etherlabmaster: tool/CommandDownload.cpp@11c0b2caa253 (annotated)

1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/*****************************************************************************
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
1363 11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1334 diff changeset	3	* $Id$
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1334 diff changeset	4	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1334 diff changeset	5	* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1334 diff changeset	6	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1334 diff changeset	7	* This file is part of the IgH EtherCAT Master.
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1334 diff changeset	8	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1334 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it and/or
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1334 diff changeset	10	* modify it under the terms of the GNU General Public License version 2, as
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1334 diff changeset	11	* published by the Free Software Foundation.
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1334 diff changeset	12	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1334 diff changeset	13	* The IgH EtherCAT Master is distributed in the hope that it will be useful,
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1334 diff changeset	14	* but WITHOUT ANY WARRANTY; without even the implied warranty of
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1334 diff changeset	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1334 diff changeset	16	* Public License for more details.
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1334 diff changeset	17	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1334 diff changeset	18	* You should have received a copy of the GNU General Public License along
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1334 diff changeset	19	* with the IgH EtherCAT Master; if not, write to the Free Software
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1334 diff changeset	20	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1334 diff changeset	21	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1334 diff changeset	22	* ---
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1334 diff changeset	23	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1334 diff changeset	24	* The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1334 diff changeset	25	* EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1334 diff changeset	26	* industrial property and similar rights of Beckhoff Automation GmbH.
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	*
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	****************************************************************************/
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	29
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	#include <iostream>
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	#include <iomanip>
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	using namespace std;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	34	#include "CommandDownload.h"
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	35
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	36	/*****************************************************************************/
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	37
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	38	CommandDownload::CommandDownload():
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1254 diff changeset	39	SdoCommand("download", "Write an SDO entry to a slave.")
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	40	{
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	}
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	42
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	/*****************************************************************************/
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	44
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	45	string CommandDownload::helpString() const
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	46	{
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	47	stringstream str;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	48
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	49	str << getName() << " [OPTIONS] <INDEX> <SUBINDEX> <VALUE>" << endl
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	50	<< endl
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	51	<< getBriefDescription() << endl
1157 04d1c950cf9d Added --help for alias and position parameters. Florian Pose <fp@igh-essen.com> parents: 1155 diff changeset	52	<< endl
04d1c950cf9d Added --help for alias and position parameters. Florian Pose <fp@igh-essen.com> parents: 1155 diff changeset	53	<< "This command requires a single slave to be selected." << endl
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	54	<< endl
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1254 diff changeset	55	<< "The data type of the SDO entry is taken from the SDO" << endl
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	56	<< "dictionary by default. It can be overridden with the" << endl
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1254 diff changeset	57	<< "--type option. If the slave does not support the SDO" << endl
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1254 diff changeset	58	<< "information service or the SDO is not in the dictionary," << endl
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	59	<< "the --type option is mandatory." << endl
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	60	<< endl
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1254 diff changeset	61	<< "These are the valid SDO entry data types:" << endl
1334 da3d22a27500 merge -c1617 branches/stable-1.4: Added octet_string as an SDO data type. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	62	<< " int8, int16, int32, uint8, uint16, uint32, string," << endl
da3d22a27500 merge -c1617 branches/stable-1.4: Added octet_string as an SDO data type. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	63	<< " octet_string." << endl
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	64	<< endl
1144 7dbfdd61812c Bugfixes and improvements. Florian Pose <fp@igh-essen.com> parents: 1142 diff changeset	65	<< "Arguments:" << endl
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1254 diff changeset	66	<< " INDEX is the SDO index and must be an unsigned" << endl
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	67	<< " 16 bit number." << endl
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1254 diff changeset	68	<< " SUBINDEX is the SDO entry subindex and must be an" << endl
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	69	<< " unsigned 8 bit number." << endl
