mirror of
https://gitlab.com/etherlab.org/ethercat.git
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121 lines
3.5 KiB
C++
121 lines
3.5 KiB
C++
/*****************************************************************************
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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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* vim: expandtab
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*
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****************************************************************************/
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#include <iostream>
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using namespace std;
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#include "CommandData.h"
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#include "MasterDevice.h"
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/****************************************************************************/
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CommandData::CommandData():
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Command("data", "Output binary domain process data.")
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{
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}
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/****************************************************************************/
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string CommandData::helpString(const string &binaryBaseName) const
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{
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stringstream str;
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str << binaryBaseName << " " << getName() << " [OPTIONS]" << endl
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<< endl
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<< getBriefDescription() << endl
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<< endl
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<< "Data of multiple domains are concatenated." << endl
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<< endl
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<< "Command-specific options:" << endl
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<< " --domain -d <index> Positive numerical domain index." << endl
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<< " If omitted, data of all domains" << endl
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<< " are output." << 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 CommandData::execute(const StringVector &args)
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{
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MasterIndexList masterIndices;
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DomainList domains;
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DomainList::const_iterator di;
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if (args.size()) {
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stringstream err;
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err << "'" << getName() << "' takes no arguments!";
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throwInvalidUsageException(err);
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}
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masterIndices = getMasterIndices();
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MasterIndexList::const_iterator mi;
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for (mi = masterIndices.begin();
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mi != masterIndices.end(); mi++) {
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ec_ioctl_master_t io;
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MasterDevice m(*mi);
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m.open(MasterDevice::Read);
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m.getMaster(&io);
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domains = selectedDomains(m, io);
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for (di = domains.begin(); di != domains.end(); di++) {
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outputDomainData(m, *di);
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}
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}
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}
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/****************************************************************************/
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void CommandData::outputDomainData(
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MasterDevice &m,
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const ec_ioctl_domain_t &domain
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)
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{
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ec_ioctl_domain_data_t data;
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unsigned char *processData;
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unsigned int i;
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if (!domain.data_size)
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return;
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processData = new unsigned char[domain.data_size];
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try {
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m.getData(&data, domain.index, domain.data_size, processData);
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} catch (MasterDeviceException &e) {
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delete [] processData;
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throw e;
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}
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for (i = 0; i < data.data_size; i++)
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cout << processData[i];
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cout.flush();
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delete [] processData;
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}
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/****************************************************************************/
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