diff -r 57020c731092 -r 3c886ec376f5 tool/CommandRegRead.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/CommandRegRead.cpp	Wed Apr 08 12:48:59 2009 +0000
@@ -0,0 +1,241 @@
+/*****************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ *  This file is part of the IgH EtherCAT Master.
+ *
+ *  The IgH EtherCAT Master is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU General Public License version 2, as
+ *  published by the Free Software Foundation.
+ *
+ *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
+ *  Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License along
+ *  with the IgH EtherCAT Master; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ *  ---
+ *
+ *  The license mentioned above concerns the source code only. Using the
+ *  EtherCAT technology and brand is only permitted in compliance with the
+ *  industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ ****************************************************************************/
+
+#include <iostream>
+#include <iomanip>
+using namespace std;
+
+#include "CommandRegRead.h"
+
+/*****************************************************************************/
+
+CommandRegRead::CommandRegRead():
+    Command("reg_read", "Output a slave's register contents.")
+{
+}
+
+/*****************************************************************************/
+
+string CommandRegRead::helpString() const
+{
+    stringstream str;
+
+    str << getName() << " [OPTIONS] <OFFSET> [LENGTH]" << endl
+    	<< endl
+    	<< getBriefDescription() << endl
+    	<< endl
+        << "This command requires a single slave to be selected." << endl
+    	<< endl
+        << "Arguments:" << endl
+        << "  OFFSET is the register address. Must" << endl
+        << "         be an unsigned 16 bit number." << endl
+        << "  LENGTH is the number of bytes to read and must also be" << endl
+        << "         an unsigned 16 bit number. OFFSET plus LENGTH" << endl
+        << "         may not exceed 64k. The length is ignored (and" << endl
+        << "         can be omitted), if a selected data type" << endl
+        << "         implies a length." << endl
+        << endl
+        << "These are the valid data types:" << endl
+        << "  int8, int16, int32, int64, uint8, uint16, uint32," << endl
+        << "  uint64, string, octet_string, raw." << endl
+        << endl
+    	<< "Command-specific options:" << endl
+        << "  --alias    -a <alias>" << endl
+        << "  --position -p <pos>    Slave selection. See the help of" << endl
+        << "                         the 'slaves' command." << endl
+        << "  --type     -t <type>   Data type (see above)." << endl
+    	<< endl
+		<< numericInfo();
+
+	return str.str();
+}
+
+/****************************************************************************/
+
+void CommandRegRead::execute(MasterDevice &m, const StringVector &args)
+{
+    SlaveList slaves;
+    ec_ioctl_slave_reg_t data;
+    stringstream strOffset, err;
+    const DataType *dataType = NULL;
+
+    if (args.size() < 1 || args.size() > 2) {
+        err << "'" << getName() << "' takes one or two arguments!";
+        throwInvalidUsageException(err);
+    }
+
+    strOffset << args[0];
+    strOffset
+        >> resetiosflags(ios::basefield) // guess base from prefix
+        >> data.offset;
+    if (strOffset.fail()) {
+        err << "Invalid offset '" << args[0] << "'!";
+        throwInvalidUsageException(err);
+    }
+
+    if (args.size() > 1) {
+        stringstream strLength;
+        strLength << args[1];
+        strLength
+            >> resetiosflags(ios::basefield) // guess base from prefix
+            >> data.length;
+        if (strLength.fail()) {
+            err << "Invalid length '" << args[1] << "'!";
+            throwInvalidUsageException(err);
+        }
+
+        if (!data.length) {
+            err << "Length may not be zero!";
+            throwInvalidUsageException(err);
+        }
+    } else { // no length argument given
+        data.length = 0;
+    }
+
+    if (!getDataType().empty()) {
+        if (!(dataType = findDataType(getDataType()))) {
+            err << "Invalid data type '" << getDataType() << "'!";
+            throwInvalidUsageException(err);
+        }
+
+        if (dataType->byteSize) {
+            // override length argument
+            data.length = dataType->byteSize;
+        }
+    }
+
+    if (!data.length) {
+        err << "The length argument is mandatory, if no datatype is " << endl
+            << "specified, or the datatype does not imply a length!";
+        throwInvalidUsageException(err);
+    }
+
+    if ((uint32_t) data.offset + data.length > 0xffff) {
+        err << "Offset and length exceeding 64k!";
+        throwInvalidUsageException(err);
+    }
+    
+    m.open(MasterDevice::Read);
+    slaves = selectedSlaves(m);
+
+    if (slaves.size() != 1) {
+        throwSingleSlaveRequired(slaves.size());
+    }
+    data.slave_position = slaves.front().position;
+
+    data.data = new uint8_t[data.length];
+
+	try {
+		m.readReg(&data);
+	} catch (MasterDeviceException &e) {
+        delete [] data.data;
+		throw e;
+	}
+
+    cout << setfill('0');
+    if (!dataType ||
+            dataType->name == "string" ||
+            dataType->name == "octet_string") {
+        uint16_t i;
+        for (i = 0; i < data.length; i++) {
+            cout << data.data[i];
+        }
+    } else if (dataType->name == "int8") {
+        int sval = *(int8_t *) data.data;
+        cout << sval << " 0x" << hex << setw(2) << sval << endl;
+    } else if (dataType->name == "int16") {
+        int sval = le16_to_cpup(data.data);
+        cout << sval << " 0x" << hex << setw(4) << sval << endl;
+    } else if (dataType->name == "int32") {
+        int sval = le32_to_cpup(data.data);
+        cout << sval << " 0x" << hex << setw(8) << sval << endl;
+    } else if (dataType->name == "int64") {
+        long long int sval = le64_to_cpup(data.data);
+        cout << sval << " 0x" << hex << setw(16) << sval << endl;
+    } else if (dataType->name == "uint8") {
+        unsigned int uval = (unsigned int) *(uint8_t *) data.data;
+        cout << uval << " 0x" << hex << setw(2) << uval << endl;
+    } else if (dataType->name == "uint16") {
+        unsigned int uval = le16_to_cpup(data.data);
+        cout << uval << " 0x" << hex << setw(4) << uval << endl;
+    } else if (dataType->name == "uint32") {
+        unsigned int uval = le32_to_cpup(data.data);
+        cout << uval << " 0x" << hex << setw(8) << uval << endl;
+    } else if (dataType->name == "uint64") {
+        long long unsigned int uval = le32_to_cpup(data.data);
+        cout << uval << " 0x" << hex << setw(8) << uval << endl;
+    } else {
+        uint8_t *d = data.data;
+        unsigned int size = data.length;
+
+        cout << hex << setfill('0');
+        while (size--) {
+            cout << "0x" << setw(2) << (unsigned int) *d++;
+            if (size)
+                cout << " ";
+        }
+        cout << endl;
+    }
+
+    delete [] data.data;
+}
+
+/****************************************************************************/
+
+const CommandRegRead::DataType *CommandRegRead::findDataType(
+        const string &str
+        )
+{
+    const DataType *d;
+    
+    for (d = dataTypes; d->name; d++)
+        if (str == d->name)
+            return d;
+
+    return NULL;
+}
+
+/****************************************************************************/
+
+const CommandRegRead::DataType CommandRegRead::dataTypes[] = {
+    {"int8",         1},
+    {"int16",        2},
+    {"int32",        4},
+    {"int64",        8},
+    {"uint8",        1},
+    {"uint16",       2},
+    {"uint32",       4},
+    {"uint64",       8},
+    {"string",       0},
+    {"octet_string", 0},
+    {"raw",          0},
+    {}
+};
+
+/*****************************************************************************/