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	70	<< " VALUE is the value to download and must correspond" << endl
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1254 diff changeset	71	<< " to the SDO entry datatype (see above)." << endl
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	72	<< endl
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	73	<< "Command-specific options:" << endl
1157 04d1c950cf9d Added --help for alias and position parameters. Florian Pose <fp@igh-essen.com> parents: 1155 diff changeset	74	<< " --alias -a <alias>" << endl
04d1c950cf9d Added --help for alias and position parameters. Florian Pose <fp@igh-essen.com> parents: 1155 diff changeset	75	<< " --position -p <pos> Slave selection. See the help of" << endl
04d1c950cf9d Added --help for alias and position parameters. Florian Pose <fp@igh-essen.com> parents: 1155 diff changeset	76	<< " the 'slaves' command." << endl
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1254 diff changeset	77	<< " --type -t <type> SDO entry data type (see above)." << endl
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	<< endl
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	79	<< numericInfo();
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	80
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	81	return str.str();
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	82	}
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	83
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	84	/****************************************************************************/
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	85
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	86	void CommandDownload::execute(MasterDevice &m, const StringVector &args)
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	87	{
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	stringstream strIndex, strSubIndex, strValue, err;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	89	ec_ioctl_slave_sdo_download_t data;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	90	unsigned int number;
1184 75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	91	const DataType *dataType = NULL;
1151 1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	92	SlaveList slaves;
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	93
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	94	if (args.size() != 3) {
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	95	err << "'" << getName() << "' takes 3 arguments!";
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	96	throwInvalidUsageException(err);
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	97	}
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	98
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	99	strIndex << args[0];
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	100	strIndex
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	101	>> resetiosflags(ios::basefield) // guess base from prefix
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	102	>> data.sdo_index;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	103	if (strIndex.fail()) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1254 diff changeset	104	err << "Invalid SDO index '" << args[0] << "'!";
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	105	throwInvalidUsageException(err);
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	106	}
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	107
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	108	strSubIndex << args[1];
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	109	strSubIndex
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	110	>> resetiosflags(ios::basefield) // guess base from prefix
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	111	>> number;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	112	if (strSubIndex.fail() \|\| number > 0xff) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1254 diff changeset	113	err << "Invalid SDO subindex '" << args[1] << "'!";
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	114	throwInvalidUsageException(err);
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	115	}
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	data.sdo_entry_subindex = number;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	117
1151 1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	118	m.open(MasterDevice::ReadWrite);
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	119	slaves = selectedSlaves(m);
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	120	if (slaves.size() != 1) {
1155 bd4e5b544473 Common message for single slave selections. Florian Pose <fp@igh-essen.com> parents: 1151 diff changeset	121	throwSingleSlaveRequired(slaves.size());
1151 1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	122	}
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	123	data.slave_position = slaves.front().position;
1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	124
1166 006244d53f68 Removed global variables. Florian Pose <fp@igh-essen.com> parents: 1157 diff changeset	125	if (!getDataType().empty()) { // data type specified
006244d53f68 Removed global variables. Florian Pose <fp@igh-essen.com> parents: 1157 diff changeset	126	if (!(dataType = findDataType(getDataType()))) {
006244d53f68 Removed global variables. Florian Pose <fp@igh-essen.com> parents: 1157 diff changeset	127	err << "Invalid data type '" << getDataType() << "'!";
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	128	throwInvalidUsageException(err);
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	129	}
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	130	} else { // no data type specified: fetch from dictionary
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	131	ec_ioctl_slave_sdo_entry_t entry;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	132
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	133	try {
1151 1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	134	m.getSdoEntry(&entry, data.slave_position,
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	135	data.sdo_index, data.sdo_entry_subindex);
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	136	} catch (MasterDeviceException &e) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1254 diff changeset	137	err << "Failed to determine SDO entry data type. "
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	138	<< "Please specify --type.";
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	139	throwCommandException(err);
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	140	}
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	141	if (!(dataType = findDataType(entry.data_type))) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1254 diff changeset	142	err << "PDO entry has unknown data type 0x"
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	143	<< hex << setfill('0') << setw(4) << entry.data_type << "!"
