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/*****************************************************************************

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

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 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

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 *  Public License for more details.

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 *

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 *  You should have received a copy of the GNU General Public License along

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 *  with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

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 *  ---

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 *

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 *  The license mentioned above concerns the source code only. Using the

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 *  EtherCAT technology and brand is only permitted in compliance with the

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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 ****************************************************************************/

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#include <iostream>

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#include <iomanip>

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using namespace std;

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#include "CommandDownload.h"

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#include "MasterDevice.h"

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/*****************************************************************************/

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CommandDownload::CommandDownload():

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    SdoCommand("download", "Write an SDO entry to a slave.")

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{

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}

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/*****************************************************************************/

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string CommandDownload::helpString() const

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{

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    stringstream str;

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    str << getName() << " [OPTIONS] <INDEX> <SUBINDEX> <VALUE>" << 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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        << "  octet_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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        << "  VALUE    is the value to download and must correspond" << endl

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        << "           to the SDO entry datatype (see above)." << 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 CommandDownload::execute(const StringVector &args)

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{

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    stringstream strIndex, strSubIndex, err;

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    ec_ioctl_slave_sdo_download_t data;

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    unsigned int number;

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    const DataType *dataType = NULL;

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    SlaveList slaves;

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    if (args.size() != 3) {

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        err << "'" << getName() << "' takes 3 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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        >> number;

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    if (strSubIndex.fail() || number > 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 = number;

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    if (getMasterIndices().size() != 1) {

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        err << getName() << " requires to select a single master!";

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        throwInvalidUsageException(err);

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    }

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    MasterDevice m(getMasterIndices().front());

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    m.open(MasterDevice::ReadWrite);

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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.data_size = dataType->byteSize;

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    } else {

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        data.data_size = DefaultBufferSize;

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    }

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    data.data = new uint8_t[data.data_size + 1];

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    try {

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        data.data_size = interpretAsType(

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                dataType, args[2], data.data, data.data_size);

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    } catch (SizeException &e) {

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        delete [] data.data;

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        throwCommandException(e.what());

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    } catch (ios::failure &e) {

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        delete [] data.data;

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        err << "Invalid value argument '" << args[2]

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            << "' for type '" << dataType->name << "'!";

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        throwInvalidUsageException(err);

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    }

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    try {

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        m.sdoDownload(&data);

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    } catch (MasterDeviceSdoAbortException &e) {

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        delete [] data.data;

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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.data;

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        throw e;

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    }

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    delete [] data.data;

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}

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/*****************************************************************************/