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https://gitlab.com/etherlab.org/ethercat.git
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109 lines
3.4 KiB
C++
109 lines
3.4 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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****************************************************************************/
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#include <iostream>
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#include <algorithm>
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using namespace std;
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#include "CommandStates.h"
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#include "MasterDevice.h"
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/****************************************************************************/
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CommandStates::CommandStates():
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Command("states", "Request application-layer states.")
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{
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}
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/****************************************************************************/
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string CommandStates::helpString(const string &binaryBaseName) const
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{
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stringstream str;
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str << binaryBaseName << " " << getName() << " [OPTIONS] <STATE>" << endl
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<< endl
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<< getBriefDescription() << endl
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<< endl
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<< "Arguments:" << endl
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<< " STATE can be 'INIT', 'PREOP', 'BOOT', 'SAFEOP', or 'OP'." << 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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<< 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 CommandStates::execute(const StringVector &args)
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{
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MasterIndexList masterIndices;
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SlaveList slaves;
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SlaveList::const_iterator si;
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stringstream err;
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string stateStr;
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uint8_t state = 0x00;
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if (args.size() != 1) {
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err << "'" << getName() << "' takes exactly one argument!";
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throwInvalidUsageException(err);
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}
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stateStr = args[0];
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transform(stateStr.begin(), stateStr.end(),
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stateStr.begin(), (int (*) (int)) std::toupper);
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if (stateStr == "INIT") {
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state = 0x01;
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} else if (stateStr == "PREOP") {
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state = 0x02;
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} else if (stateStr == "BOOT") {
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state = 0x03;
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} else if (stateStr == "SAFEOP") {
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state = 0x04;
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} else if (stateStr == "OP") {
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state = 0x08;
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} else {
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err << "Invalid state '" << args[0] << "'!";
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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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MasterDevice m(*mi);
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m.open(MasterDevice::ReadWrite);
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slaves = selectedSlaves(m);
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for (si = slaves.begin(); si != slaves.end(); si++) {
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m.requestState(si->position, state);
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}
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}
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}
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/****************************************************************************/
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