diff --git a/tool/Makefile.am b/tool/Makefile.am
index b235d2fca3805ca4064e9871f6f71c9c9461da33..41a68e35ea9a0aee22acf0ec4fcb8fe12d493ae3 100644
--- a/tool/Makefile.am
+++ b/tool/Makefile.am
@@ -34,7 +34,9 @@
bin_PROGRAMS = ethercat
ethercat_SOURCES = \
- Master.cpp Master.h \
+ MasterDevice.cpp MasterDevice.h \
+ cmd_alias.cpp \
+ cmd_config.cpp \
main.cpp
ethercat_CXXFLAGS = -I../master -Wall
diff --git a/tool/Master.cpp b/tool/MasterDevice.cpp
similarity index 87%
rename from tool/Master.cpp
rename to tool/MasterDevice.cpp
index d0172f6612defb3a70d3c9055d6dd9526a71486a..df1ffdf107d028168eb97ff2dbaca01897753e32 100644
--- a/tool/Master.cpp
+++ b/tool/MasterDevice.cpp
@@ -4,51 +4,23 @@
*
****************************************************************************/
-#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <errno.h>
#include <sys/ioctl.h>
-#include <iostream>
-#include <iomanip>
#include <sstream>
+using namespace std;
+
+#if 0
+#include <iostream>
#include <fstream>
#include <cctype> // toupper()
#include <list>
-using namespace std;
-
-#include "Master.h"
-
-#define swap16(x) \
- ((uint16_t)( \
- (((uint16_t)(x) & 0x00ffU) << 8) | \
- (((uint16_t)(x) & 0xff00U) >> 8) ))
-#define swap32(x) \
- ((uint32_t)( \
- (((uint32_t)(x) & 0x000000ffUL) << 24) | \
- (((uint32_t)(x) & 0x0000ff00UL) << 8) | \
- (((uint32_t)(x) & 0x00ff0000UL) >> 8) | \
- (((uint32_t)(x) & 0xff000000UL) >> 24) ))
-
-#if __BYTE_ORDER == __LITTLE_ENDIAN
-
-#define le16tocpu(x) x
-#define le32tocpu(x) x
-
-#define cputole16(x) x
-#define cputole32(x) x
-
-#elif __BYTE_ORDER == __BIG_ENDIAN
-
-#define le16tocpu(x) swap16(x)
-#define le32tocpu(x) swap32(x)
-
-#define cputole16(x) swap16(x)
-#define cputole32(x) swap32(x)
-
#endif
+#include "MasterDevice.h"
+
/****************************************************************************/
struct CoEDataType {
@@ -97,86 +69,27 @@ const CoEDataType *findDataType(uint16_t code)
/****************************************************************************/
-Master::Master()
+MasterDevice::MasterDevice()
{
index = 0;
- verbosity = Normal;
fd = -1;
}
/****************************************************************************/
-Master::~Master()
+MasterDevice::~MasterDevice()
{
close();
}
/****************************************************************************/
-void Master::setIndex(unsigned int i)
+void MasterDevice::setIndex(unsigned int i)
{
index = i;
}
-/****************************************************************************/
-
-void Master::setVerbosity(Verbosity v)
-{
- verbosity = v;
-}
-
-/*****************************************************************************/
-
-/**
- * Writes the Secondary slave address (alias) to the slave's SII.
- */
-void Master::writeAlias(
- int slavePosition,
- bool force,
- const vector<string> &commandArgs
- )
-{
- uint16_t alias;
- stringstream err, strAlias;
- int number;
-
- if (commandArgs.size() != 1) {
- stringstream err;
- err << "'alias' takes exactly one argument!";
- throw MasterException(err.str());
- }
-
- strAlias << commandArgs[0];
- strAlias
- >> resetiosflags(ios::basefield) // guess base from prefix
- >> number;
- if (strAlias.fail() || number < 0x0000 || number > 0xffff) {
- err << "Invalid alias '" << commandArgs[0] << "'!";
- throw MasterException(err.str());
- }
- alias = number;
-
- if (slavePosition == -1) {
- unsigned int numSlaves, i;
-
- if (!force) {
- err << "This will write the alias addresses of all slaves to "
- << alias << "! Please specify --force to proceed.";
- throw MasterException(err.str());
- }
-
- open(ReadWrite);
- numSlaves = slaveCount();
-
- for (i = 0; i < numSlaves; i++) {
- writeSlaveAlias(i, alias);
- }
- } else {
- open(ReadWrite);
- writeSlaveAlias(slavePosition, alias);
- }
-}
-
+#if 0
/*****************************************************************************/
bool operator<(const ec_ioctl_config_t &a, const ec_ioctl_config_t &b)
@@ -241,7 +154,7 @@ void Master::setDebug(const vector<string> &commandArgs)
if (commandArgs.size() != 1) {
stringstream err;
err << "'debug' takes exactly one argument!";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
str << commandArgs[0];
@@ -251,7 +164,7 @@ void Master::setDebug(const vector<string> &commandArgs)
if (str.fail()) {
stringstream err;
err << "Invalid debug level '" << commandArgs[0] << "'!";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
open(ReadWrite);
@@ -259,7 +172,7 @@ void Master::setDebug(const vector<string> &commandArgs)
if (ioctl(fd, EC_IOCTL_MASTER_DEBUG, debugLevel) < 0) {
stringstream err;
err << "Failed to set debug level: " << strerror(errno);
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
}
@@ -304,7 +217,7 @@ void Master::showMaster()
case 2: cout << "Operation"; break;
default:
err << "Invalid master phase " << data.phase;
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
cout << endl
@@ -385,13 +298,13 @@ void Master::sdoDownload(
if (slavePosition < 0) {
err << "'sdo_download' requires a slave! Please specify --slave.";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
data.slave_position = slavePosition;
if (commandArgs.size() != 3) {
err << "'sdo_download' takes 3 arguments!";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
strIndex << commandArgs[0];
@@ -400,7 +313,7 @@ void Master::sdoDownload(
>> data.sdo_index;
if (strIndex.fail()) {
err << "Invalid Sdo index '" << commandArgs[0] << "'!";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
strSubIndex << commandArgs[1];
@@ -409,14 +322,14 @@ void Master::sdoDownload(
>> number;
if (strSubIndex.fail() || number > 0xff) {
err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
data.sdo_entry_subindex = number;
if (dataTypeStr != "") { // data type specified
if (!(dataType = findDataType(dataTypeStr))) {
err << "Invalid data type '" << dataTypeStr << "'!";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
} else { // no data type specified: fetch from dictionary
ec_ioctl_slave_sdo_entry_t entry;
@@ -426,16 +339,16 @@ void Master::sdoDownload(
try {
getSdoEntry(&entry, slavePosition,
data.sdo_index, data.sdo_entry_subindex);
- } catch (MasterException &e) {
+ } catch (MasterDeviceException &e) {
err << "Failed to determine Sdo entry data type. "
<< "Please specify --type.";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
if (!(dataType = findDataType(entry.data_type))) {
err << "Pdo entry has unknown data type 0x"
<< hex << setfill('0') << setw(4) << entry.data_type << "!"
