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reg_write with data types.

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This commit is contained in:
Florian Pose
2009-04-08 14:10:34 +00:00
parent 7f97ba66a2
commit 2a21a925a6
7 changed files with 228 additions and 65 deletions
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70
tool/CommandReg.cpp Normal file
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@@ -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},
{}
};
/*****************************************************************************/

54
tool/CommandReg.h Normal file
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@@ -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

44
tool/CommandRegRead.cpp
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@@ -36,7 +36,7 @@ using namespace std;
/*****************************************************************************/
CommandRegRead::CommandRegRead():
Command("reg_read", "Output a slave's register contents.")
CommandReg("reg_read", "Output a slave's register contents.")
{
}
@@ -63,7 +63,7 @@ string CommandRegRead::helpString() const
<< 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 @@ void CommandRegRead::execute(MasterDevice &m, const StringVector &args)
}
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 @@ void CommandRegRead::execute(MasterDevice &m, const StringVector &args)
} 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 @@ void CommandRegRead::execute(MasterDevice &m, const StringVector &args)
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},
{}
};
/*****************************************************************************/

12
tool/CommandRegRead.h
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@@ -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 &);
};
/****************************************************************************/

107
tool/CommandRegWrite.cpp
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@@ -38,7 +38,7 @@ using namespace std;
/*****************************************************************************/
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 @@ string CommandRegWrite::helpString() const
{
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 @@ void CommandRegWrite::execute(MasterDevice &m, const StringVector &args)
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!";

4
tool/CommandRegWrite.h
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@@ -30,12 +30,12 @@
#ifndef __COMMANDREGWRITE_H__
#define __COMMANDREGWRITE_H__
#include "Command.h"
#include "CommandReg.h"
/****************************************************************************/
class CommandRegWrite:
public Command
public CommandReg
{
public:
CommandRegWrite();

2
tool/Makefile.am
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@@ -45,6 +45,7 @@ ethercat_SOURCES = \
CommandFoeWrite.cpp \
CommandMaster.cpp \
CommandPdos.cpp \
CommandReg.cpp \
CommandRegRead.cpp \
CommandRegWrite.cpp \
CommandSdos.cpp \
@@ -73,6 +74,7 @@ noinst_HEADERS = \
CommandFoeWrite.h \
CommandMaster.h \
CommandPdos.h \
CommandReg.h \
CommandRegRead.h \
CommandRegWrite.h \
CommandSdos.h \