etherlabmaster: tool/MasterDevice.cpp@11ec009e145d (annotated)

1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/*****************************************************************************
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	6
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	#include <sys/stat.h>
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	#include <fcntl.h>
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	#include <errno.h>
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	#include <sys/ioctl.h>
1636 b26170e168d9 merge -c1452 trunk: Headers. Florian Pose <fp@igh-essen.com> parents: 1184 diff changeset	11	#include <string.h>
1643 cf5a5c511408 merge -c1474 trunk: Added missing header. Florian Pose <fp@igh-essen.com> parents: 1636 diff changeset	12	#include <unistd.h>
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	13
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	#include <sstream>
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	15	#include <iomanip>
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	using namespace std;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	17
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	#include "MasterDevice.h"
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	19
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	21
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	MasterDevice::MasterDevice()
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	23	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	24	index = 0;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	25	fd = -1;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	26	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	27
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	29
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	MasterDevice::~MasterDevice()
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	close();
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	33	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	34
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	36
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	void MasterDevice::setIndex(unsigned int i)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	38	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	index = i;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	40	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	41
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	43
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	44	void MasterDevice::open(Permissions perm)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	45	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	46	stringstream deviceName;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	47
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	48	if (fd == -1) { // not already open
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	49	deviceName << "/dev/EtherCAT" << index;
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	50
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	51	if ((fd = ::open(deviceName.str().c_str(),
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	52	perm == ReadWrite ? O_RDWR : O_RDONLY)) == -1) {
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	53	stringstream err;
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	54	err << "Failed to open master device " << deviceName.str() << ": "
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	55	<< strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	56	throw MasterDeviceException(err);
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	57	}
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	58	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	59	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	60
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	61	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	62
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	63	void MasterDevice::close()
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	64	{
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	65	if (fd != -1) {
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	66	::close(fd);
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	67	fd = -1;
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	68	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	69	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	70
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	71	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	72
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	73	void MasterDevice::getMaster(ec_ioctl_master_t *data)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	74	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	75	if (ioctl(fd, EC_IOCTL_MASTER, data) < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	76	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	77	err << "Failed to get master information: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	78	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	79	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	80	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	81
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	82	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	83
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	84	void MasterDevice::getConfig(ec_ioctl_config_t *data, unsigned int index)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	85	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	86	data->config_index = index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	87
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	if (ioctl(fd, EC_IOCTL_CONFIG, data) < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	89	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	90	err << "Failed to get slave configuration: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	91	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	92	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	93	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	94
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	95	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	96
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	97	void MasterDevice::getConfigPdo(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	98	ec_ioctl_config_pdo_t *data,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	99	unsigned int index,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	100	uint8_t sync_index,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	101	uint16_t pdo_pos
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	102	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	103	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	104	data->config_index = index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	105	data->sync_index = sync_index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	106	data->pdo_pos = pdo_pos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	107
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	108	if (ioctl(fd, EC_IOCTL_CONFIG_PDO, data) < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	109	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	110	err << "Failed to get slave config Pdo: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	111	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	112	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	114
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	115	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	116
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	117	void MasterDevice::getConfigPdoEntry(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	118	ec_ioctl_config_pdo_entry_t *data,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	119	unsigned int index,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	120	uint8_t sync_index,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	121	uint16_t pdo_pos,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	122	uint8_t entry_pos
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	123	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	124	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	125	data->config_index = index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	126	data->sync_index = sync_index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	127	data->pdo_pos = pdo_pos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	128	data->entry_pos = entry_pos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	129
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	130	if (ioctl(fd, EC_IOCTL_CONFIG_PDO_ENTRY, data) < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	131	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	132	err << "Failed to get slave config Pdo entry: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	133	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	134	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	135	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	136
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	137	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	138
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	139	void MasterDevice::getConfigSdo(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	140	ec_ioctl_config_sdo_t *data,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	141	unsigned int index,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	142	unsigned int sdo_pos
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	143	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	144	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	145	data->config_index = index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	146	data->sdo_pos = sdo_pos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	147
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	148	if (ioctl(fd, EC_IOCTL_CONFIG_SDO, data) < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	149	stringstream err;
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1643 diff changeset	150	err << "Failed to get slave config SDO: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	151	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	152	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	153	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	154
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	155	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	156
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	157	void MasterDevice::getDomain(ec_ioctl_domain_t *data, unsigned int index)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	158	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	159	data->index = index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	160