<< " Please specify --type.";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
}
@@ -502,7 +415,7 @@ void Master::sdoDownload(
case 0x0009: // string
if (strValue.str().size() >= data.data_size) {
err << "String too large";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
data.data_size = strValue.str().size();
strValue >> (char *) data.data;
@@ -511,13 +424,13 @@ void Master::sdoDownload(
default:
delete [] data.data;
err << "Unknown data type 0x" << hex << dataType->coeCode;
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
} catch (ios::failure &e) {
delete [] data.data;
err << "Invalid value argument '" << commandArgs[2]
<< "' for type '" << dataType->name << "'!";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
open(ReadWrite);
@@ -532,7 +445,7 @@ void Master::sdoDownload(
err << strerror(errno);
}
delete [] data.data;
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
delete [] data.data;
@@ -555,14 +468,14 @@ void Master::sdoUpload(
if (slavePosition < 0) {
stringstream err;
err << "'sdo_upload' requires a slave! Please specify --slave.";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
data.slave_position = slavePosition;
if (commandArgs.size() != 2) {
stringstream err;
err << "'sdo_upload' takes two arguments!";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
strIndex << commandArgs[0];
@@ -572,7 +485,7 @@ void Master::sdoUpload(
if (strIndex.fail()) {
stringstream err;
err << "Invalid Sdo index '" << commandArgs[0] << "'!";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
strSubIndex << commandArgs[1];
@@ -582,7 +495,7 @@ void Master::sdoUpload(
if (strSubIndex.fail() || uval > 0xff) {
stringstream err;
err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
data.sdo_entry_subindex = uval;
@@ -590,7 +503,7 @@ void Master::sdoUpload(
if (!(dataType = findDataType(dataTypeStr))) {
stringstream err;
err << "Invalid data type '" << dataTypeStr << "'!";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
} else { // no data type specified: fetch from dictionary
ec_ioctl_slave_sdo_entry_t entry;
@@ -600,18 +513,18 @@ void Master::sdoUpload(
try {
getSdoEntry(&entry, slavePosition,
data.sdo_index, data.sdo_entry_subindex);
- } catch (MasterException &e) {
+ } catch (MasterDeviceException &e) {
stringstream err;
err << "Failed to determine Sdo entry data type. "
<< "Please specify --type.";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
if (!(dataType = findDataType(entry.data_type))) {
stringstream err;
err << "Pdo entry has unknown data type 0x"
<< hex << setfill('0') << setw(4) << entry.data_type << "!"
<< " Please specify --type.";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
}
@@ -636,7 +549,7 @@ void Master::sdoUpload(
}
delete [] data.target;
close();
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
close();
@@ -646,7 +559,7 @@ void Master::sdoUpload(
err << "Data type mismatch. Expected " << dataType->name
<< " with " << dataType->byteSize << " byte, but got "
<< data.data_size << " byte.";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
cout << setfill('0');
@@ -753,7 +666,7 @@ void Master::siiRead(int slavePosition)
if (slavePosition < 0) {
stringstream err;
err << "'sii_read' requires a slave! Please specify --slave.";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
data.slave_position = slavePosition;
@@ -772,7 +685,7 @@ void Master::siiRead(int slavePosition)
stringstream err;
delete [] data.words;
err << "Failed to read SII: " << strerror(errno);
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
if (verbosity == Verbose) {
@@ -798,7 +711,7 @@ void Master::siiRead(int slavePosition)
if (categoryHeader + 1 > data.words + data.nwords) {
err << "SII data seem to be corrupted!";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
categorySize = le16tocpu(*(categoryHeader + 1));
cout << ", " << dec << categorySize << " words" << flush;
@@ -806,7 +719,7 @@ void Master::siiRead(int slavePosition)
if (categoryHeader + 2 + categorySize
> data.words + data.nwords) {
err << "SII data seem to be corrupted!";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
cout << hex;
@@ -824,7 +737,7 @@ void Master::siiRead(int slavePosition)
if (categoryHeader + 2 + categorySize + 1
> data.words + data.nwords) {
err << "SII data seem to be corrupted!";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
categoryHeader += 2 + categorySize;
categoryType = le16tocpu(*categoryHeader);
@@ -858,19 +771,19 @@ void Master::siiWrite(
if (slavePosition < 0) {
err << "'sii_write' requires a slave! Please specify --slave.";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
data.slave_position = slavePosition;
if (commandArgs.size() != 1) {
err << "'ssi_write' takes exactly one argument!";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
file.open(commandArgs[0].c_str(), ifstream::in | ifstream::binary);
if (file.fail()) {
err << "Failed to open '" << commandArgs[0] << "'!";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
// get length of file
@@ -881,14 +794,14 @@ void Master::siiWrite(
if (!byte_size || byte_size % 2) {
stringstream err;
err << "Invalid file size! Must be non-zero and even.";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
data.nwords = byte_size / 2;
if (data.nwords < 0x0041 && !force) {
err << "SII data too short (" << data.nwords << " words)! Mimimum is"
" 40 fixed words + 1 delimiter. Use --force to write anyway.";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
// allocate buffer and read file into buffer
@@ -903,7 +816,7 @@ void Master::siiWrite(
err << "CRC incorrect. Must be 0x"
<< hex << setfill('0') << setw(2) << (unsigned int) crc
<< ". Use --force to write anyway.";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
// cycle through categories to detect corruption
@@ -913,14 +826,14 @@ void Master::siiWrite(
if (categoryHeader + 1 > data.words + data.nwords) {
err << "SII data seem to be corrupted! "
<< "Use --force to write anyway.";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
categorySize = le16tocpu(*(categoryHeader + 1));
if (categoryHeader + 2 + categorySize + 1
> data.words + data.nwords) {
err << "SII data seem to be corrupted! "
"Use --force to write anyway.";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
categoryHeader += 2 + categorySize;
categoryType = le16tocpu(*categoryHeader);
@@ -933,7 +846,7 @@ void Master::siiWrite(
if (ioctl(fd, EC_IOCTL_SLAVE_SII_WRITE, &data) < 0) {
stringstream err;
err << "Failed to write SII: " << strerror(errno);
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
}
@@ -950,7 +863,7 @@ void Master::requestStates(
if (commandArgs.size() != 1) {
stringstream err;
err << "'state' takes exactly one argument!";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
stateStr = commandArgs[0];
@@ -968,7 +881,7 @@ void Master::requestStates(
} else {
stringstream err;
err << "Invalid state '" << commandArgs[0] << "'!";
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
open(ReadWrite);
@@ -999,9 +912,10 @@ void Master::generateXml(int slavePosition)
}
}
+#endif
/****************************************************************************/
-void Master::open(Permissions perm)
+void MasterDevice::open(Permissions perm)
{
stringstream deviceName;
@@ -1016,13 +930,13 @@ void Master::open(Permissions perm)
stringstream err;
err << "Failed to open master device " << deviceName.str() << ": "
<< strerror(errno);
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
}
/****************************************************************************/
-void Master::close()
+void MasterDevice::close()
{
if (fd == -1)
return;
@@ -1031,61 +945,7 @@ void Master::close()
fd = -1;
}
-/*****************************************************************************/
-
-/**
- * Writes the Secondary slave address (alias) to the slave's SII.
