Renamed phy_ commands to reg_.

2026-09-23 02:23:47 +08:00 · 2009-04-08 12:48:59 +00:00
parent 848ccb3bed
commit 7f97ba66a2
15 changed files with 109 additions and 110 deletions
@@ -0,0 +1,170 @@
+/*****************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ *  This file is part of the IgH EtherCAT Master.
+ *
+ *  The IgH EtherCAT Master is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU General Public License version 2, as
+ *  published by the Free Software Foundation.
+ *
+ *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
+ *  Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License along
+ *  with the IgH EtherCAT Master; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ *  ---
+ *
+ *  The license mentioned above concerns the source code only. Using the
+ *  EtherCAT technology and brand is only permitted in compliance with the
+ *  industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ ****************************************************************************/
+
+#include <iostream>
+#include <iomanip>
+#include <fstream>
+using namespace std;
+
+#include "CommandRegWrite.h"
+#include "sii_crc.h"
+
+/*****************************************************************************/
+
+CommandRegWrite::CommandRegWrite():
+    Command("reg_write", "Write data to a slave's registers.")
+{
+}
+
+/*****************************************************************************/
+
+string CommandRegWrite::helpString() const
+{
+    stringstream str;
+
+    str << getName() << " [OPTIONS] <OFFSET> <FILENAME>" << 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
+        << endl
+        << "Command-specific options:" << endl
+        << "  --alias    -a <alias>" << endl
+        << "  --position -p <pos>    Slave selection. See the help of" << endl
+        << "                         the 'slaves' command." << endl
+        << endl
+        << numericInfo();
+
+    return str.str();
+}
+
+/****************************************************************************/
+
+void CommandRegWrite::execute(MasterDevice &m, const StringVector &args)
+{
+    stringstream strOffset, err;
+    ec_ioctl_slave_reg_t data;
+    ifstream file;
+    SlaveList slaves;
+
+    if (args.size() != 2) {
+        err << "'" << getName() << "' takes exactly two arguments!";
+        throwInvalidUsageException(err);
+    }
+    
+    strOffset << args[0];
+    strOffset
+        >> resetiosflags(ios::basefield) // guess base from prefix
+        >> data.offset;
+    if (strOffset.fail()) {
+        err << "Invalid offset '" << args[0] << "'!";
+        throwInvalidUsageException(err);
+    }
+
+    if (args[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);
+        }
+        loadRegData(&data, file);
+        file.close();
+    }
+
+    if ((uint32_t) data.offset + data.length > 0xffff) {
+        err << "Offset and length exceeding 64k!";
+        delete [] data.data;
+        throwInvalidUsageException(err);
+    }
+
+    try {
+        m.open(MasterDevice::ReadWrite);
+    } catch (MasterDeviceException &e) {
+        delete [] data.data;
+        throw e;
+    }
+
+    slaves = selectedSlaves(m);
+    if (slaves.size() != 1) {
+        delete [] data.data;
+        throwSingleSlaveRequired(slaves.size());
+    }
+    data.slave_position = slaves.front().position;
+
+    // send data to master
+    try {
+        m.writeReg(&data);
+    } catch (MasterDeviceException &e) {
+        delete [] data.data;
+        throw e;
+    }
+
+    if (getVerbosity() == Verbose) {
+        cerr << "Register writing finished." << endl;
+    }
+
+    delete [] data.data;
+}
+
+/*****************************************************************************/
+
+void CommandRegWrite::loadRegData(
+        ec_ioctl_slave_reg_t *data,
+        const istream &in
+        )
+{
+    stringstream err;
+    ostringstream tmp;
+
+    tmp << in.rdbuf();
+    string const &contents = tmp.str();
+
+    if (getVerbosity() == Verbose) {
+        cerr << "Read " << contents.size() << " bytes of data." << endl;
+    }
+
+    if (contents.size() > 0xffff) {
+        err << "Invalid data size " << contents.size() << "!";
+        throwInvalidUsageException(err);
+    }
+    data->length = contents.size();
+
+    // allocate buffer and read file into buffer
+    data->data = new uint8_t[data->length];
+    contents.copy((char *) data->data, contents.size());
+}
+
+/*****************************************************************************/