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/*****************************************************************************
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*
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* $Id$
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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 "CommandDownload.h"
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#include "coe_datatypes.h"
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#include "byteorder.h"
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/*****************************************************************************/
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CommandDownload::CommandDownload():
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Command("download", "Write an Sdo entry to a slave.")
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{
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}
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/*****************************************************************************/
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string CommandDownload::helpString() const
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{
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stringstream str;
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str << getName() << " [OPTIONS] <INDEX> <SUBINDEX> <VALUE>" << endl
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<< endl
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<< getBriefDescription() << endl
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<< endl
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<< "The data type of the Sdo entry is taken from the Sdo" << endl
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<< "dictionary by default. It can be overridden with the" << endl
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<< "--type option. If the slave does not support the Sdo" << endl
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<< "information service or the Sdo is not in the dictionary," << endl
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<< "the --type option is mandatory." << endl
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<< endl
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<< "These are the valid Sdo entry data types:" << endl
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<< " int8, int16, int32, uint8, uint16, uint32, string." << endl
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<< endl
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<< "Arguments:"
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<< " INDEX is the Sdo index and must be an unsigned" << endl
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<< " 16 bit number." << endl
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<< " SUBINDEX is the Sdo entry subindex and must be an" << endl
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<< " unsigned 8 bit number." << endl
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<< " VALUE is the value to download and must correspond" << endl
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<< " to the Sdo entry datatype (see above)." << endl
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<< endl
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<< "Command-specific options:" << endl
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<< " --slave -s <index> Positive numerical ring position" << endl
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<< " (mandatory)." << endl
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<< " --type -t <type> Forced Sdo entry data type (see" << endl
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<< " 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 CommandDownload::execute(MasterDevice &m, const StringVector &args)
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{
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stringstream strIndex, strSubIndex, strValue, err;
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ec_ioctl_slave_sdo_download_t data;
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unsigned int number;
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const CoEDataType *dataType = NULL;
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if (slavePosition < 0) {
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err << "'" << getName() << "' requires a slave! "
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<< "Please specify --slave.";
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throwInvalidUsageException(err);
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}
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data.slave_position = slavePosition;
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if (args.size() != 3) {
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err << "'" << getName() << "' takes 3 arguments!";
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throwInvalidUsageException(err);
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}
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strIndex << args[0];
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strIndex
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>> resetiosflags(ios::basefield) // guess base from prefix
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>> data.sdo_index;
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if (strIndex.fail()) {
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err << "Invalid Sdo index '" << args[0] << "'!";
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throwInvalidUsageException(err);
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}
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strSubIndex << args[1];
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strSubIndex
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>> resetiosflags(ios::basefield) // guess base from prefix
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>> number;
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if (strSubIndex.fail() || number > 0xff) {
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err << "Invalid Sdo subindex '" << args[1] << "'!";
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throwInvalidUsageException(err);
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}
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data.sdo_entry_subindex = number;
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if (dataTypeStr != "") { // data type specified
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if (!(dataType = findDataType(dataTypeStr))) {
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err << "Invalid data type '" << dataTypeStr << "'!";
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throwInvalidUsageException(err);
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}
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} else { // no data type specified: fetch from dictionary
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ec_ioctl_slave_sdo_entry_t entry;
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m.open(MasterDevice::ReadWrite);
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try {
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m.getSdoEntry(&entry, slavePosition,
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data.sdo_index, data.sdo_entry_subindex);
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} catch (MasterDeviceException &e) {
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err << "Failed to determine Sdo entry data type. "
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<< "Please specify --type.";
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throwCommandException(err);
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}
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if (!(dataType = findDataType(entry.data_type))) {
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err << "Pdo entry has unknown data type 0x"
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<< hex << setfill('0') << setw(4) << entry.data_type << "!"
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<< " Please specify --type.";
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throwCommandException(err);
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}
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}
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if (dataType->byteSize) {
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data.data_size = dataType->byteSize;
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} else {
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data.data_size = DefaultBufferSize;
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}
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data.data = new uint8_t[data.data_size + 1];
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strValue << args[2];
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strValue >> resetiosflags(ios::basefield); // guess base from prefix
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strValue.exceptions(ios::failbit);
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try {
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switch (dataType->coeCode) {
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case 0x0002: // int8
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{
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int16_t val; // uint8_t is interpreted as char
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strValue >> val;
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if (val > 127 || val < -128)
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throw ios::failure("Value out of range");
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*data.data = val;
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break;
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}
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case 0x0003: // int16
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{
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int16_t val;
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strValue >> val;
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*(int16_t *) data.data = cputole16(val);
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break;
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}
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case 0x0004: // int32
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{
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int32_t val;
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strValue >> val;
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*(int32_t *) data.data = cputole32(val);
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break;
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}
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case 0x0005: // uint8
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{
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uint16_t val; // uint8_t is interpreted as char
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strValue >> val;
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if (val > 0xff)
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throw ios::failure("Value out of range");
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*data.data = val;
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break;
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}
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case 0x0006: // uint16
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{
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uint16_t val;
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strValue >> val;
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*(uint16_t *) data.data = cputole16(val);
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break;
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}
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case 0x0007: // uint32
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{
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uint32_t val;
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strValue >> val;
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*(uint32_t *) data.data = cputole32(val);
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break;
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}
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case 0x0009: // string
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if (strValue.str().size() >= data.data_size) {
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err << "String too large";
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throwCommandException(err);
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}
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data.data_size = strValue.str().size();
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strValue >> (char *) data.data;
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break;
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default:
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delete [] data.data;
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err << "Unknown data type 0x" << hex << dataType->coeCode;
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throwCommandException(err);
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}
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} catch (ios::failure &e) {
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delete [] data.data;
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err << "Invalid value argument '" << args[2]
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<< "' for type '" << dataType->name << "'!";
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throwInvalidUsageException(err);
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}
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m.open(MasterDevice::ReadWrite);
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try {
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m.sdoDownload(&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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delete [] data.data;
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}
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/*****************************************************************************/
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