- */
-void Master::writeSlaveAlias(
- uint16_t slavePosition,
- uint16_t alias
- )
-{
- ec_ioctl_slave_sii_t data;
- ec_ioctl_slave_t slave;
- stringstream err;
- uint8_t crc;
-
- open(ReadWrite);
-
- getSlave(&slave, slavePosition);
-
- if (slave.sii_nwords < 8) {
- err << "Current SII contents are too small to set an alias "
- << "(" << slave.sii_nwords << " words)!";
- throw MasterException(err.str());
- }
-
- data.slave_position = slavePosition;
- data.offset = 0;
- data.nwords = 8;
- data.words = new uint16_t[data.nwords];
-
- // read first 8 SII words
- if (ioctl(fd, EC_IOCTL_SLAVE_SII_READ, &data) < 0) {
- delete [] data.words;
- err << "Failed to read SII: " << strerror(errno);
- throw MasterException(err.str());
- }
-
- // write new alias address in word 4
- data.words[4] = cputole16(alias);
-
- // calculate checksum over words 0 to 6
- crc = calcSiiCrc((const uint8_t *) data.words, 14);
-
- // write new checksum into first byte of word 7
- *(uint8_t *) (data.words + 7) = crc;
-
- // write first 8 words with new alias and checksum
- if (ioctl(fd, EC_IOCTL_SLAVE_SII_WRITE, &data) < 0) {
- delete [] data.words;
- err << "Failed to write SII: " << strerror(errno);
- throw MasterException(err.str());
- }
-
- delete [] data.words;
-}
+#if 0
/*****************************************************************************/
@@ -1275,7 +1135,7 @@ void Master::outputDomainData(unsigned int domainIndex)
try {
getData(&data, domainIndex, domain.data_size, processData);
- } catch (MasterException &e) {
+ } catch (MasterDeviceException &e) {
delete [] processData;
throw e;
}
@@ -1317,7 +1177,7 @@ void Master::showDomain(unsigned int domainIndex)
try {
getData(&data, domainIndex, domain.data_size, processData);
- } catch (MasterException &e) {
+ } catch (MasterDeviceException &e) {
delete [] processData;
throw e;
}
@@ -1341,7 +1201,7 @@ void Master::showDomain(unsigned int domainIndex)
stringstream err;
err << "Fmmu information corrupted!";
delete [] processData;
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
cout << " " << hex << setfill('0');
@@ -1781,10 +1641,10 @@ void Master::generateSlaveXml(uint16_t slavePosition)
<< " </Descriptions>" << endl
<< "</EtherCATInfo>" << endl;
}
-
+#endif
/****************************************************************************/
-unsigned int Master::slaveCount()
+unsigned int MasterDevice::slaveCount()
{
ec_ioctl_master_t data;
@@ -1794,31 +1654,31 @@ unsigned int Master::slaveCount()
/****************************************************************************/
-void Master::getMaster(ec_ioctl_master_t *data)
+void MasterDevice::getMaster(ec_ioctl_master_t *data)
{
if (ioctl(fd, EC_IOCTL_MASTER, data) < 0) {
stringstream err;
err << "Failed to get master information: " << strerror(errno);
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
}
/****************************************************************************/
-void Master::getConfig(ec_ioctl_config_t *data, unsigned int index)
+void MasterDevice::getConfig(ec_ioctl_config_t *data, unsigned int index)
{
data->config_index = index;
if (ioctl(fd, EC_IOCTL_CONFIG, data) < 0) {
stringstream err;
err << "Failed to get slave configuration: " << strerror(errno);
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
}
/****************************************************************************/
-void Master::getConfigPdo(
+void MasterDevice::getConfigPdo(
ec_ioctl_config_pdo_t *data,
unsigned int index,
uint8_t sync_index,
@@ -1832,13 +1692,13 @@ void Master::getConfigPdo(
if (ioctl(fd, EC_IOCTL_CONFIG_PDO, data) < 0) {
stringstream err;
err << "Failed to get slave config Pdo: " << strerror(errno);
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
}
/****************************************************************************/
-void Master::getConfigPdoEntry(
+void MasterDevice::getConfigPdoEntry(
ec_ioctl_config_pdo_entry_t *data,
unsigned int index,
uint8_t sync_index,
@@ -1854,13 +1714,13 @@ void Master::getConfigPdoEntry(
if (ioctl(fd, EC_IOCTL_CONFIG_PDO_ENTRY, data) < 0) {
stringstream err;
err << "Failed to get slave config Pdo entry: " << strerror(errno);
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
}
/****************************************************************************/
-void Master::getConfigSdo(
+void MasterDevice::getConfigSdo(
ec_ioctl_config_sdo_t *data,
unsigned int index,
unsigned int sdo_pos
@@ -1872,13 +1732,13 @@ void Master::getConfigSdo(
if (ioctl(fd, EC_IOCTL_CONFIG_SDO, data) < 0) {
stringstream err;
err << "Failed to get slave config Sdo: " << strerror(errno);
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
}
/****************************************************************************/
-void Master::getDomain(ec_ioctl_domain_t *data, unsigned int index)
+void MasterDevice::getDomain(ec_ioctl_domain_t *data, unsigned int index)
{
data->index = index;
