| author | Florian Pose <fp@igh-essen.com> |
| Tue, 30 Sep 2008 10:03:10 +0000 | |
| changeset 1228 | 6d9c686f922e |
| parent 1184 | 75cd6681eb08 |
| child 1254 | c19d273a9e76 |
| child 1686 | e206f4485f60 |
| permissions | -rw-r--r-- |
| 1142 | 1 |
/***************************************************************************** |
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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 "CommandDownload.h" |
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#include "byteorder.h" |
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/*****************************************************************************/ |
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CommandDownload::CommandDownload(): |
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1184
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents:
1166
diff
changeset
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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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1157
04d1c950cf9d
Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents:
1155
diff
changeset
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<< endl |
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04d1c950cf9d
Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents:
1155
diff
changeset
|
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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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1144
7dbfdd61812c
Bugfixes and improvements.
Florian Pose <fp@igh-essen.com>
parents:
1142
diff
changeset
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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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1157
04d1c950cf9d
Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents:
1155
diff
changeset
|
51 |
<< " --alias -a <alias>" << endl |
|
04d1c950cf9d
Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents:
1155
diff
changeset
|
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<< " --position -p <pos> Slave selection. See the help of" << endl |
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04d1c950cf9d
Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents:
1155
diff
changeset
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<< " the 'slaves' command." << endl |
|
04d1c950cf9d
Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents:
1155
diff
changeset
|
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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(MasterDevice &m, const StringVector &args) |
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{
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stringstream strIndex, strSubIndex, strValue, err; |
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ec_ioctl_slave_sdo_download_t data; |
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unsigned int number; |
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1184
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents:
1166
diff
changeset
|
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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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m.open(MasterDevice::ReadWrite); |
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slaves = selectedSlaves(m); |
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if (slaves.size() != 1) {
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1155
bd4e5b544473
Common message for single slave selections.
Florian Pose <fp@igh-essen.com>
parents:
1151
diff
changeset
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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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strValue << args[2]; |
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strValue >> resetiosflags(ios::basefield); // guess base from prefix |
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strValue.exceptions(ios::failbit); |
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try {
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switch (dataType->coeCode) {
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case 0x0002: // int8 |
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{
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int16_t val; // uint8_t is interpreted as char |
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strValue >> val; |
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if (val > 127 || val < -128) |
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throw ios::failure("Value out of range");
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*data.data = val; |
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break; |
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} |
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case 0x0003: // int16 |
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{
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int16_t val; |
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strValue >> val; |
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*(int16_t *) data.data = cputole16(val); |
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break; |
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} |
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case 0x0004: // int32 |
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{
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int32_t val; |
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strValue >> val; |
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*(int32_t *) data.data = cputole32(val); |
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break; |
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} |
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case 0x0005: // uint8 |
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{
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uint16_t val; // uint8_t is interpreted as char |
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strValue >> val; |
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if (val > 0xff) |
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throw ios::failure("Value out of range");
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*data.data = val; |
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break; |
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} |
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case 0x0006: // uint16 |
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{
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uint16_t val; |
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strValue >> val; |
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*(uint16_t *) data.data = cputole16(val); |
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break; |
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} |
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case 0x0007: // uint32 |
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{
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uint32_t val; |
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strValue >> val; |
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*(uint32_t *) data.data = cputole32(val); |
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break; |
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} |
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case 0x0009: // string |
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if (strValue.str().size() >= data.data_size) {
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err << "String too large"; |
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throwCommandException(err); |
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} |
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data.data_size = strValue.str().size(); |
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strValue >> (char *) data.data; |
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break; |
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default: |
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delete [] data.data; |
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err << "Unknown data type 0x" << hex << dataType->coeCode; |
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throwCommandException(err); |
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} |
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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); |
|
1184
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents:
1166
diff
changeset
|
209 |
} catch (MasterDeviceSdoAbortException &e) {
|
|
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents:
1166
diff
changeset
|
210 |
delete [] data.data; |
|
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents:
1166
diff
changeset
|
211 |
err << "Sdo transfer aborted with code 0x" |
|
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents:
1166
diff
changeset
|
212 |
<< setfill('0') << hex << setw(8) << e.abortCode
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75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents:
1166
diff
changeset
|
213 |
<< ": " << abortText(e.abortCode); |
|
75cd6681eb08
Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
Florian Pose <fp@igh-essen.com>
parents:
1166
diff
changeset
|
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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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/*****************************************************************************/ |