().size() != 1) {
fp@1831:         err << getName() << " requires to select a single master!";
fp@1831:         throwInvalidUsageException(err);
fp@1831:     }
fp@1831:     MasterDevice m(getMasterIndices().front());
fp@1831:     m.open(MasterDevice::Read);
fp@1831:     slaves = selectedSlaves(m);
fp@1831:     if (slaves.size() != 1) {
fp@1831:         throwSingleSlaveRequired(slaves.size());
fp@1831:     }
fp@1837:     ioctl.slave_position = slaves.front().position;
fp@1831: 
fp@1835:     if (getDataType().empty()) {
fp@1835:         dataType = findDataType("raw"); // FIXME
fp@1835:     } else { // no data type specified
fp@1835:         if (!(dataType = findDataType(getDataType()))) {
fp@1835:             err << "Invalid data type '" << getDataType() << "'!";
fp@1835:             throwInvalidUsageException(err);
fp@1835:         }
fp@1835:     }
fp@1835: 
fp@1835:     if (dataType->byteSize) {
fp@1837:         ioctl.mem_size = dataType->byteSize;
fp@1835:     } else {
fp@1837:         ioctl.mem_size = 1024;
fp@1835:     }
fp@1835: 
fp@1837:     ioctl.data = new uint8_t[ioctl.mem_size + 1];
fp@1831: 
fp@1831:     try {
fp@1837:         m.readSoe(&ioctl);
fp@1831:     } catch (MasterDeviceSoeException &e) {
fp@1837:         delete [] ioctl.data;
fp@1832:         err << "SoE read command aborted with code 0x"
fp@1831:             << setfill('0') << hex << setw(4) << e.errorCode;
fp@1831:         throwCommandException(err);
fp@1831:     } catch (MasterDeviceException &e) {
fp@1837:         delete [] ioctl.data;
fp@1831:         throw e;
fp@1831:     }
fp@1831: 
fp@1831:     m.close();
fp@1831: 
fp@1835:     try {
fp@1837:         outputData(cout, dataType, ioctl.data, ioctl.data_size);
fp@1835:     } catch (SizeException &e) {
fp@1837:         delete [] ioctl.data;
fp@1835:         throwCommandException(e.what());
fp@1835:     }
fp@1831: 
fp@1837:     delete [] ioctl.data;
fp@1831: }
fp@1831: 
fp@1831: /*****************************************************************************/