@@ -1889,13 +1749,13 @@ void Master::getDomain(ec_ioctl_domain_t *data, unsigned int index)
err << "Domain " << index << " does not exist!";
else
err << strerror(errno);
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
}
/****************************************************************************/
-void Master::getData(ec_ioctl_domain_data_t *data, unsigned int domainIndex,
+void MasterDevice::getData(ec_ioctl_domain_data_t *data, unsigned int domainIndex,
unsigned int dataSize, unsigned char *mem)
{
data->domain_index = domainIndex;
@@ -1905,13 +1765,13 @@ void Master::getData(ec_ioctl_domain_data_t *data, unsigned int domainIndex,
if (ioctl(fd, EC_IOCTL_DOMAIN_DATA, data) < 0) {
stringstream err;
err << "Failed to get domain data: " << strerror(errno);
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
}
/****************************************************************************/
-void Master::getSlave(ec_ioctl_slave_t *slave, uint16_t slaveIndex)
+void MasterDevice::getSlave(ec_ioctl_slave_t *slave, uint16_t slaveIndex)
{
slave->position = slaveIndex;
@@ -1922,13 +1782,13 @@ void Master::getSlave(ec_ioctl_slave_t *slave, uint16_t slaveIndex)
err << "Slave " << slaveIndex << " does not exist!";
else
err << strerror(errno);
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
}
/****************************************************************************/
-void Master::getFmmu(
+void MasterDevice::getFmmu(
ec_ioctl_domain_fmmu_t *fmmu,
unsigned int domainIndex,
unsigned int fmmuIndex
@@ -1946,13 +1806,13 @@ void Master::getFmmu(
<< " FMMus!";
else
err << strerror(errno);
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
}
/****************************************************************************/
-void Master::getSync(
+void MasterDevice::getSync(
ec_ioctl_slave_sync_t *sync,
uint16_t slaveIndex,
uint8_t syncIndex
@@ -1970,13 +1830,13 @@ void Master::getSync(
<< " sync managers!";
else
err << strerror(errno);
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
}
/****************************************************************************/
-void Master::getPdo(
+void MasterDevice::getPdo(
ec_ioctl_slave_sync_pdo_t *pdo,
uint16_t slaveIndex,
uint8_t syncIndex,
@@ -1998,13 +1858,13 @@ void Master::getPdo(
<< pdoPos + 1 << " Pdos!" << endl;
else
err << strerror(errno);
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
}
/****************************************************************************/
-void Master::getPdoEntry(
+void MasterDevice::getPdoEntry(
ec_ioctl_slave_sync_pdo_entry_t *entry,
uint16_t slaveIndex,
uint8_t syncIndex,
@@ -2030,13 +1890,13 @@ void Master::getPdoEntry(
<< " entries!" << endl;
else
err << strerror(errno);
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
}
/****************************************************************************/
-void Master::getSdo(
+void MasterDevice::getSdo(
ec_ioctl_slave_sdo_t *sdo,
uint16_t slaveIndex,
uint16_t sdoPosition
@@ -2054,13 +1914,13 @@ void Master::getSdo(
<< endl;
else
err << strerror(errno);
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
}
/****************************************************************************/
-void Master::getSdoEntry(
+void MasterDevice::getSdoEntry(
ec_ioctl_slave_sdo_entry_t *entry,
uint16_t slaveIndex,
int sdoSpec,
@@ -2075,13 +1935,40 @@ void Master::getSdoEntry(
stringstream err;
err << "Failed to get Sdo entry: ";
err << strerror(errno);
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
+ }
+}
+
+/****************************************************************************/
+
+void MasterDevice::readSii(
+ ec_ioctl_slave_sii_t *data
+ )
+{
+ if (ioctl(fd, EC_IOCTL_SLAVE_SII_READ, data) < 0) {
+ stringstream err;
+ err << "Failed to read SII: " << strerror(errno);
+ throw MasterDeviceException(err.str());
+ }
+}
+
+/****************************************************************************/
+
+void MasterDevice::writeSii(
+ ec_ioctl_slave_sii_t *data
+ )
+{
+ if (ioctl(fd, EC_IOCTL_SLAVE_SII_WRITE, data) < 0) {
+ stringstream err;
+ err << "Failed to write SII: " << strerror(errno);
+ throw MasterDeviceException(err.str());
}
}
/****************************************************************************/
-void Master::requestState(
+#if 0
+void MasterDevice::requestState(
uint16_t slavePosition,
uint8_t state
)
@@ -2098,7 +1985,7 @@ void Master::requestState(
err << "Slave " << slavePosition << " does not exist!";
else
err << strerror(errno);
- throw MasterException(err.str());
+ throw MasterDeviceException(err.str());
}
}
@@ -2130,46 +2017,5 @@ void Master::printRawData(
cout << endl;
}
-/*****************************************************************************/
-
-/**
- * Calculates the SII checksum field.
- *
- * The checksum is generated with the polynom x^8+x^2+x+1 (0x07) and an
- * initial value of 0xff (see IEC 61158-6-12 ch. 5.4).
