--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/CommandReg.cpp Wed Apr 08 14:10:34 2009 +0000
@@ -0,0 +1,70 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ * 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 "CommandReg.h"
+
+/*****************************************************************************/
+
+CommandReg::CommandReg(const string &name, const string &briefDesc):
+ Command(name, briefDesc)
+{
+}
+
+/****************************************************************************/
+
+const CommandReg::DataType *CommandReg::findDataType(
+ const string &str
+ )
+{
+ const DataType *d;
+
+ for (d = dataTypes; d->name; d++)
+ if (str == d->name)
+ return d;
+
+ return NULL;
+}
+
+/****************************************************************************/
+
+const CommandReg::DataType CommandReg::dataTypes[] = {
+ {"int8", 1},
+ {"int16", 2},
+ {"int32", 4},
+ {"int64", 8},
+ {"uint8", 1},
+ {"uint16", 2},
+ {"uint32", 4},
+ {"uint64", 8},
+ {"string", 0},
+ {"raw", 0},
+ {}
+};
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/CommandReg.h Wed Apr 08 14:10:34 2009 +0000
@@ -0,0 +1,54 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __COMMANDREG_H__
+#define __COMMANDREG_H__
+
+#include "Command.h"
+
+/****************************************************************************/
+
+class CommandReg:
+ public Command
+{
+ public:
+ CommandReg(const string &, const string &);
+
+ protected:
+ struct DataType {
+ const char *name;
+ unsigned int byteSize;
+ };
+ static const DataType dataTypes[];
+ static const DataType *findDataType(const string &);
+};
+
+/****************************************************************************/
+
+#endif
--- a/tool/CommandRegRead.cpp Wed Apr 08 12:48:59 2009 +0000
+++ b/tool/CommandRegRead.cpp Wed Apr 08 14:10:34 2009 +0000
@@ -36,7 +36,7 @@
/*****************************************************************************/
CommandRegRead::CommandRegRead():
- Command("reg_read", "Output a slave's register contents.")
+ CommandReg("reg_read", "Output a slave's register contents.")
{
}
@@ -63,7 +63,7 @@
<< endl
<< "These are the valid data types:" << endl
<< " int8, int16, int32, int64, uint8, uint16, uint32," << endl
- << " uint64, string, octet_string, raw." << endl
+ << " uint64, string, raw." << endl
<< endl
<< "Command-specific options:" << endl
<< " --alias -a <alias>" << endl
@@ -159,13 +159,13 @@
}
cout << setfill('0');
- if (!dataType ||
- dataType->name == "string" ||
- dataType->name == "octet_string") {
+ if (!dataType || dataType->name == "string") {
uint16_t i;
for (i = 0; i < data.length; i++) {
cout << data.data[i];
}
+ if (dataType)
+ cout << endl;
} else if (dataType->name == "int8") {
int sval = *(int8_t *) data.data;
cout << sval << " 0x" << hex << setw(2) << sval << endl;
@@ -190,7 +190,7 @@
} else if (dataType->name == "uint64") {
long long unsigned int uval = le32_to_cpup(data.data);
cout << uval << " 0x" << hex << setw(8) << uval << endl;
- } else {
+ } else { // raw
uint8_t *d = data.data;
unsigned int size = data.length;
@@ -206,36 +206,4 @@
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},
- {}
-};
-
/*****************************************************************************/
--- a/tool/CommandRegRead.h Wed Apr 08 12:48:59 2009 +0000
+++ b/tool/CommandRegRead.h Wed Apr 08 14:10:34 2009 +0000
@@ -30,26 +30,18 @@
#ifndef __COMMANDREGREAD_H__
#define __COMMANDREGREAD_H__
-#include "Command.h"
+#include "CommandReg.h"
/****************************************************************************/
class CommandRegRead:
- public Command
+ public CommandReg
{
public:
CommandRegRead();
string helpString() const;
void execute(MasterDevice &, const StringVector &);
-
- private:
- struct DataType {
- const char *name;
- unsigned int byteSize;
- };
- static const DataType dataTypes[];
- static const DataType *findDataType(const string &);
};
/****************************************************************************/
--- a/tool/CommandRegWrite.cpp Wed Apr 08 12:48:59 2009 +0000
+++ b/tool/CommandRegWrite.cpp Wed Apr 08 14:10:34 2009 +0000
@@ -38,7 +38,7 @@
/*****************************************************************************/
CommandRegWrite::CommandRegWrite():
- Command("reg_write", "Write data to a slave's registers.")
+ CommandReg("reg_write", "Write data to a slave's registers.")
