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