- *
- * The below code was originally generated with PYCRC
- * http://www.tty1.net/pycrc
- *
- * ./pycrc.py --width=8 --poly=0x07 --reflect-in=0 --xor-in=0xff
- * --reflect-out=0 --xor-out=0 --generate c --algorithm=bit-by-bit
- *
- * \return CRC8
- */
-uint8_t Master::calcSiiCrc(
- const uint8_t *data, /**< pointer to data */
- size_t length /**< number of bytes in \a data */
- )
-{
- unsigned int i;
- uint8_t bit, byte, crc = 0x48;
-
- while (length--) {
- byte = *data++;
- for (i = 0; i < 8; i++) {
- bit = crc & 0x80;
- crc = (crc << 1) | ((byte >> (7 - i)) & 0x01);
- if (bit) crc ^= 0x07;
- }
- }
-
- for (i = 0; i < 8; i++) {
- bit = crc & 0x80;
- crc <<= 1;
- if (bit) crc ^= 0x07;
- }
-
- return crc;
-}
-
+#endif
/*****************************************************************************/
diff --git a/tool/Master.h b/tool/MasterDevice.h
similarity index 67%
rename from tool/Master.h
rename to tool/MasterDevice.h
index 9ba2327900838c85fd407487cfcfd2421e89fc71..a6e844d0f8009e91ba15c064b474970c681b3457 100644
--- a/tool/Master.h
+++ b/tool/MasterDevice.h
@@ -18,72 +18,32 @@ using namespace std;
/****************************************************************************/
-class MasterException:
+class MasterDeviceException:
public runtime_error
{
public:
/** Constructor with std::string parameter. */
- MasterException(
+ MasterDeviceException(
const string &s /**< Message. */
): runtime_error(s) {}
-
- /** Constructor with const char pointer parameter. */
- MasterException(
- const char *s /**< Message. */
- ): runtime_error(s) {}
};
/****************************************************************************/
-class Master
+class MasterDevice
{
public:
- Master();
- ~Master();
+ MasterDevice();
+ ~MasterDevice();
void setIndex(unsigned int);
- enum Verbosity {
- Quiet,
- Normal,
- Verbose
- };
- void setVerbosity(Verbosity);
-
- void writeAlias(int, bool, const vector<string> &);
- void showConfigs();
- void outputData(int);
- void setDebug(const vector<string> &);
- void showDomains(int);
- void showMaster();
- void listPdos(int);
- void listSdos(int);
- void sdoDownload(int, const string &, const vector<string> &);
- void sdoUpload(int, const string &, const vector<string> &);
- void showSlaves(int);
- void siiRead(int);
- void siiWrite(int, bool, const vector<string> &);
- void requestStates(int, const vector<string> &);
- void generateXml(int);
-
- protected:
enum Permissions {Read, ReadWrite};
void open(Permissions);
void close();
- void writeSlaveAlias(uint16_t, uint16_t);
- typedef list<ec_ioctl_config_t> ConfigList;
- void showDetailedConfigs(const ConfigList &);
- void listConfigs(const ConfigList &);
- void outputDomainData(unsigned int);
- enum {BreakAfterBytes = 16};
- void showDomain(unsigned int);
- void listSlavePdos(uint16_t, bool = false);
- void listSlaveSdos(uint16_t, bool = false);
- void listSlaves(int);
- void showSlave(uint16_t);
- void generateSlaveXml(uint16_t);
unsigned int slaveCount();
+
void getMaster(ec_ioctl_master_t *);
void getConfig(ec_ioctl_config_t *, unsigned int);
void getConfigPdo(ec_ioctl_config_pdo_t *, unsigned int, uint8_t,
@@ -102,17 +62,30 @@ class Master
uint8_t, uint8_t);
void getSdo(ec_ioctl_slave_sdo_t *, uint16_t, uint16_t);
void getSdoEntry(ec_ioctl_slave_sdo_entry_t *, uint16_t, int, uint8_t);
+ void readSii(ec_ioctl_slave_sii_t *);
+ void writeSii(ec_ioctl_slave_sii_t *);
+
+ protected:
+#if 0
+ void outputDomainData(unsigned int);
+ enum {BreakAfterBytes = 16};
+ void showDomain(unsigned int);
+ void listSlavePdos(uint16_t, bool = false);
+ void listSlaveSdos(uint16_t, bool = false);
+ void listSlaves(int);
+ void showSlave(uint16_t);
+ void generateSlaveXml(uint16_t);
void requestState(uint16_t, uint8_t);
static string slaveState(uint8_t);
static void printRawData(const uint8_t *, unsigned int);
static uint8_t calcSiiCrc(const uint8_t *, unsigned int);
+#endif
private:
- enum {DefaultBufferSize = 1024};
+ //enum {DefaultBufferSize = 1024};
unsigned int index;
- Verbosity verbosity;
int fd;
};
diff --git a/tool/cmd_alias.cpp b/tool/cmd_alias.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..9b821845b1570ff0a05d076c4a36b1f24e3a006b
--- /dev/null
+++ b/tool/cmd_alias.cpp
@@ -0,0 +1,181 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <iostream>
+#include <iomanip>
+#include <sstream>
+using namespace std;
+
+#include "globals.h"
+
+/*****************************************************************************/
+
+const char *help_alias =
+ "[OPTIONS] <ALIAS>\n"
+ "\n"
+ "Write the secondary slave address (alias) for either\n"
+ "one or for multiple slaves.\n"
+ "\n"
+ "Arguments:\n"
+ " ALIAS must be a 16 bit unsigned integer, specified\n"
+ " either in decimal (no prefix), octal (prefix '0')\n"
+ " or hexadecimal (prefix '0x').\n"
+ "\n"
+ "Command-specific options:\n"
+ " -s <SLAVE> Write the alias of the slave with the given\n"
+ " ring position. If this option is not\n"
+ " specified, the alias of all slaves is set.\n"
+ " The --force option is required in this\n"
+ " case.\n";
+
+/*****************************************************************************/
+
+void writeSlaveAlias(uint16_t, uint16_t);
+
+/*****************************************************************************/
+
+/** Writes the Secondary slave address (alias) to the slave's SII.
+ */
+void command_alias(void)
+{
+ uint16_t alias;
+ stringstream err, strAlias;
+ int number;
+ unsigned int numSlaves, i;
+
+ if (commandArgs.size() != 1) {
+ err << "'" << command << "' takes exactly one argument!";
+ throw InvalidUsageException(err);
+ }
+
+ strAlias << commandArgs[0];
+ strAlias
+ >> resetiosflags(ios::basefield) // guess base from prefix
+ >> number;
+ if (strAlias.fail() || number < 0x0000 || number > 0xffff) {
+ err << "Invalid alias '" << commandArgs[0] << "'!";
+ throw InvalidUsageException(err);
+ }
+ alias = number;
+
+ if (slavePosition == -1) {
+ if (!force) {
+ err << "This will write the alias addresses of all slaves to "
+ << alias << "! Please specify --force to proceed.";
+ throw ExecutionFailureException(err);
+ }
+
+ masterDev.open(MasterDevice::ReadWrite);
+ numSlaves = masterDev.slaveCount();
+
+ for (i = 0; i < numSlaves; i++) {
+ writeSlaveAlias(i, alias);
+ }
+ } else {
+ masterDev.open(MasterDevice::ReadWrite);
+ writeSlaveAlias(slavePosition, alias);
+ }
+}
+
+/*****************************************************************************/
+
+/** Calculates the SII checksum field.
+ *
+ * The checksum is generated with the polynom x^8+x^2+x+1 (0x07) and an
+ * initial value of 0xff (see IEC 61158-6-12 ch. 5.4).
