1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

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

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

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

    10

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

    11

 *  published by the Free Software Foundation.

    12

 *

    13

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

    14

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

    15

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

    16

 *  Public License for more details.

    17

 *

    18

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

    19

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

    20

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

    21

 *

    22

 *  ---

    23

 *

    24

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

    25

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

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

#include <iostream>

    31

#include <iomanip>

    32

using namespace std;

    33

    34

#include "CommandUpload.h"

    35

    36

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

    37

    38

CommandUpload::CommandUpload():

    39

    SdoCommand("upload", "Read an SDO entry from a slave.")

    40

{

    41

}

    42

    43

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

    44

    45

string CommandUpload::helpString() const

    46

{

    47

    stringstream str;

    48

    49

    str << getName() << " [OPTIONS] <INDEX> <SUBINDEX>" << endl

    50

        << endl

    51

        << getBriefDescription() << endl

    52

        << endl

    53

        << "This command requires a single slave to be selected." << endl

    54

    	<< endl

    55

        << "The data type of the SDO entry is taken from the SDO" << endl

    56

        << "dictionary by default. It can be overridden with the" << endl

    57

        << "--type option. If the slave does not support the SDO" << endl

    58

        << "information service or the SDO is not in the dictionary," << endl

    59

        << "the --type option is mandatory."  << endl

    60

        << endl

    61

        << "These are the valid SDO entry data types:" << endl

    62

        << "  int8, int16, int32, uint8, uint16, uint32, string," << endl

    63

        << "  octet_string." << endl

    64

        << endl

    65

        << "Arguments:" << endl

    66

        << "  INDEX    is the SDO index and must be an unsigned" << endl

    67

        << "           16 bit number." << endl

    68

        << "  SUBINDEX is the SDO entry subindex and must be an" << endl

    69

        << "           unsigned 8 bit number." << endl

    70

        << endl

    71

        << "Command-specific options:" << endl

    72

        << "  --alias    -a <alias>" << endl

    73

        << "  --position -p <pos>    Slave selection. See the help of" << endl

    74

        << "                         the 'slaves' command." << endl

    75

        << "  --type     -t <type>   SDO entry data type (see above)." << endl

    76

        << endl

    77

        << numericInfo();

    78

    79

    return str.str();

    80

}

    81

    82

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

    83

    84

void CommandUpload::execute(MasterDevice &m, const StringVector &args)

    85

{

    86

    SlaveList slaves;

    87

    stringstream err, strIndex, strSubIndex;

    88

    ec_ioctl_slave_sdo_upload_t data;

    89

    const DataType *dataType = NULL;

    90

    unsigned int uval;

    91

    92

    if (args.size() != 2) {

    93

        err << "'" << getName() << "' takes two arguments!";

    94

        throwInvalidUsageException(err);

    95

    }

    96

    97

    strIndex << args[0];

    98

    strIndex

    99

        >> resetiosflags(ios::basefield) // guess base from prefix

   100

        >> data.sdo_index;

   101

    if (strIndex.fail()) {

   102

        err << "Invalid SDO index '" << args[0] << "'!";

   103

        throwInvalidUsageException(err);

   104

    }

   105

   106

    strSubIndex << args[1];

   107

    strSubIndex

   108

        >> resetiosflags(ios::basefield) // guess base from prefix

   109

        >> uval;

   110

    if (strSubIndex.fail() || uval > 0xff) {

   111

        err << "Invalid SDO subindex '" << args[1] << "'!";

   112

        throwInvalidUsageException(err);

   113

    }

   114

    data.sdo_entry_subindex = uval;

   115

   116

    m.open(MasterDevice::Read);

   117

    slaves = selectedSlaves(m);

   118

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

   119

        throwSingleSlaveRequired(slaves.size());

   120

    }

   121

    data.slave_position = slaves.front().position;

   122

   123

    if (!getDataType().empty()) { // data type specified

   124

        if (!(dataType = findDataType(getDataType()))) {

   125

            err << "Invalid data type '" << getDataType() << "'!";

   126

            throwInvalidUsageException(err);

   127

        }

   128

    } else { // no data type specified: fetch from dictionary

   129

        ec_ioctl_slave_sdo_entry_t entry;

   130

   131

        try {

   132

            m.getSdoEntry(&entry, data.slave_position,

   133

                    data.sdo_index, data.sdo_entry_subindex);

   134

        } catch (MasterDeviceException &e) {

   135

            err << "Failed to determine SDO entry data type. "

   136

                << "Please specify --type.";

   137

            throwCommandException(err);

   138

        }

   139

        if (!(dataType = findDataType(entry.data_type))) {

   140

            err << "PDO entry has unknown data type 0x"

   141

                << hex << setfill('0') << setw(4) << entry.data_type << "!"

