| author | Florian Pose <fp@igh-essen.com> |
| Fri, 19 Jun 2009 11:46:53 +0000 | |
| branch | stable-1.4 |
| changeset 1699 | 89ba41136b21 |
| parent 1695 | 69a948e240df |
| 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 "CommandUpload.h" |
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#include "byteorder.h" |
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/*****************************************************************************/ |
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CommandUpload::CommandUpload(): |
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1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
17 |
SdoCommand("upload", "Read an SDO entry from a slave.")
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{
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} |
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/*****************************************************************************/ |
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string CommandUpload::helpString() const |
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{
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stringstream str; |
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str << getName() << " [OPTIONS] <INDEX> <SUBINDEX>" << endl |
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<< endl |
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<< getBriefDescription() << endl |
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<< endl |
|
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1157
04d1c950cf9d
Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents:
1155
diff
changeset
|
31 |
<< "This command requires a single slave to be selected." << endl |
|
04d1c950cf9d
Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents:
1155
diff
changeset
|
32 |
<< endl |
|
1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
33 |
<< "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 |
|
1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
35 |
<< "--type option. If the slave does not support the SDO" << endl |
|
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
36 |
<< "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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1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
39 |
<< "These are the valid SDO entry data types:" << endl |
|
1695
69a948e240df
Added octet_string as an SDO data type.
Florian Pose <fp@igh-essen.com>
parents:
1686
diff
changeset
|
40 |
<< " int8, int16, int32, uint8, uint16, uint32, string," << endl |
|
69a948e240df
Added octet_string as an SDO data type.
Florian Pose <fp@igh-essen.com>
parents:
1686
diff
changeset
|
41 |
<< " octet_string." << endl |
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<< endl |
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<< "Arguments:" << endl |
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|
1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
44 |
<< " INDEX is the SDO index and must be an unsigned" << endl |
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<< " 16 bit number." << endl |
|
1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
46 |
<< " SUBINDEX is the SDO entry subindex and must be an" << endl |
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<< " unsigned 8 bit number." << 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
|
50 |
<< " --alias -a <alias>" << endl |
|
04d1c950cf9d
Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents:
1155
diff
changeset
|
51 |
<< " --position -p <pos> Slave selection. See the help of" << endl |
|
04d1c950cf9d
Added --help for alias and position parameters.
Florian Pose <fp@igh-essen.com>
parents:
1155
diff
changeset
|
52 |
<< " the 'slaves' command." << endl |
|
1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
53 |
<< " --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 CommandUpload::execute(MasterDevice &m, const StringVector &args) |
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{
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SlaveList slaves; |
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stringstream err, strIndex, strSubIndex; |
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int sval; |
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ec_ioctl_slave_sdo_upload_t data; |
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unsigned int uval; |
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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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if (args.size() != 2) {
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err << "'" << getName() << "' takes two 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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1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
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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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>> uval; |
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if (strSubIndex.fail() || uval > 0xff) {
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1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
90 |
err << "Invalid SDO subindex '" << args[1] << "'!"; |
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throwInvalidUsageException(err); |
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} |
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data.sdo_entry_subindex = uval; |
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m.open(MasterDevice::Read); |
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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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1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
114 |
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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1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
119 |
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.target_size = dataType->byteSize; |
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} else {
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data.target_size = DefaultBufferSize; |
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} |
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data.target = new uint8_t[data.target_size + 1]; |
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try {
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m.sdoUpload(&data); |
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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
|
136 |
} 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
|
137 |
delete [] data.target; |
|
1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1184
diff
changeset
|
138 |
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
|
139 |
<< 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
|
140 |
<< ": " << 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.target; |
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throw e; |
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} |
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m.close(); |
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if (dataType->byteSize && data.data_size != dataType->byteSize) {
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err << "Data type mismatch. Expected " << dataType->name |
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<< " with " << dataType->byteSize << " byte, but got " |
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<< data.data_size << " byte."; |
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throwCommandException(err); |
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} |
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cout << setfill('0');
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switch (dataType->coeCode) {
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case 0x0002: // int8 |
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sval = *(int8_t *) data.target; |
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cout << sval << " 0x" << hex << setw(2) << sval << endl; |
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break; |
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case 0x0003: // int16 |
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sval = le16tocpu(*(int16_t *) data.target); |
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cout << sval << " 0x" << hex << setw(4) << sval << endl; |
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break; |
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case 0x0004: // int32 |
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sval = le32tocpu(*(int32_t *) data.target); |
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cout << sval << " 0x" << hex << setw(8) << sval << endl; |
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break; |
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case 0x0005: // uint8 |
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uval = (unsigned int) *(uint8_t *) data.target; |
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cout << uval << " 0x" << hex << setw(2) << uval << endl; |
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break; |
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case 0x0006: // uint16 |
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uval = le16tocpu(*(uint16_t *) data.target); |
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cout << uval << " 0x" << hex << setw(4) << uval << endl; |
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break; |
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case 0x0007: // uint32 |
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uval = le32tocpu(*(uint32_t *) data.target); |
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cout << uval << " 0x" << hex << setw(8) << uval << endl; |
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break; |
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case 0x0009: // string |
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cout << string((const char *) data.target, data.data_size) |
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<< endl; |
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break; |
|
|
1695
69a948e240df
Added octet_string as an SDO data type.
Florian Pose <fp@igh-essen.com>
parents:
1686
diff
changeset
|
186 |
case 0x000a: // octet_string |
|
69a948e240df
Added octet_string as an SDO data type.
Florian Pose <fp@igh-essen.com>
parents:
1686
diff
changeset
|
187 |
cout << string((const char *) data.target, data.data_size) |
|
69a948e240df
Added octet_string as an SDO data type.
Florian Pose <fp@igh-essen.com>
parents:
1686
diff
changeset
|
188 |
<< endl; |
|
69a948e240df
Added octet_string as an SDO data type.
Florian Pose <fp@igh-essen.com>
parents:
1686
diff
changeset
|
189 |
break; |
| 1142 | 190 |
default: |
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printRawData(data.target, data.data_size); // FIXME |
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break; |
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} |
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delete [] data.target; |
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} |
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/****************************************************************************/ |
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void CommandUpload::printRawData( |
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const uint8_t *data, |
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unsigned int size |
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) |
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{
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cout << hex << setfill('0');
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while (size--) {
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cout << "0x" << setw(2) << (unsigned int) *data++; |
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if (size) |
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cout << " "; |
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} |
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cout << endl; |
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} |
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/*****************************************************************************/ |