author | Florian Pose <fp@igh-essen.com> |
Tue, 10 Jan 2012 10:11:20 +0100 | |
changeset 2249 | 6dbd7594dd1d |
parent 1968 | 4f682084c643 |
child 2421 | bc2d4bf9cbe5 |
child 2589 | 2b9c78543663 |
permissions | -rw-r--r-- |
1388 | 1 |
/***************************************************************************** |
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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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#include <fstream> |
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using namespace std; |
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#include "CommandRegWrite.h" |
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#include "sii_crc.h" |
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Multi-master support for command-line tool. The --master option supports
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#include "MasterDevice.h" |
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/*****************************************************************************/ |
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CommandRegWrite::CommandRegWrite(): |
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Command("reg_write", "Write data to a slave's registers.") |
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{ |
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} |
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/*****************************************************************************/ |
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||
1968
4f682084c643
Implemented drive_no for command-line tool; binary base name is now a
Florian Pose <fp@igh-essen.com>
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string CommandRegWrite::helpString(const string &binaryBaseName) const |
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{ |
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stringstream str; |
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1968
4f682084c643
Implemented drive_no for command-line tool; binary base name is now a
Florian Pose <fp@igh-essen.com>
parents:
1870
diff
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str << binaryBaseName << " " << getName() |
4f682084c643
Implemented drive_no for command-line tool; binary base name is now a
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parents:
1870
diff
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<< " [OPTIONS] <OFFSET> <DATA>" << 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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<< "Arguments:" << endl |
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<< " OFFSET is the register address to write to." << endl |
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reg_write with data types.
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<< " DATA depends on whether a datatype was specified" << endl |
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<< " with the --type option: If not, DATA must be" << endl |
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<< " either a path to a file with data to write," << endl |
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<< " or '-', which means, that data are read from" << endl |
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<< " stdin. If a datatype was specified, VALUE is" << endl |
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<< " interpreted respective to the given type." << endl |
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<< endl |
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489ea0becd74
Implemented SoE IDN parser for strings like 'P-0-0150'; moved data type
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<< typeInfo() |
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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> 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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Multi-master support for command-line tool. The --master option supports
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void CommandRegWrite::execute(const StringVector &args) |
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{ |
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stringstream strOffset, err; |
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ec_ioctl_slave_reg_t data; |
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ifstream file; |
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SlaveList slaves; |
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if (args.size() != 2) { |
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err << "'" << getName() << "' takes exactly two arguments!"; |
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throwInvalidUsageException(err); |
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} |
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strOffset << args[0]; |
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strOffset |
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>> resetiosflags(ios::basefield) // guess base from prefix |
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>> data.offset; |
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if (strOffset.fail()) { |
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err << "Invalid offset '" << args[0] << "'!"; |
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throwInvalidUsageException(err); |
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} |
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ec6223c3b7ec
Multi-master support for command-line tool. The --master option supports
Florian Pose <fp@igh-essen.com>
parents:
1804
diff
changeset
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if (getDataType().empty()) { |
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if (args[1] == "-") { |
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loadRegData(&data, cin); |
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} else { |
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file.open(args[1].c_str(), ifstream::in | ifstream::binary); |
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if (file.fail()) { |
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err << "Failed to open '" << args[1] << "'!"; |
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throwCommandException(err); |
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} |
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loadRegData(&data, file); |
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file.close(); |
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} |
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} else { |
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stringstream strValue; |
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const DataType *dataType = findDataType(getDataType()); |
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parents:
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reg_write with data types.
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parents:
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if (!dataType) { |
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parents:
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err << "Invalid data type '" << getDataType() << "'!"; |
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parents:
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throwInvalidUsageException(err); |
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} |
1389
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reg_write with data types.
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parents:
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if (dataType->byteSize) { |
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data.length = dataType->byteSize; |
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Florian Pose <fp@igh-essen.com>
parents:
1826
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} else { |
20748e9d2238
Sourced out data type handling into an own class.
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parents:
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data.length = 1024; // FIXME |
20748e9d2238
Sourced out data type handling into an own class.
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parents:
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} |
20748e9d2238
Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents:
1826
diff
changeset
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20748e9d2238
Sourced out data type handling into an own class.
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parents:
1826
diff
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data.data = new uint8_t[data.length]; |
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try { |
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20748e9d2238
Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents:
1826
diff
changeset
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data.length = interpretAsType( |
20748e9d2238
Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents:
1826
diff
changeset
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dataType, args[1], data.data, data.length); |
20748e9d2238
Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents:
1826
diff
changeset
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} catch (SizeException &e) { |
20748e9d2238
Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents:
1826
diff
changeset
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delete [] data.data; |
20748e9d2238
Sourced out data type handling into an own class.
Florian Pose <fp@igh-essen.com>
parents:
1826
diff
changeset
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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[1] |
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<< "' for type '" << dataType->name << "'!"; |
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throwInvalidUsageException(err); |
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} |
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} |
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if ((uint32_t) data.offset + data.length > 0xffff) { |
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err << "Offset and length exceeding 64k!"; |
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delete [] data.data; |
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throwInvalidUsageException(err); |
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} |
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1870
0cee1fb7f0fd
Added getSingleMasterIndex() for command-line tool.
Florian Pose <fp@igh-essen.com>
parents:
1869
diff
changeset
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MasterDevice m(getSingleMasterIndex()); |
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try { |
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m.open(MasterDevice::ReadWrite); |
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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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slaves = selectedSlaves(m); |
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if (slaves.size() != 1) { |
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delete [] data.data; |
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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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// send data to master |
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try { |
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m.writeReg(&data); |
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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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if (getVerbosity() == Verbose) { |
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cerr << "Register writing finished." << endl; |
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} |
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delete [] data.data; |
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} |
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/*****************************************************************************/ |
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void CommandRegWrite::loadRegData( |
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ec_ioctl_slave_reg_t *data, |
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const istream &in |
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) |
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{ |
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stringstream err; |
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ostringstream tmp; |
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tmp << in.rdbuf(); |
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string const &contents = tmp.str(); |
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if (getVerbosity() == Verbose) { |
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cerr << "Read " << contents.size() << " bytes of data." << endl; |
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} |
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if (contents.size() > 0xffff) { |
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err << "Invalid data size " << contents.size() << "!"; |
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throwInvalidUsageException(err); |
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} |
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data->length = contents.size(); |
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// allocate buffer and read file into buffer |
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data->data = new uint8_t[data->length]; |
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contents.copy((char *) data->data, contents.size()); |
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} |
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/*****************************************************************************/ |