   142

                << " Please specify --type.";

   143

            throwCommandException(err);

   144

        }

   145

    }

   146

   147

    if (dataType->byteSize) {

   148

        data.target_size = dataType->byteSize;

   149

    } else {

   150

        data.target_size = DefaultBufferSize;

   151

    }

   152

   153

    data.target = new uint8_t[data.target_size + 1];

   154

   155

	try {

   156

		m.sdoUpload(&data);

   157

	} catch (MasterDeviceSdoAbortException &e) {

   158

        delete [] data.target;

   159

        err << "SDO transfer aborted with code 0x"

   160

            << setfill('0') << hex << setw(8) << e.abortCode

   161

            << ": " << abortText(e.abortCode);

   162

        throwCommandException(err);

   163

	} catch (MasterDeviceException &e) {

   164

        delete [] data.target;

   165

        throw e;

   166

    }

   167

   168

    m.close();

   169

   170

    if (dataType->byteSize && data.data_size != dataType->byteSize) {

   171

        err << "Data type mismatch. Expected " << dataType->name

   172

            << " with " << dataType->byteSize << " byte, but got "

   173

            << data.data_size << " byte.";

   174

        throwCommandException(err);

   175

    }

   176

   177

    cout << setfill('0');

   178

    switch (dataType->coeCode) {

   179

        case 0x0002: // int8

   180

            {

   181

                int val = (int) *data.target;

   182

                cout << "0x" << hex << setw(2) << val

   183

                    << " " << dec << val << endl;

   184

            }

   185

            break;

   186

        case 0x0003: // int16

   187

            {

   188

                int16_t val = le16_to_cpup(data.target);

   189

                cout << "0x" << hex << setw(4) << val

   190

                    << " " << dec << val << endl;

   191

            }

   192

            break;

   193

        case 0x0004: // int32

   194

            {

   195

                int32_t val = le32_to_cpup(data.target);

   196

                cout << "0x" << hex << setw(8) << val

   197

                    << " " << dec << val << endl;

   198

            }

   199

            break;

   200

        case 0x0005: // uint8

   201

            {

   202

                unsigned int val = (unsigned int) *data.target;

   203

                cout << "0x" << hex << setw(2) << val

   204

                    << " " << dec << val << endl;

   205

            }

   206

            break;

   207

        case 0x0006: // uint16

   208

            {

   209

                uint16_t val = le16_to_cpup(data.target);

   210

                cout << "0x" << hex << setw(4) << val

   211

                    << " " << dec << val << endl;

   212

            }

   213

            break;

   214

        case 0x0007: // uint32

   215

            {

   216

                uint32_t val = le32_to_cpup(data.target);

   217

                cout << "0x" << hex << setw(8) << val

   218

                    << " " << dec << val << endl;

   219

            }

   220

            break;

   221

        case 0x0009: // string

   222

            cout << string((const char *) data.target, data.data_size)

   223

                << endl;

   224

            break;

   225

        case 0x000a: // octet_string

   226

            cout << string((const char *) data.target, data.data_size)

   227

                << endl;

   228

            break;

   229

        default:

   230

            printRawData(data.target, data.data_size); // FIXME

   231

            break;

   232

    }

   233

   234

    delete [] data.target;

   235

}

   236

   237

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

   238

   239

void CommandUpload::printRawData(

   240

		const uint8_t *data,

   241

		unsigned int size

   242

		)

   243

{

   244

    cout << hex << setfill('0');

   245

    while (size--) {

   246

        cout << "0x" << setw(2) << (unsigned int) *data++;

   247

        if (size)

   248

            cout << " ";

   249

    }

   250

    cout << endl;

   251

}

   252

   253

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