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 "CommandDownload.h"

    35

    36

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

    37

    38

CommandDownload::CommandDownload():

    39

    SdoCommand("download", "Write an SDO entry to a slave.")

    40

{

    41

}

    42

    43

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

    44

    45

string CommandDownload::helpString() const

    46

{

    47

    stringstream str;

    48

    49

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

    	<< "  VALUE    is the value to download and must correspond" << endl

    71

		<< "           to the SDO entry datatype (see above)." << endl

    72

    	<< endl

    73

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

    74

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

    75

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

    76

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

    77

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

    78

    	<< endl

    79

		<< numericInfo();

    80

    81

	return str.str();

    82

}

    83

    84

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

    85

    86

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

    87

{

    88

    stringstream strIndex, strSubIndex, strValue, err;

    89

    ec_ioctl_slave_sdo_download_t data;

    90

    unsigned int number;

    91

    const DataType *dataType = NULL;

    92

    SlaveList slaves;

    93

    94

    if (args.size() != 3) {

    95

        err << "'" << getName() << "' takes 3 arguments!";

    96

        throwInvalidUsageException(err);

    97

    }

    98

    99

    strIndex << args[0];

   100

    strIndex

   101

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

   102

        >> data.sdo_index;

   103

    if (strIndex.fail()) {

   104

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

   105

        throwInvalidUsageException(err);

   106

    }

   107

   108

    strSubIndex << args[1];

   109

    strSubIndex

   110

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

   111

        >> number;

   112

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

   113

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

   114

        throwInvalidUsageException(err);

   115

    }

   116

    data.sdo_entry_subindex = number;

   117

   118

    m.open(MasterDevice::ReadWrite);

   119

    slaves = selectedSlaves(m);

   120

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

   121

        throwSingleSlaveRequired(slaves.size());

   122

    }

   123

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

   124

   125

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

   126

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

   127

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

   128

            throwInvalidUsageException(err);

   129

        }

   130

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

   131

        ec_ioctl_slave_sdo_entry_t entry;

   132

   133

        try {

   134

            m.getSdoEntry(&entry, data.slave_position,

   135

                    data.sdo_index, data.sdo_entry_subindex);

   136

        } catch (MasterDeviceException &e) {

   137

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

   138

                << "Please specify --type.";

   139

            throwCommandException(err);

   140

        }

   141

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

   142

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

   143

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

   144

                << " Please specify --type.";

   145

            throwCommandException(err);

   146

        }

   147

    }

   148

   149

    if (dataType->byteSize) {

   150

        data.data_size = dataType->byteSize;

   151

    } else {

   152

        data.data_size = DefaultBufferSize;

   153

    }

   154

   155

    data.data = new uint8_t[data.data_size + 1];

   156

   157

    strValue << args[2];

   158

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

   159

    strValue.exceptions(ios::failbit);

   160

   161

    try {

   162

        switch (dataType->coeCode) {

   163

            case 0x0002: // int8

   164

                {

   165

                    int16_t val; // uint8_t is interpreted as char

   166

                    strValue >> val;

   167

                    if (val > 127 || val < -128)

   168

                        throw ios::failure("Value out of range");

   169

                    *data.data = val;

   170

                    break;

   171

                }

   172

            case 0x0003: // int16

   173

                {

   174

                    int16_t val;

   175

                    strValue >> val;

   176

                    *(int16_t *) data.data = cpu_to_le16(val);

   177

                    break;

   178

                }

   179

            case 0x0004: // int32

   180

                {

   181

                    int32_t val;

   182

                    strValue >> val;

   183

                    *(int32_t *) data.data = cpu_to_le32(val);

   184

                    break;

   185

                }

   186

            case 0x0005: // uint8

   187

                {

   188

                    uint16_t val; // uint8_t is interpreted as char

   189

                    strValue >> val;

   190

                    if (val > 0xff)

   191

                        throw ios::failure("Value out of range");

   192

                    *data.data = val;

   193

                    break;

   194

                }

   195

            case 0x0006: // uint16

   196

                {

   197

                    uint16_t val;

   198

                    strValue >> val;

   199

                    *(uint16_t *) data.data = cpu_to_le16(val);

   200

                    break;

   201

                }

   202

            case 0x0007: // uint32

   203

                {

   204

                    uint32_t val;

   205

                    strValue >> val;

   206

                    *(uint32_t *) data.data = cpu_to_le32(val);

   207

                    break;

   208

                }

   209

            case 0x0009: // string

   210

                if (strValue.str().size() >= data.data_size) {

   211

                    err << "String too large";

   212

                    throwCommandException(err);

   213

                }

   214

                data.data_size = strValue.str().size();

   215

                strValue >> (char *) data.data;

   216

                break;

   217

            case 0x000a: // octet_string

   218

                if (strValue.str().size() >= data.data_size) {

   219

                    err << "String too large";

   220

                    throwCommandException(err);

   221

                }

   222

                data.data_size = strValue.str().size();

   223

                strValue >> (char *) data.data;

   224

                break;

   225

   226

            default:

   227

                delete [] data.data;

   228

                err << "Unknown data type 0x" << hex << dataType->coeCode;

   229

                throwCommandException(err);

   230

        }

   231

    } catch (ios::failure &e) {

   232

        delete [] data.data;

   233

        err << "Invalid value argument '" << args[2]

   234

            << "' for type '" << dataType->name << "'!";

   235

        throwInvalidUsageException(err);

   236

    }

   237

   238

	try {

   239

        m.sdoDownload(&data);

   240

	} catch (MasterDeviceSdoAbortException &e) {

   241

        delete [] data.data;

   242

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

   243

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

   244

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

   245

        throwCommandException(err);

   246

	} catch(MasterDeviceException &e) {

   247

        delete [] data.data;

   248

        throw e;

   249

    }

   250

   251

    delete [] data.data;

   252

}

   253

   254

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