+ *
+ * The below code was originally generated with PYCRC
+ * http://www.tty1.net/pycrc
+ *
+ * ./pycrc.py --width=8 --poly=0x07 --reflect-in=0 --xor-in=0xff
+ * --reflect-out=0 --xor-out=0 --generate c --algorithm=bit-by-bit
+ *
+ * \return CRC8
+ */
+uint8_t calcSiiCrc(
+ const uint8_t *data, /**< pointer to data */
+ size_t length /**< number of bytes in \a data */
+ )
+{
+ unsigned int i;
+ uint8_t bit, byte, crc = 0x48;
+
+ while (length--) {
+ byte = *data++;
+ for (i = 0; i < 8; i++) {
+ bit = crc & 0x80;
+ crc = (crc << 1) | ((byte >> (7 - i)) & 0x01);
+ if (bit) crc ^= 0x07;
+ }
+ }
+
+ for (i = 0; i < 8; i++) {
+ bit = crc & 0x80;
+ crc <<= 1;
+ if (bit) crc ^= 0x07;
+ }
+
+ return crc;
+}
+
+/*****************************************************************************/
+
+/** Writes the Secondary slave address (alias) to the slave's SII.
+ */
+void writeSlaveAlias(
+ uint16_t slavePosition,
+ uint16_t alias
+ )
+{
+ ec_ioctl_slave_sii_t data;
+ ec_ioctl_slave_t slave;
+ stringstream err;
+ uint8_t crc;
+
+ masterDev.getSlave(&slave, slavePosition);
+
+ if (slave.sii_nwords < 8) {
+ err << "Current SII contents are too small to set an alias "
+ << "(" << slave.sii_nwords << " words)!";
+ throw ExecutionFailureException(err);
+ }
+
+ // read first 8 SII words
+ data.slave_position = slavePosition;
+ data.offset = 0;
+ data.nwords = 8;
+ data.words = new uint16_t[data.nwords];
+
+ try {
+ masterDev.readSii(&data);
+ } catch (MasterDeviceException &e) {
+ delete [] data.words;
+ err << "Failed to read SII: " << e.what();
+ throw ExecutionFailureException(err);
+ }
+
+ // write new alias address in word 4
+ data.words[4] = cputole16(alias);
+
+ // calculate checksum over words 0 to 6
+ crc = calcSiiCrc((const uint8_t *) data.words, 14);
+
+ // write new checksum into first byte of word 7
+ *(uint8_t *) (data.words + 7) = crc;
+
+ // write first 8 words with new alias and checksum
+ try {
+ masterDev.writeSii(&data);
+ } catch (MasterDeviceException &e) {
+ delete [] data.words;
+ err << "Failed to read SII: " << e.what();
+ throw ExecutionFailureException(err);
+ }
+
+ delete [] data.words;
+}
+
+/*****************************************************************************/
diff --git a/tool/cmd_config.cpp b/tool/cmd_config.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ff0e6b716872e81bfcd016329c84f7f7a4c39d36
--- /dev/null
+++ b/tool/cmd_config.cpp
@@ -0,0 +1,237 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <list>
+#include <iostream>
+#include <iomanip>
+#include <sstream>
+using namespace std;
+
+#include "globals.h"
+
+/*****************************************************************************/
+
+const char *help_config =
+ "[OPTIONS]\n"
+ "\n"
+ "\n"
+ "Command-specific options:\n";
+
+/*****************************************************************************/
+
+struct ConfigInfo {
+ string alias;
+ string pos;
+ string ident;
+ string att;
+ string op;
+};
+
+typedef list<ec_ioctl_config_t> ConfigList;
+
+void showDetailedConfigs(const ConfigList &configList);
+void listConfigs(const ConfigList &configList);
+
+/*****************************************************************************/
+
+bool operator<(const ec_ioctl_config_t &a, const ec_ioctl_config_t &b)
+{
+ return a.alias < b.alias
+ || (a.alias == b.alias && a.position < b.position);
+}
+
+/*****************************************************************************/
+
+/** Lists the bus configuration.
+ */
+void command_config(void)
+{
+ ec_ioctl_master_t master;
+ unsigned int i;
+ ec_ioctl_config_t config;
+ ConfigList configList;
+
+ masterDev.open(MasterDevice::Read);
+ masterDev.getMaster(&master);
+
+ for (i = 0; i < master.config_count; i++) {
+ masterDev.getConfig(&config, i);
+ configList.push_back(config);
+ }
+
+ configList.sort();
+
+ if (verbosity == Verbose) {
+ showDetailedConfigs(configList);
+ } else {
+ listConfigs(configList);
+ }
+}
+
+/*****************************************************************************/
+
+/** Lists the complete bus configuration.
+ */
+void showDetailedConfigs(const ConfigList &configList)
+{
+ ConfigList::const_iterator configIter;
+ unsigned int j, k, l;
+ ec_ioctl_config_pdo_t pdo;
+ ec_ioctl_config_pdo_entry_t entry;
+ ec_ioctl_config_sdo_t sdo;
+
+ for (configIter = configList.begin();
+ configIter != configList.end();
+ configIter++) {
+
+ cout << "Alias: "
+ << dec << configIter->alias << endl
+ << "Position: " << configIter->position << endl
+ << "Vendor Id: 0x"
+ << hex << setfill('0')
+ << setw(8) << configIter->vendor_id << endl
+ << "Product code: 0x"
+ << setw(8) << configIter->product_code << endl
+ << "Attached: " << (configIter->attached ? "yes" : "no") << endl
+ << "Operational: " << (configIter->operational ? "yes" : "no") << endl;
+
+ for (j = 0; j < EC_MAX_SYNC_MANAGERS; j++) {
+ if (configIter->syncs[j].pdo_count) {
+ cout << "SM" << dec << j << " ("
+ << (configIter->syncs[j].dir == EC_DIR_INPUT
+ ? "Input" : "Output") << ")" << endl;
+ for (k = 0; k < configIter->syncs[j].pdo_count; k++) {
+ masterDev.getConfigPdo(&pdo, configIter->config_index, j, k);
+
+ cout << " Pdo 0x" << hex
+ << setw(4) << pdo.index
+ << " \"" << pdo.name << "\"" << endl;
+
+ for (l = 0; l < pdo.entry_count; l++) {
+ masterDev.getConfigPdoEntry(&entry,
+ configIter->config_index, j, k, l);
+
+ cout << " Pdo entry 0x" << hex
+ << setw(4) << entry.index << ":"
+ << setw(2) << (unsigned int) entry.subindex
+ << ", " << dec << (unsigned int) entry.bit_length
+ << " bit, \"" << entry.name << "\"" << endl;
+ }
+ }
+ }
+ }
+
+ cout << "Sdo configuration:" << endl;
+ if (configIter->sdo_count) {
+ for (j = 0; j < configIter->sdo_count; j++) {
+ masterDev.getConfigSdo(&sdo, configIter->config_index, j);
+
+ cout << " 0x"
+ << hex << setfill('0')
+ << setw(4) << sdo.index << ":"
+ << setw(2) << (unsigned int) sdo.subindex
+ << ", " << dec << sdo.size << " byte: " << hex;
+
+ switch (sdo.size) {
+ case 1:
+ cout << "0x" << setw(2)
+ << (unsigned int) *(uint8_t *) &sdo.data;
+ break;
+ case 2:
+ cout << "0x" << setw(4)
+ << le16tocpu(*(uint16_t *) &sdo.data);
+ break;
+ case 4:
+ cout << "0x" << setw(8)
+ << le32tocpu(*(uint32_t *) &sdo.data);
+ break;
+ default:
+ cout << "???";
+ }
+
+ cout << endl;
+ }
+ } else {
+ cout << " None." << endl;
+ }
+
+ cout << endl;
+ }
+}
+
+/*****************************************************************************/
+
+/** Lists the bus configuration.
