tool/CommandSoeRead.cpp
author Florian Pose <fp@igh.de>
Fri, 08 Sep 2017 13:16:57 +0200
branchstable-1.5
changeset 2683 1079c149f22c
parent 1968 4f682084c643
permissions -rw-r--r--
Forgot Makefile.orig.
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/*****************************************************************************
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 *
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 *  $Id$
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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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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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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 "CommandSoeRead.h"
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#include "MasterDevice.h"
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/*****************************************************************************/
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CommandSoeRead::CommandSoeRead():
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    Command("soe_read", "Read an SoE IDN from a slave.")
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{
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}
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/*****************************************************************************/
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string CommandSoeRead::helpString(const string &binaryBaseName) const
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{
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    stringstream str;
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    str << binaryBaseName << " " << getName()
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        << " [OPTIONS] <IDN>" << endl
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        << binaryBaseName << " " << getName()
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        << " [OPTIONS] <DRIVE> <IDN>" << endl
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        << endl
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        << getBriefDescription() << endl
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        << endl
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        << "This command requires a single slave to be selected." << endl
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        << endl
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        << "Arguments:" << endl
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        << "  DRIVE    is the drive number (0 - 7). If omitted, 0 is assumed."
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        << endl
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        << "  IDN      is the IDN and must be either an unsigned" << endl
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        << "           16 bit number acc. to IEC 61800-7-204:" << endl
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        << "             Bit 15: (0) Standard data, (1) Product data" << endl
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        << "             Bit 14 - 12: Parameter set (0 - 7)" << endl
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        << "             Bit 11 - 0: Data block number" << endl
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        << "           or a string like 'P-0-150'." << endl
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        << endl
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        << "Data of the given IDN are read and displayed according to" << endl
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        << "the given datatype, or as raw hex bytes." << endl
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        << endl
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        << typeInfo()
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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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        << "  --type     -t <type>   Data type (see 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 CommandSoeRead::execute(const StringVector &args)
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{
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    SlaveList slaves;
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    stringstream err;
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    const DataType *dataType = NULL;
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    ec_ioctl_slave_soe_read_t ioctl;
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    int driveArgIndex = -1, idnArgIndex = -1;
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    if (args.size() == 1) {
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        idnArgIndex = 0;
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    } else if (args.size() == 2) {
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        driveArgIndex = 0;
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        idnArgIndex = 1;
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    } else {
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        err << "'" << getName() << "' takes eiter 1 or 2 arguments!";
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        throwInvalidUsageException(err);
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    }
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    if (driveArgIndex >= 0) {
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        stringstream str;
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        unsigned int number;
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        str << args[driveArgIndex];
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        str
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            >> resetiosflags(ios::basefield) // guess base from prefix
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            >> number;
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        if (str.fail() || number > 7) {
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            err << "Invalid drive number '" << args[driveArgIndex] << "'!";
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            throwInvalidUsageException(err);
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        }
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        ioctl.drive_no = number;
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    } else {
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        ioctl.drive_no = 0;
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    }
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    try {
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4f682084c643 Implemented drive_no for command-line tool; binary base name is now a
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parents: 1966
diff changeset
   122
        ioctl.idn = parseIdn(args[idnArgIndex]);
1868
489ea0becd74 Implemented SoE IDN parser for strings like 'P-0-0150'; moved data type
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parents: 1837
diff changeset
   123
    } catch (runtime_error &e) {
1968
4f682084c643 Implemented drive_no for command-line tool; binary base name is now a
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parents: 1966
diff changeset
   124
        err << "Invalid IDN '" << args[idnArgIndex] << "': " << e.what();
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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   125
        throwInvalidUsageException(err);
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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diff changeset
   126
    }
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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parents:
diff changeset
   127
1870
0cee1fb7f0fd Added getSingleMasterIndex() for command-line tool.
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parents: 1869
diff changeset
   128
    MasterDevice m(getSingleMasterIndex());
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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parents:
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   129
    m.open(MasterDevice::Read);
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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   130
    slaves = selectedSlaves(m);
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parents:
diff changeset
   131
    if (slaves.size() != 1) {
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
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   132
        throwSingleSlaveRequired(slaves.size());
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parents:
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   133
    }
1837
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1835
diff changeset
   134
    ioctl.slave_position = slaves.front().position;
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   135
1835
20748e9d2238 Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents: 1832
diff changeset
   136
    if (getDataType().empty()) {
20748e9d2238 Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents: 1832
diff changeset
   137
        dataType = findDataType("raw"); // FIXME
20748e9d2238 Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents: 1832
diff changeset
   138
    } else { // no data type specified
20748e9d2238 Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents: 1832
diff changeset
   139
        if (!(dataType = findDataType(getDataType()))) {
20748e9d2238 Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents: 1832
diff changeset
   140
            err << "Invalid data type '" << getDataType() << "'!";
20748e9d2238 Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents: 1832
diff changeset
   141
            throwInvalidUsageException(err);
20748e9d2238 Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents: 1832
diff changeset
   142
        }
20748e9d2238 Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents: 1832
diff changeset
   143
    }
20748e9d2238 Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents: 1832
diff changeset
   144
20748e9d2238 Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents: 1832
diff changeset
   145
    if (dataType->byteSize) {
1837
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1835
diff changeset
   146
        ioctl.mem_size = dataType->byteSize;
1835
20748e9d2238 Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents: 1832
diff changeset
   147
    } else {
1837
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1835
diff changeset
   148
        ioctl.mem_size = 1024;
1835
20748e9d2238 Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents: 1832
diff changeset
   149
    }
20748e9d2238 Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents: 1832
diff changeset
   150
1837
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1835
diff changeset
   151
    ioctl.data = new uint8_t[ioctl.mem_size + 1];
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   152
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   153
    try {
1837
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1835
diff changeset
   154
        m.readSoe(&ioctl);
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   155
    } catch (MasterDeviceSoeException &e) {
1837
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1835
diff changeset
   156
        delete [] ioctl.data;
1877
7b77000f9764 Included list of common SoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1872
diff changeset
   157
        err << "SoE read command failed with code " << errorMsg(e.errorCode);
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   158
        throwCommandException(err);
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   159
    } catch (MasterDeviceException &e) {
1837
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1835
diff changeset
   160
        delete [] ioctl.data;
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   161
        throw e;
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   162
    }
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   163
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   164
    m.close();
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   165
1835
20748e9d2238 Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents: 1832
diff changeset
   166
    try {
1837
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1835
diff changeset
   167
        outputData(cout, dataType, ioctl.data, ioctl.data_size);
1835
20748e9d2238 Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents: 1832
diff changeset
   168
    } catch (SizeException &e) {
1837
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1835
diff changeset
   169
        delete [] ioctl.data;
1835
20748e9d2238 Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents: 1832
diff changeset
   170
        throwCommandException(e.what());
20748e9d2238 Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents: 1832
diff changeset
   171
    }
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   172
1837
32136215c1fa Implemented SoE write state machine and soe_write command.
Florian Pose <fp@igh-essen.com>
parents: 1835
diff changeset
   173
    delete [] ioctl.data;
1831
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   174
}
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   175
1875b9fea0ba Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   176
/*****************************************************************************/