{
}
@@ -48,21 +48,30 @@
{
stringstream str;
- str << getName() << " [OPTIONS] <OFFSET> <FILENAME>" << endl
+ str << getName() << " [OPTIONS] <OFFSET> <DATA>" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "This command requires a single slave to be selected." << endl
<< endl
<< "Arguments:" << endl
- << " OFFSET must be the register address." << endl
- << " FILENAME must be a path to a file with data to write." << endl
- << " If it is '-', data are read from stdin." << endl
+ << " OFFSET is the register address to write to." << endl
+ << " DATA depends on whether a datatype was specified" << endl
+ << " with the --type option: If not, DATA must be" << endl
+ << " either a path to a file with data to write," << endl
+ << " or '-', which means, that data are read from" << endl
+ << " stdin. If a datatype was specified, VALUE is" << endl
+ << " interpreted respective to the given type." << endl
<< endl
+ << "These are the valid data types:" << endl
+ << " int8, int16, int32, int64, uint8, uint16, uint32," << endl
+ << " uint64, string." << 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();
@@ -92,17 +101,85 @@
throwInvalidUsageException(err);
}
- if (args[1] == "-") {
- loadRegData(&data, cin);
- } else {
- file.open(args[1].c_str(), ifstream::in | ifstream::binary);
- if (file.fail()) {
- err << "Failed to open '" << args[0] << "'!";
- throwCommandException(err);
+ if (getDataType().empty()) {
+ if (args[1] == "-") {
+ loadRegData(&data, cin);
+ } else {
+ file.open(args[1].c_str(), ifstream::in | ifstream::binary);
+ if (file.fail()) {
+ err << "Failed to open '" << args[1] << "'!";
+ throwCommandException(err);
+ }
+ loadRegData(&data, file);
+ file.close();
+ }
+ } else {
+ stringstream strValue;
+ const DataType *dataType = findDataType(getDataType());
+
+ if (!dataType) {
+ err << "Invalid data type '" << getDataType() << "'!";
+ throwInvalidUsageException(err);
}
- loadRegData(&data, file);
- file.close();
- }
+
+ if (dataType->byteSize) {
+ data.length = dataType->byteSize;
+ data.data = new uint8_t[data.length];
+ }
+
+ strValue << args[1];
+ strValue >> resetiosflags(ios::basefield); // guess base from prefix
+ strValue.exceptions(ios::failbit);
+
+ try {
+ if (dataType->name == "int8") {
+ int16_t val; // uint8_t is interpreted as char
+ strValue >> val;
+ if (val > 127 || val < -128)
+ throw ios::failure("Value out of range");
+ *data.data = (int8_t) val;
+ } else if (dataType->name == "int16") {
+ int16_t val;
+ strValue >> val;
+ *(int16_t *) data.data = cpu_to_le16(val);
+ } else if (dataType->name == "int32") {
+ int32_t val;
+ strValue >> val;
+ *(int32_t *) data.data = cpu_to_le32(val);
+ } else if (dataType->name == "uint8") {
+ uint16_t val; // uint8_t is interpreted as char
+ strValue >> val;
+ if (val > 0xff)
+ throw ios::failure("Value out of range");
+ *data.data = (uint8_t) val;
+ } else if (dataType->name == "uint16") {
+ uint16_t val;
+ strValue >> val;
+ *(uint16_t *) data.data = cpu_to_le16(val);
+ } else if (dataType->name == "uint32") {
+ uint32_t val;
+ strValue >> val;
+ *(uint32_t *) data.data = cpu_to_le32(val);
+ } else if (dataType->name == "string" ||
+ dataType->name == "octet_string") {
+ data.length = strValue.str().size();
+ if (!data.length) {
+ err << "Zero-size string now allowed!";
+ throwCommandException(err);
+ }
+ data.data = new uint8_t[data.length];
+ strValue >> (char *) data.data;
+ } else {
+ err << "Invalid data type " << dataType->name;
+ throwCommandException(err);
+ }
+ } catch (ios::failure &e) {
+ delete [] data.data;
+ err << "Invalid value argument '" << args[1]
+ << "' for type '" << dataType->name << "'!";
+ throwInvalidUsageException(err);
+ }
+ }
if ((uint32_t) data.offset + data.length > 0xffff) {
err << "Offset and length exceeding 64k!";
--- a/tool/CommandRegWrite.h Wed Apr 08 12:48:59 2009 +0000
+++ b/tool/CommandRegWrite.h Wed Apr 08 14:10:34 2009 +0000
@@ -30,12 +30,12 @@
#ifndef __COMMANDREGWRITE_H__
#define __COMMANDREGWRITE_H__
-#include "Command.h"
+#include "CommandReg.h"
/****************************************************************************/
class CommandRegWrite:
- public Command
+ public CommandReg
{
public:
CommandRegWrite();
--- a/tool/Makefile.am Wed Apr 08 12:48:59 2009 +0000
+++ b/tool/Makefile.am Wed Apr 08 14:10:34 2009 +0000
@@ -45,6 +45,7 @@
CommandFoeWrite.cpp \
CommandMaster.cpp \
CommandPdos.cpp \
+ CommandReg.cpp \
CommandRegRead.cpp \
CommandRegWrite.cpp \
CommandSdos.cpp \
@@ -73,6 +74,7 @@
CommandFoeWrite.h \
CommandMaster.h \
CommandPdos.h \
+ CommandReg.h \
CommandRegRead.h \
CommandRegWrite.h \
CommandSdos.h \