author | Florian Pose <fp@igh-essen.com> |
Wed, 23 Jul 2008 07:22:47 +0000 | |
changeset 1132 | 481b49560c11 |
parent 1130 | bb1c11adb2db |
permissions | -rw-r--r-- |
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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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|
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#include "globals.h" |
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#include "coe_datatypes.h" |
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|
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/****************************************************************************/ |
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|
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// FIXME |
1126
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const char *help_sdo_upload = |
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"[OPTIONS]\n" |
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"\n" |
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"\n" |
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"Command-specific options:\n"; |
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/****************************************************************************/ |
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|
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void command_sdo_upload(void) |
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{ |
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stringstream 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 CoEDataType *dataType = NULL; |
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if (slavePosition < 0) { |
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stringstream err; |
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err << "'sdo_upload' requires a slave! Please specify --slave."; |
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throw MasterDeviceException(err.str()); |
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} |
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data.slave_position = slavePosition; |
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|
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if (commandArgs.size() != 2) { |
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stringstream err; |
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err << "'sdo_upload' takes two arguments!"; |
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throw MasterDeviceException(err.str()); |
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} |
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strIndex << commandArgs[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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stringstream err; |
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err << "Invalid Sdo index '" << commandArgs[0] << "'!"; |
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throw MasterDeviceException(err.str()); |
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} |
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strSubIndex << commandArgs[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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stringstream err; |
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err << "Invalid Sdo subindex '" << commandArgs[1] << "'!"; |
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throw MasterDeviceException(err.str()); |
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} |
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data.sdo_entry_subindex = uval; |
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if (dataTypeStr != "") { // data type specified |
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if (!(dataType = findDataType(dataTypeStr))) { |
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stringstream err; |
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err << "Invalid data type '" << dataTypeStr << "'!"; |
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throw MasterDeviceException(err.str()); |
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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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masterDev.open(MasterDevice::Read); |
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|
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try { |
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masterDev.getSdoEntry(&entry, slavePosition, |
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data.sdo_index, data.sdo_entry_subindex); |
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} catch (MasterDeviceException &e) { |
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stringstream err; |
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err << "Failed to determine Sdo entry data type. " |
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<< "Please specify --type."; |
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throw ExecutionFailureException(err); |
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} |
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if (!(dataType = findDataType(entry.data_type))) { |
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stringstream err; |
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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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throw ExecutionFailureException(err); |
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93 |
} |
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} |
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95 |
|
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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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100 |
} |
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|
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data.target = new uint8_t[data.target_size + 1]; |
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|
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masterDev.open(MasterDevice::Read); |
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|
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try { |
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masterDev.sdoUpload(&data); |
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} catch (MasterDeviceException &e) { |
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delete [] data.target; |
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throw e; |
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111 |
} |
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112 |
|
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masterDev.close(); |
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114 |
|
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if (dataType->byteSize && data.data_size != dataType->byteSize) { |
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116 |
stringstream err; |
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err << "Data type mismatch. Expected " << dataType->name |
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118 |
<< " with " << dataType->byteSize << " byte, but got " |
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119 |
<< data.data_size << " byte."; |
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120 |
throw MasterDeviceException(err.str()); |
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121 |
} |
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122 |
|
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123 |
cout << setfill('0'); |
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124 |
switch (dataType->coeCode) { |
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125 |
case 0x0002: // int8 |
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126 |
sval = *(int8_t *) data.target; |
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127 |
cout << sval << " 0x" << hex << setw(2) << sval << endl; |
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128 |
break; |
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129 |
case 0x0003: // int16 |
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130 |
sval = le16tocpu(*(int16_t *) data.target); |
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131 |
cout << sval << " 0x" << hex << setw(4) << sval << endl; |
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132 |
break; |
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133 |
case 0x0004: // int32 |
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134 |
sval = le32tocpu(*(int32_t *) data.target); |
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135 |
cout << sval << " 0x" << hex << setw(8) << sval << endl; |
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|
136 |
break; |
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137 |
case 0x0005: // uint8 |
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138 |
uval = (unsigned int) *(uint8_t *) data.target; |
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139 |
cout << uval << " 0x" << hex << setw(2) << uval << endl; |
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|
140 |
break; |
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|
141 |
case 0x0006: // uint16 |
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142 |
uval = le16tocpu(*(uint16_t *) data.target); |
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|
143 |
cout << uval << " 0x" << hex << setw(4) << uval << endl; |
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parents:
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|
144 |
break; |
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|
145 |
case 0x0007: // uint32 |
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146 |
uval = le32tocpu(*(uint32_t *) data.target); |
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147 |
cout << uval << " 0x" << hex << setw(8) << uval << endl; |
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|
148 |
break; |
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149 |
case 0x0009: // string |
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150 |
cout << string((const char *) data.target, data.data_size) |
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151 |
<< endl; |
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|
152 |
break; |
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|
153 |
default: |
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154 |
printRawData(data.target, data.data_size); |
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|
155 |
break; |
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|
156 |
} |
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|
157 |
|
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|
158 |
delete [] data.target; |
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|
159 |
} |
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|
160 |
|
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|
161 |
/*****************************************************************************/ |