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	144	<< " Please specify --type.";
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	145	throwCommandException(err);
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	146	}
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	147	}
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	148
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	149	if (dataType->byteSize) {
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	150	data.data_size = dataType->byteSize;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	151	} else {
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	152	data.data_size = DefaultBufferSize;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	153	}
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	154
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	155	data.data = new uint8_t[data.data_size + 1];
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	156
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	157	strValue << args[2];
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	158	strValue >> resetiosflags(ios::basefield); // guess base from prefix
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	159	strValue.exceptions(ios::failbit);
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	160
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	161	try {
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	162	switch (dataType->coeCode) {
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	163	case 0x0002: // int8
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	164	{
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	165	int16_t val; // uint8_t is interpreted as char
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	166	strValue >> val;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	167	if (val > 127 \|\| val < -128)
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	168	throw ios::failure("Value out of range");
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	169	*data.data = val;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	170	break;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	171	}
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	172	case 0x0003: // int16
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	173	{
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	174	int16_t val;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	175	strValue >> val;
1254 c19d273a9e76 Moved byteorder macros to ecrt.h. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	176	(int16_t ) data.data = cpu_to_le16(val);
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	177	break;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	178	}
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	179	case 0x0004: // int32
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	180	{
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	181	int32_t val;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	182	strValue >> val;
1254 c19d273a9e76 Moved byteorder macros to ecrt.h. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	183	(int32_t ) data.data = cpu_to_le32(val);
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	184	break;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	185	}
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	186	case 0x0005: // uint8
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	187	{
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	188	uint16_t val; // uint8_t is interpreted as char
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	189	strValue >> val;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	190	if (val > 0xff)
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	191	throw ios::failure("Value out of range");
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	192	*data.data = val;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	193	break;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	194	}
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	195	case 0x0006: // uint16
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	196	{
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	197	uint16_t val;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	198	strValue >> val;
1254 c19d273a9e76 Moved byteorder macros to ecrt.h. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	199	(uint16_t ) data.data = cpu_to_le16(val);
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	200	break;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	201	}
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	202	case 0x0007: // uint32
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	203	{
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	204	uint32_t val;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	205	strValue >> val;
1254 c19d273a9e76 Moved byteorder macros to ecrt.h. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	206	(uint32_t ) data.data = cpu_to_le32(val);
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	207	break;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	208	}
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	209	case 0x0009: // string
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	210	if (strValue.str().size() >= data.data_size) {
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	211	err << "String too large";
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	212	throwCommandException(err);
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	213	}
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	214	data.data_size = strValue.str().size();
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	215	strValue >> (char *) data.data;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	216	break;
1334 da3d22a27500 merge -c1617 branches/stable-1.4: Added octet_string as an SDO data type. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	217	case 0x000a: // octet_string
da3d22a27500 merge -c1617 branches/stable-1.4: Added octet_string as an SDO data type. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	218	if (strValue.str().size() >= data.data_size) {
da3d22a27500 merge -c1617 branches/stable-1.4: Added octet_string as an SDO data type. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	219	err << "String too large";
da3d22a27500 merge -c1617 branches/stable-1.4: Added octet_string as an SDO data type. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	220	throwCommandException(err);
da3d22a27500 merge -c1617 branches/stable-1.4: Added octet_string as an SDO data type. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	221	}
da3d22a27500 merge -c1617 branches/stable-1.4: Added octet_string as an SDO data type. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	222	data.data_size = strValue.str().size();
da3d22a27500 merge -c1617 branches/stable-1.4: Added octet_string as an SDO data type. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	223	strValue >> (char *) data.data;
da3d22a27500 merge -c1617 branches/stable-1.4: Added octet_string as an SDO data type. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	224	break;
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	225
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	226	default:
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	227	delete [] data.data;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	228	err << "Unknown data type 0x" << hex << dataType->coeCode;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	229	throwCommandException(err);
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	230	}
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	231	} catch (ios::failure &e) {
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	232	delete [] data.data;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	233	err << "Invalid value argument '" << args[2]
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	234	<< "' for type '" << dataType->name << "'!";
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	235	throwInvalidUsageException(err);
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	236	}
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	237
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	238	try {
1151 1fc1535dec29 Alias/Position selection. Florian Pose <fp@igh-essen.com> parents: 1144 diff changeset	239	m.sdoDownload(&data);
1184 75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	240	} catch (MasterDeviceSdoAbortException &e) {
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	241	delete [] data.data;
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1254 diff changeset	242	err << "SDO transfer aborted with code 0x"
1184 75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	243	<< setfill('0') << hex << setw(8) << e.abortCode
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	244	<< ": " << abortText(e.abortCode);
75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1166 diff changeset	245	throwCommandException(err);
1142 59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	246	} catch(MasterDeviceException &e) {
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	247	delete [] data.data;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	248	throw e;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	249	}
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	250
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	251	delete [] data.data;
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	252	}
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	253
59be91dfcbe1 Redesigned command interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	254	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Tue, 24 Feb 2009 12:51:39 +0000
changeset 1363	11c0b2caa253
parent 1334	da3d22a27500
child 1804	742607c464c4
permissions	-rw-r--r--