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	161	if (ioctl(fd, EC_IOCTL_DOMAIN, data)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	162	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	163	err << "Failed to get domain: ";
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	164	if (errno == EINVAL)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	165	err << "Domain " << index << " does not exist!";
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	166	else
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	167	err << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	168	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	169	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	170	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	171
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	172	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	173
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	174	void MasterDevice::getData(ec_ioctl_domain_data_t *data,
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	175	unsigned int domainIndex, unsigned int dataSize, unsigned char *mem)
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	176	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	177	data->domain_index = domainIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	178	data->data_size = dataSize;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	179	data->target = mem;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	180
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	181	if (ioctl(fd, EC_IOCTL_DOMAIN_DATA, data) < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	182	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	183	err << "Failed to get domain data: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	184	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	185	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	186	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	187
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	188	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	189
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	190	void MasterDevice::getSlave(ec_ioctl_slave_t *slave, uint16_t slaveIndex)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	191	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	192	slave->position = slaveIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	193
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	194	if (ioctl(fd, EC_IOCTL_SLAVE, slave)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	195	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	196	err << "Failed to get slave: ";
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	197	if (errno == EINVAL)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	198	err << "Slave " << slaveIndex << " does not exist!";
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	199	else
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	200	err << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	201	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	202	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	203	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	204
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	205	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	206
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	207	void MasterDevice::getFmmu(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	208	ec_ioctl_domain_fmmu_t *fmmu,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	209	unsigned int domainIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	210	unsigned int fmmuIndex
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	211	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	212	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	213	fmmu->domain_index = domainIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	214	fmmu->fmmu_index = fmmuIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	215
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	216	if (ioctl(fd, EC_IOCTL_DOMAIN_FMMU, fmmu)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	217	stringstream err;
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	218	err << "Failed to get domain FMMU: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	219	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	220	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	221	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	222
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	223	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	224
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	225	void MasterDevice::getSync(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	226	ec_ioctl_slave_sync_t *sync,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	227	uint16_t slaveIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	228	uint8_t syncIndex
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	229	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	230	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	231	sync->slave_position = slaveIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	232	sync->sync_index = syncIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	233
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	234	if (ioctl(fd, EC_IOCTL_SLAVE_SYNC, sync)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	235	stringstream err;
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	236	err << "Failed to get sync manager: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	237	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	238	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	239	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	240
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	241	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	242
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	243	void MasterDevice::getPdo(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	244	ec_ioctl_slave_sync_pdo_t *pdo,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	245	uint16_t slaveIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	246	uint8_t syncIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	247	uint8_t pdoPos
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	248	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	249	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	250	pdo->slave_position = slaveIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	251	pdo->sync_index = syncIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	252	pdo->pdo_pos = pdoPos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	253
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	254	if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO, pdo)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	255	stringstream err;
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	256	err << "Failed to get Pdo: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	257	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	258	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	259	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	260
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	261	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	262
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	263	void MasterDevice::getPdoEntry(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	264	ec_ioctl_slave_sync_pdo_entry_t *entry,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	265	uint16_t slaveIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	266	uint8_t syncIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	267	uint8_t pdoPos,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	268	uint8_t entryPos
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	269	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	270	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	271	entry->slave_position = slaveIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	272	entry->sync_index = syncIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	273	entry->pdo_pos = pdoPos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	274	entry->entry_pos = entryPos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	275
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	276	if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, entry)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	277	stringstream err;
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	278	err << "Failed to get Pdo entry: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	279	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	280	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	281	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	282
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	283	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	284
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	285	void MasterDevice::getSdo(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	286	ec_ioctl_slave_sdo_t *sdo,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	287	uint16_t slaveIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	288	uint16_t sdoPosition
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	289	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	290	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	291	sdo->slave_position = slaveIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	292	sdo->sdo_position = sdoPosition;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	293
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	294	if (ioctl(fd, EC_IOCTL_SLAVE_SDO, sdo)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	295	stringstream err;
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1643 diff changeset	296	err << "Failed to get SDO: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	297	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	298	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	299	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	300
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	301	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	302
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	303	void MasterDevice::getSdoEntry(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	304	ec_ioctl_slave_sdo_entry_t *entry,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	305	uint16_t slaveIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	306	int sdoSpec,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	307	uint8_t entrySubindex