+ */
+void listConfigs(const ConfigList &configList)
+{
+ ConfigList::const_iterator configIter;
+ stringstream str;
+ ConfigInfo info;
+ typedef list<ConfigInfo> ConfigInfoList;
+ ConfigInfoList list;
+ ConfigInfoList::const_iterator iter;
+ unsigned int maxAliasWidth = 0, maxPosWidth = 0,
+ maxAttWidth = 0, maxOpWidth = 0;
+
+ for (configIter = configList.begin();
+ configIter != configList.end();
+ configIter++) {
+
+ str << dec << configIter->alias;
+ info.alias = str.str();
+ str.clear();
+ str.str("");
+
+ str << configIter->position;
+ info.pos = str.str();
+ str.clear();
+ str.str("");
+
+ str << hex << setfill('0')
+ << "0x" << setw(8) << configIter->vendor_id
+ << "/0x" << setw(8) << configIter->product_code;
+ info.ident = str.str();
+ str.clear();
+ str.str("");
+
+ str << (configIter->attached ? "attached" : "-");
+ info.att = str.str();
+ str.clear();
+ str.str("");
+
+ str << (configIter->operational ? "operational" : "-");
+ info.op = str.str();
+ str.clear();
+ str.str("");
+
+ list.push_back(info);
+
+ if (info.alias.length() > maxAliasWidth)
+ maxAliasWidth = info.alias.length();
+ if (info.pos.length() > maxPosWidth)
+ maxPosWidth = info.pos.length();
+ if (info.att.length() > maxAttWidth)
+ maxAttWidth = info.att.length();
+ if (info.op.length() > maxOpWidth)
+ maxOpWidth = info.op.length();
+ }
+
+ for (iter = list.begin(); iter != list.end(); iter++) {
+ cout << setfill(' ') << right
+ << setw(maxAliasWidth) << iter->alias
+ << ":" << left
+ << setw(maxPosWidth) << iter->pos
+ << " "
+ << iter->ident
+ << " "
+ << setw(maxAttWidth) << iter->att << " "
+ << setw(maxOpWidth) << iter->op << " "
+ << endl;
+ }
+}
+
+/*****************************************************************************/
diff --git a/tool/globals.h b/tool/globals.h
new file mode 100644
index 0000000000000000000000000000000000000000..31e0647646d147909aa8009a2b7ae36bd266bb16
--- /dev/null
+++ b/tool/globals.h
@@ -0,0 +1,89 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <sys/types.h>
+
+#include <string>
+#include <sstream>
+#include <vector>
+using namespace std;
+
+#include "MasterDevice.h"
+
+/*****************************************************************************/
+
+enum Verbosity {
+ Quiet,
+ Normal,
+ Verbose
+};
+
+extern string command;
+extern int slavePosition;
+extern int domainIndex;
+extern vector<string> commandArgs;
+extern Verbosity verbosity;
+extern string dataTypeStr;
+extern bool force;
+
+extern MasterDevice masterDev;
+
+/****************************************************************************/
+
+class InvalidUsageException:
+ public runtime_error
+{
+ public:
+ /** Constructor with std::string parameter. */
+ InvalidUsageException(
+ const stringstream &s /**< Message. */
+ ): runtime_error(s.str()) {}
+};
+
+/****************************************************************************/
+
+class ExecutionFailureException:
+ public runtime_error
+{
+ public:
+ /** Constructor with std::string parameter. */
+ ExecutionFailureException(
+ const stringstream &s /**< Message. */
+ ): runtime_error(s.str()) {}
+};
+
+/*****************************************************************************/
+
+#define swap16(x) \
+ ((uint16_t)( \
+ (((uint16_t)(x) & 0x00ffU) << 8) | \
+ (((uint16_t)(x) & 0xff00U) >> 8) ))
+#define swap32(x) \
+ ((uint32_t)( \
+ (((uint32_t)(x) & 0x000000ffUL) << 24) | \
+ (((uint32_t)(x) & 0x0000ff00UL) << 8) | \
+ (((uint32_t)(x) & 0x00ff0000UL) >> 8) | \
+ (((uint32_t)(x) & 0xff000000UL) >> 24) ))
+
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+
+#define le16tocpu(x) x
+#define le32tocpu(x) x
+
+#define cputole16(x) x
+#define cputole32(x) x
+
+#elif __BYTE_ORDER == __BIG_ENDIAN
+
+#define le16tocpu(x) swap16(x)
+#define le32tocpu(x) swap32(x)
+
+#define cputole16(x) swap16(x)
+#define cputole32(x) swap32(x)
+
+#endif
+
+/****************************************************************************/
diff --git a/tool/main.cpp b/tool/main.cpp
index 4418ff6b4bda1ef59fb0d26176b74ce0751b6064..c9f73eaa4df6c8badf826a7b35ce06b0cfdbcd27 100644
--- a/tool/main.cpp
+++ b/tool/main.cpp
@@ -12,29 +12,93 @@
#include <vector>
using namespace std;
-#include "Master.h"
+#include "globals.h"
/*****************************************************************************/
-#define DEFAULT_MASTER 0
-
-static string cmdName;
-static unsigned int masterIndex = DEFAULT_MASTER;
-static int slavePosition = -1;
-static int domainIndex = -1;
-static string command;
+string binaryBaseName;
+unsigned int masterIndex = 0;
+int slavePosition = -1;
+int domainIndex = -1;
+string command;
vector<string> commandArgs;
-static Master::Verbosity verbosity = Master::Normal;
+Verbosity verbosity = Normal;
string dataTypeStr;
bool force = false;
+
bool helpRequested = false;
+MasterDevice masterDev;
+
+/*****************************************************************************/
+
+struct Command {
+ void (*func)(void);
+ const char *helpString;
+
+ int execute(void) const;
+ void displayHelp(void) const;
+};
+
+struct CommandAlias {
+ const char *name;
+ const Command *command;
+};
+
+/*****************************************************************************/
+
+#define COMMAND(name) \
+ void command_##name(void); \
+ extern const char *help_##name; \
+ const Command cmd_##name = {command_##name, help_##name};
+
+COMMAND(alias);
+COMMAND(config);
+
+const CommandAlias commandAliases[] = {
+ {"alias", &cmd_alias},
+
+ {"config", &cmd_config},
+ {"conf", &cmd_config},
+ {"cf", &cmd_config},
+};
+
+#if 0
+ } else if (command == "data") {
+ master.outputData(domainIndex);
+ } else if (command == "debug") {
