tool/CommandDownload.cpp
author Florian Pose <fp@igh-essen.com>
Mon, 06 Jul 2009 09:06:31 +0000
changeset 1490 7da4e7486bbe
parent 1363 11c0b2caa253
child 1804 742607c464c4
permissions -rw-r--r--
Ignores.
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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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/*****************************************************************************/
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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(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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    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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        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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        }
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   141
        if (!(dataType = findDataType(entry.data_type))) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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parents: 1254
diff changeset
   142
            err << "PDO entry has unknown data type 0x"
1142
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   143
                << hex << setfill('0') << setw(4) << entry.data_type << "!"
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   144
                << " Please specify --type.";
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   145
            throwCommandException(err);
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   146
        }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   147
    }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   148
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   149
    if (dataType->byteSize) {
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   150
        data.data_size = dataType->byteSize;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   151
    } else {
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   152
        data.data_size = DefaultBufferSize;
59be91dfcbe1 Redesigned command interface.
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parents:
diff changeset
   153
    }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   154
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   155
    data.data = new uint8_t[data.data_size + 1];
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   156
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   157
    strValue << args[2];
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   158
    strValue >> resetiosflags(ios::basefield); // guess base from prefix
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   159
    strValue.exceptions(ios::failbit);
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   160
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   161
    try {
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   162
        switch (dataType->coeCode) {
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   163
            case 0x0002: // int8
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   164
                {
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   165
                    int16_t val; // uint8_t is interpreted as char
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   166
                    strValue >> val;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   167
                    if (val > 127 || val < -128)
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   168
                        throw ios::failure("Value out of range");
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   169
                    *data.data = val;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   170
                    break;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   171
                }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   172
            case 0x0003: // int16
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   173
                {
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   174
                    int16_t val;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   175
                    strValue >> val;
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1184
diff changeset
   176
                    *(int16_t *) data.data = cpu_to_le16(val);
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   177
                    break;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   178
                }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   179
            case 0x0004: // int32
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   180
                {
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   181
                    int32_t val;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   182
                    strValue >> val;
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1184
diff changeset
   183
                    *(int32_t *) data.data = cpu_to_le32(val);
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   184
                    break;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   185
                }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   186
            case 0x0005: // uint8
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   187
                {
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   188
                    uint16_t val; // uint8_t is interpreted as char
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   189
                    strValue >> val;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   190
                    if (val > 0xff)
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   191
                        throw ios::failure("Value out of range");
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   192
                    *data.data = val;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   193
                    break;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   194
                }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   195
            case 0x0006: // uint16
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   196
                {
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   197
                    uint16_t val;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   198
                    strValue >> val;
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1184
diff changeset
   199
                    *(uint16_t *) data.data = cpu_to_le16(val);
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   200
                    break;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   201
                }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   202
            case 0x0007: // uint32
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   203
                {
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   204
                    uint32_t val;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   205
                    strValue >> val;
1254
c19d273a9e76 Moved byteorder macros to ecrt.h.
Florian Pose <fp@igh-essen.com>
parents: 1184
diff changeset
   206
                    *(uint32_t *) data.data = cpu_to_le32(val);
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   207
                    break;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   208
                }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   209
            case 0x0009: // string
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   210
                if (strValue.str().size() >= data.data_size) {
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   211
                    err << "String too large";
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   212
                    throwCommandException(err);
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   213
                }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   214
                data.data_size = strValue.str().size();
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   215
                strValue >> (char *) data.data;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   216
                break;
1334
da3d22a27500 merge -c1617 branches/stable-1.4: Added octet_string as an SDO data type.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   217
            case 0x000a: // octet_string
da3d22a27500 merge -c1617 branches/stable-1.4: Added octet_string as an SDO data type.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   218
                if (strValue.str().size() >= data.data_size) {
da3d22a27500 merge -c1617 branches/stable-1.4: Added octet_string as an SDO data type.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   219
                    err << "String too large";
da3d22a27500 merge -c1617 branches/stable-1.4: Added octet_string as an SDO data type.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   220
                    throwCommandException(err);
da3d22a27500 merge -c1617 branches/stable-1.4: Added octet_string as an SDO data type.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   221
                }
da3d22a27500 merge -c1617 branches/stable-1.4: Added octet_string as an SDO data type.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   222
                data.data_size = strValue.str().size();
da3d22a27500 merge -c1617 branches/stable-1.4: Added octet_string as an SDO data type.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   223
                strValue >> (char *) data.data;
da3d22a27500 merge -c1617 branches/stable-1.4: Added octet_string as an SDO data type.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   224
                break;
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   225
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   226
            default:
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   227
                delete [] data.data;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   228
                err << "Unknown data type 0x" << hex << dataType->coeCode;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   229
                throwCommandException(err);
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   230
        }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   231
    } catch (ios::failure &e) {
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   232
        delete [] data.data;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   233
        err << "Invalid value argument '" << args[2]
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   234
            << "' for type '" << dataType->name << "'!";
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   235
        throwInvalidUsageException(err);
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   236
    }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   237
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   238
	try {
1151
1fc1535dec29 Alias/Position selection.
Florian Pose <fp@igh-essen.com>
parents: 1144
diff changeset
   239
        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
   240
	} 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
   241
        delete [] data.data;
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1254
diff changeset
   242
        err << "SDO transfer aborted with code 0x"
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
   243
            << setfill('0') << hex << setw(8) << 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
   244
            << ": " << 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
   245
        throwCommandException(err);
1142
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   246
	} catch(MasterDeviceException &e) {
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   247
        delete [] data.data;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   248
        throw e;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   249
    }
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   250
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   251
    delete [] data.data;
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   252
}
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   253
59be91dfcbe1 Redesigned command interface.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   254
/*****************************************************************************/