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	308	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	309	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	310	entry->slave_position = slaveIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	311	entry->sdo_spec = sdoSpec;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	312	entry->sdo_entry_subindex = entrySubindex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	313
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	314	if (ioctl(fd, EC_IOCTL_SLAVE_SDO_ENTRY, entry)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	315	stringstream err;
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1643 diff changeset	316	err << "Failed to get SDO entry: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	317	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	318	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	319	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	320
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	321	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	322
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	323	void MasterDevice::readSii(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	324	ec_ioctl_slave_sii_t *data
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	325	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	326	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	327	if (ioctl(fd, EC_IOCTL_SLAVE_SII_READ, data) < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	328	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	329	err << "Failed to read SII: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	330	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	331	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	332	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	333
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	334	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	335
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	336	void MasterDevice::writeSii(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	337	ec_ioctl_slave_sii_t *data
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	338	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	339	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	340	if (ioctl(fd, EC_IOCTL_SLAVE_SII_WRITE, data) < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	341	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	342	err << "Failed to write SII: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	343	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	344	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	345	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	346
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	347	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	348
1707 11ec009e145d Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	349	void MasterDevice::readFoe(
11ec009e145d Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	350	ec_ioctl_slave_foe_t *data
11ec009e145d Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	351	)
11ec009e145d Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	352	{
11ec009e145d Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	353	if (ioctl(fd, EC_IOCTL_SLAVE_FOE_READ, data) < 0) {
11ec009e145d Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	354	stringstream err;
11ec009e145d Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	355	err << "Failed to read via FoE: " << strerror(errno);
11ec009e145d Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	356	throw MasterDeviceException(err);
11ec009e145d Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	357	}
11ec009e145d Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	358	}
11ec009e145d Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	359
11ec009e145d Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	360	/****************************************************************************/
11ec009e145d Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	361
11ec009e145d Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	362	void MasterDevice::writeFoe(
11ec009e145d Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	363	ec_ioctl_slave_foe_t *data
11ec009e145d Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	364	)
11ec009e145d Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	365	{
11ec009e145d Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	366	if (ioctl(fd, EC_IOCTL_SLAVE_FOE_WRITE, data) < 0) {
11ec009e145d Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	367	stringstream err;
11ec009e145d Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	368	err << "Failed to write via FoE: " << strerror(errno);
11ec009e145d Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	369	throw MasterDeviceException(err);
11ec009e145d Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	370	}
11ec009e145d Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	371	}
11ec009e145d Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	372
11ec009e145d Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	373	/****************************************************************************/
11ec009e145d Included FoE patch from Olav Zarges. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	374
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	375	void MasterDevice::setDebug(unsigned int debugLevel)
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	376	{
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	377	if (ioctl(fd, EC_IOCTL_MASTER_DEBUG, debugLevel) < 0) {
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	378	stringstream err;
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	379	err << "Failed to set debug level: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	380	throw MasterDeviceException(err);
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	381	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	382	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	383
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	384	/****************************************************************************/
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	385
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	386	void MasterDevice::sdoDownload(ec_ioctl_slave_sdo_download_t *data)
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	387	{
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	388	if (ioctl(fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, data) < 0) {
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	389	stringstream err;
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	390	if (errno == EIO && data->abort_code) {
1184 75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1160 diff changeset	391	throw MasterDeviceSdoAbortException(data->abort_code);
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	392	} else {
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1643 diff changeset	393	err << "Failed to download SDO: " << strerror(errno);
1184 75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1160 diff changeset	394	throw MasterDeviceException(err);
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	395	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	396	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	397	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	398
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	399	/****************************************************************************/
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	400
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	401	void MasterDevice::sdoUpload(ec_ioctl_slave_sdo_upload_t *data)
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	402	{
1135 807ec6498502 Fixed sdoUpload(). Florian Pose <fp@igh-essen.com> parents: 1126 diff changeset	403	if (ioctl(fd, EC_IOCTL_SLAVE_SDO_UPLOAD, data) < 0) {
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	404	stringstream err;
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	405	if (errno == EIO && data->abort_code) {
1184 75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1160 diff changeset	406	throw MasterDeviceSdoAbortException(data->abort_code);
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	407	} else {
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1643 diff changeset	408	err << "Failed to upload SDO: " << strerror(errno);
1184 75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space- Florian Pose <fp@igh-essen.com> parents: 1160 diff changeset	409	throw MasterDeviceException(err);
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	410	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	411	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	412	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	413
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	414	/****************************************************************************/
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	415
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	416	void MasterDevice::requestState(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	417	uint16_t slavePosition,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	418	uint8_t state
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	419	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	420	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	421	ec_ioctl_slave_state_t data;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	422
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	423	data.slave_position = slavePosition;
1148 1762296870bd Renamed state field to al_state. Florian Pose <fp@igh-essen.com> parents: 1136 diff changeset	424	data.al_state = state;
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	425
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	426	if (ioctl(fd, EC_IOCTL_SLAVE_STATE, &data)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	427	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	428	err << "Failed to request slave state: ";
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	429	if (errno == EINVAL)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	430	err << "Slave " << slavePosition << " does not exist!";
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	431	else
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	432	err << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	433	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	434	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	435	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	436
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	437	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Mon, 19 Jan 2009 10:18:41 +0000
branch	1.4-foe
changeset 1707	11ec009e145d
parent 1686	e206f4485f60
permissions	-rw-r--r--