int main (int argc, char* args[]) {
po::options_description desc("Allowed options");
desc.add_options()
("help", "Display this message")
("registers", po::value<int>()->default_value(50), "Number of registers kept in memory")
;
po::variables_map vm;
po::store(po::parse_command_line(argc, args, desc), vm);
po::notify(vm);
if (vm.count("help")) {
std::cerr << desc << std::endl;
return 1;
}
poleng::bonsai::IncrementalFSA fsa(vm["registers"].as<int>());
int c = 1;
std::string line;
while (getline(std::cin, line)) {
poleng::bonsai::Word w = line_to_word(line);
fsa.add_word(w);
if (c % 100000 == 0)
std::cerr << "Added " << c << " words - actual size: " << fsa.size() << std::endl;
c++;
}
fsa.finalize();
std::cerr << "end" << std::endl;
return 0;
}
void init(char *interface)
{
struct netif *ni;
// Initialize network interface
if ((ni = init_ec(interface)) == NULL)
{
fprintf(stderr, "Unable to initialize interface: %s", interface);
exit(-1);
}
// Initialize Application Layer (AL)
EtherCAT_DataLinkLayer::instance()->attach(ni);
EtherCAT_AL *al;
if ((al = EtherCAT_AL::instance()) == NULL)
{
fprintf(stderr, "Unable to initialize Application Layer (AL): %08x", (int)al);
exit(-1);
}
uint32_t num_slaves = al->get_num_slaves();
if (num_slaves == 0)
{
fprintf(stderr, "Unable to locate any slaves");
exit(-1);
}
// Initialize Master
EtherCAT_Master *em;
if ((em = EtherCAT_Master::instance()) == NULL)
{
fprintf(stderr, "Unable to initialize EtherCAT_Master: %08x", int(em));
exit(-1);
}
static int startAddress = 0x00010000;
for (unsigned int slave = 0; slave < num_slaves; ++slave)
{
EC_FixedStationAddress fsa(slave + 1);
EtherCAT_SlaveHandler *sh = em->get_slave_handler(fsa);
if (sh == NULL)
{
fprintf(stderr, "Unable to get slave handler #%d", slave);
exit(-1);
}
if (sh->get_product_code() == WG05::PRODUCT_CODE)
{
printf("found a WG05 at #%d\n", slave);
WG05 *dev = new WG05();
dev->configure(startAddress, sh);
devices.push_back(dev);
}
else if (sh->get_product_code() == WG06::PRODUCT_CODE)
{
printf("found a WG06 at #%d\n", slave);
WG06 *dev = new WG06();
dev->configure(startAddress, sh);
devices.push_back(dev);
}
else
{
printf("found a %08x at #%d\n", sh->get_product_code(), slave);
devices.push_back(NULL);
}
}
BOOST_FOREACH(WG0X *device, devices)
{
Actuator a;
if (!device) continue;
if (!device->sh_->to_state(EC_OP_STATE))
{
fprintf(stderr, "Unable set device %d into OP_STATE", device->sh_->get_ring_position());
}
device->initialize(&a, true);
}
