tool/CommandUpload.cpp
author Florian Pose <fp@igh-essen.com>
Thu, 02 Oct 2008 07:14:00 +0000
changeset 1243 13cb18b91627
parent 1184 75cd6681eb08
child 1254 c19d273a9e76
child 1686 e206f4485f60
permissions -rw-r--r--
Added changes since 1.4.0-rc2.
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/*****************************************************************************
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 *
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 * $Id$
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 *
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 ****************************************************************************/
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#include <iostream>
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#include <iomanip>
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using namespace std;
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#include "CommandUpload.h"
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#include "byteorder.h"
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/*****************************************************************************/
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CommandUpload::CommandUpload():
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    SdoCommand("upload", "Read an Sdo entry from a slave.")
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{
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}
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/*****************************************************************************/
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string CommandUpload::helpString() const
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{
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    stringstream str;
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    str << getName() << " [OPTIONS] <INDEX> <SUBINDEX>" << endl
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        << endl
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        << getBriefDescription() << endl
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        << endl
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        << "This command requires a single slave to be selected." << endl
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    	<< endl
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        << "The data type of the Sdo entry is taken from the Sdo" << endl
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        << "dictionary by default. It can be overridden with the" << endl
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        << "--type option. If the slave does not support the Sdo" << endl
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        << "information service or the Sdo is not in the dictionary," << endl
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        << "the --type option is mandatory."  << endl
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        << endl
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        << "These are the valid Sdo entry data types:" << endl
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        << "  int8, int16, int32, uint8, uint16, uint32, string." << endl
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        << endl
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        << "Arguments:" << endl
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        << "  INDEX    is the Sdo index and must be an unsigned" << endl
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        << "           16 bit number." << endl
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        << "  SUBINDEX is the Sdo entry subindex and must be an" << endl
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        << "           unsigned 8 bit number." << endl
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        << endl
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        << "Command-specific options:" << endl
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        << "  --alias    -a <alias>" << endl
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        << "  --position -p <pos>    Slave selection. See the help of" << endl
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        << "                         the 'slaves' command." << endl
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        << "  --type     -t <type>   Sdo entry data type (see above)." << endl
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        << endl
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        << numericInfo();
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    return str.str();
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}
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/****************************************************************************/
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void CommandUpload::execute(MasterDevice &m, const StringVector &args)
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{
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    SlaveList slaves;
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    stringstream err, strIndex, strSubIndex;
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    int sval;
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    ec_ioctl_slave_sdo_upload_t data;
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    unsigned int uval;
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    const DataType *dataType = NULL;
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    if (args.size() != 2) {
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        err << "'" << getName() << "' takes two arguments!";
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        throwInvalidUsageException(err);
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    }
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    strIndex << args[0];
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    strIndex
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        >> resetiosflags(ios::basefield) // guess base from prefix
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        >> data.sdo_index;
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    if (strIndex.fail()) {
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        err << "Invalid Sdo index '" << args[0] << "'!";
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        throwInvalidUsageException(err);
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    }
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    strSubIndex << args[1];
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    strSubIndex
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        >> resetiosflags(ios::basefield) // guess base from prefix
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        >> uval;
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    if (strSubIndex.fail() || uval > 0xff) {
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        err << "Invalid Sdo subindex '" << args[1] << "'!";
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        throwInvalidUsageException(err);
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    }
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    data.sdo_entry_subindex = uval;
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    m.open(MasterDevice::Read);
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    slaves = selectedSlaves(m);
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    if (slaves.size() != 1) {
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        throwSingleSlaveRequired(slaves.size());
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    }
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    data.slave_position = slaves.front().position;
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    if (!getDataType().empty()) { // data type specified
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        if (!(dataType = findDataType(getDataType()))) {
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            err << "Invalid data type '" << getDataType() << "'!";
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            throwInvalidUsageException(err);
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        }
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    } else { // no data type specified: fetch from dictionary
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        ec_ioctl_slave_sdo_entry_t entry;
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        try {
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            m.getSdoEntry(&entry, data.slave_position,
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                    data.sdo_index, data.sdo_entry_subindex);
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        } catch (MasterDeviceException &e) {
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            err << "Failed to determine Sdo entry data type. "
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                << "Please specify --type.";
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            throwCommandException(err);
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        }
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        if (!(dataType = findDataType(entry.data_type))) {
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            err << "Pdo entry has unknown data type 0x"
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                << hex << setfill('0') << setw(4) << entry.data_type << "!"
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                << " Please specify --type.";
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            throwCommandException(err);
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        }
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    }
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    if (dataType->byteSize) {
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        data.target_size = dataType->byteSize;
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    } else {
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        data.target_size = DefaultBufferSize;
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    }
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    data.target = new uint8_t[data.target_size + 1];
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	try {
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		m.sdoUpload(&data);
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	} catch (MasterDeviceSdoAbortException &e) {
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        delete [] data.target;
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        err << "Sdo transfer aborted with code 0x"
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            << setfill('0') << hex << setw(8) << e.abortCode
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            << ": " << abortText(e.abortCode);
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        throwCommandException(err);
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	} catch (MasterDeviceException &e) {
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        delete [] data.target;
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        throw e;
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    }
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    m.close();
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    if (dataType->byteSize && data.data_size != dataType->byteSize) {
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        err << "Data type mismatch. Expected " << dataType->name
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            << " with " << dataType->byteSize << " byte, but got "
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            << data.data_size << " byte.";
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        throwCommandException(err);
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    }
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    cout << setfill('0');
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    switch (dataType->coeCode) {
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        case 0x0002: // int8
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            sval = *(int8_t *) data.target;
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            cout << sval << " 0x" << hex << setw(2) << sval << endl;
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            break;
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        case 0x0003: // int16
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            sval = le16tocpu(*(int16_t *) data.target);
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            cout << sval << " 0x" << hex << setw(4) << sval << endl;
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            break;
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        case 0x0004: // int32
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            sval = le32tocpu(*(int32_t *) data.target);
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            cout << sval << " 0x" << hex << setw(8) << sval << endl;
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            break;
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        case 0x0005: // uint8
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            uval = (unsigned int) *(uint8_t *) data.target;
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            cout << uval << " 0x" << hex << setw(2) << uval << endl;
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            break;
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        case 0x0006: // uint16
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            uval = le16tocpu(*(uint16_t *) data.target);
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            cout << uval << " 0x" << hex << setw(4) << uval << endl;
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            break;
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        case 0x0007: // uint32
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            uval = le32tocpu(*(uint32_t *) data.target);
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            cout << uval << " 0x" << hex << setw(8) << uval << endl;
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            break;
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        case 0x0009: // string
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            cout << string((const char *) data.target, data.data_size)
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                << endl;
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            break;
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        default:
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            printRawData(data.target, data.data_size); // FIXME
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            break;
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    }
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    delete [] data.target;
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}
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/****************************************************************************/
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void CommandUpload::printRawData(
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		const uint8_t *data,
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		unsigned int size
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		)
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{
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    cout << hex << setfill('0');
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   201
    while (size--) {
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   202
        cout << "0x" << setw(2) << (unsigned int) *data++;
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   203
        if (size)
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            cout << " ";
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   205
    }
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    cout << endl;
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   207
}
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/*****************************************************************************/