+ master.setDebug(commandArgs);
+ } else if (command == "domain") {
+ master.showDomains(domainIndex);
+ } else if (command == "master") {
+ master.showMaster();
+ } else if (command == "pdos") {
+ master.listPdos(slavePosition);
+ } else if (command == "sdos") {
+ master.listSdos(slavePosition);
+ } else if (command == "sdo_download" || command == "sd") {
+ master.sdoDownload(slavePosition, dataTypeStr, commandArgs);
+ } else if (command == "sdo_upload" || command == "su") {
+ master.sdoUpload(slavePosition, dataTypeStr, commandArgs);
+ } else if (command == "slave" || command == "slaves"
+ || command == "list" || command == "ls") {
+ master.showSlaves(slavePosition);
+ } else if (command == "sii_read" || command == "sr") {
+ master.siiRead(slavePosition);
+ } else if (command == "sii_write" || command == "sw") {
+ master.siiWrite(slavePosition, force, commandArgs);
+ } else if (command == "state") {
+ master.requestStates(slavePosition, commandArgs);
+ } else if (command == "xml") {
+ master.generateXml(slavePosition);
+#endif
+
/*****************************************************************************/
void printUsage()
{
cerr
- << "Usage: " << cmdName << " <COMMAND> [OPTIONS]" << endl
+ << "Usage: " << binaryBaseName << " <COMMAND> [OPTIONS]" << endl
<< "Commands:" << endl
<< " alias Write alias addresses." << endl
<< " config Show bus configuration." << endl
@@ -52,8 +116,8 @@ void printUsage()
<< " state Request slave states." << endl
<< " xml Generate slave information xmls." << endl
<< "Global options:" << endl
- << " --master -m <master> Index of the master to use. Default: "
- << DEFAULT_MASTER << endl
+ << " --master -m <master> Index of the master to use. Default: 0"
+ << endl
<< " --slave -s <index> Positive numerical ring position,"
<< endl
<< " or 'all' for all slaves (default)."
@@ -67,8 +131,8 @@ void printUsage()
<< " --quiet -q Output less information." << endl
<< " --verbose -v Output more information." << endl
<< " --help -h Show this help." << endl
- << "Call '" << cmdName << " <COMMAND> --help' for command-specific "
- << "help." << endl
+ << "Call '" << binaryBaseName
+ << " <COMMAND> --help' for command-specific help." << endl
<< "Send bug reports to " << PACKAGE_BUGREPORT << "." << endl;
}
@@ -146,11 +210,11 @@ void getOptions(int argc, char **argv)
break;
case 'q':
- verbosity = Master::Quiet;
+ verbosity = Quiet;
break;
case 'v':
- verbosity = Master::Verbose;
+ verbosity = Verbose;
break;
case 'h':
@@ -184,60 +248,64 @@ void getOptions(int argc, char **argv)
/****************************************************************************/
+int Command::execute() const
+{
+ try {
+ func();
+ } catch (InvalidUsageException &e) {
+ cerr << e.what() << endl << endl;
+ displayHelp();
+ return 1;
+ } catch (ExecutionFailureException &e) {
+ cerr << e.what() << endl;
+ return 1;
+ } catch (MasterDeviceException &e) {
+ cerr << e.what() << endl;
+ return 1;
+ }
+
+ return 0;
+}
+
+/****************************************************************************/
+
+void Command::displayHelp() const
+{
+ cerr << binaryBaseName << " " << command << " " << helpString;
+}
+
+/****************************************************************************/
+
int main(int argc, char **argv)
{
- Master master;
+ int retval = 0;
+ const CommandAlias *alias;
+ const CommandAlias *endAlias =
+ commandAliases + sizeof(commandAliases) / sizeof(CommandAlias);
- cmdName = basename(argv[0]);
-
+ binaryBaseName = basename(argv[0]);
getOptions(argc, argv);
- master.setIndex(masterIndex);
- master.setVerbosity(verbosity);
+ // search command alias in alias map
+ for (alias = commandAliases; alias < endAlias; alias++) {
+ if (command == alias->name)
+ break;
+ }
- try {
- if (command == "alias") {
- master.writeAlias(slavePosition, force, commandArgs);
- } else if (command == "config") {
- master.showConfigs();
- } else if (command == "data") {
- master.outputData(domainIndex);
- } else if (command == "debug") {
- master.setDebug(commandArgs);
- } else if (command == "domain") {
- master.showDomains(domainIndex);
- } else if (command == "master") {
- master.showMaster();
- } else if (command == "pdos") {
- master.listPdos(slavePosition);
- } else if (command == "sdos") {
- master.listSdos(slavePosition);
- } else if (command == "sdo_download" || command == "sd") {
- master.sdoDownload(slavePosition, dataTypeStr, commandArgs);
- } else if (command == "sdo_upload" || command == "su") {
- master.sdoUpload(slavePosition, dataTypeStr, commandArgs);
- } else if (command == "slave" || command == "slaves"
- || command == "list" || command == "ls") {
- master.showSlaves(slavePosition);
- } else if (command == "sii_read" || command == "sr") {
- master.siiRead(slavePosition);
- } else if (command == "sii_write" || command == "sw") {
- master.siiWrite(slavePosition, force, commandArgs);
- } else if (command == "state") {
- master.requestStates(slavePosition, commandArgs);
- } else if (command == "xml") {
- master.generateXml(slavePosition);
+ if (alias < endAlias) { // command alias found
+ if (!helpRequested) {
+ masterDev.setIndex(masterIndex);
+ retval = alias->command->execute();
} else {
- cerr << "Unknown command " << command << "!" << endl;
- printUsage();
- exit(1);
+ alias->command->displayHelp();
}
- } catch (MasterException &e) {
- cerr << e.what() << endl;
- exit(1);
+ } else { // command not found
+ cerr << "Unknown command " << command << "!" << endl << endl;
+ printUsage();
+ retval = 1;
}
- return 0;
+ return retval;
}
/****************************************************************************/