etherlabmaster: tool/MasterDevice.cpp@af068174a630 (annotated)

1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/*****************************************************************************
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	6
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	#include <sys/stat.h>
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	#include <fcntl.h>
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	#include <errno.h>
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	#include <sys/ioctl.h>
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	11
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	12	#include <sstream>
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	13	#include <iomanip>
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	using namespace std;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	15
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	#include "MasterDevice.h"
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	17
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	19
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	MasterDevice::MasterDevice()
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	index = 0;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	23	fd = -1;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	24	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	25
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	26	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	27
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	MasterDevice::~MasterDevice()
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	29	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	close();
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	32
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	33	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	34
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	void MasterDevice::setIndex(unsigned int i)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	36	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	index = i;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	38	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	39
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	40	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	41
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	void MasterDevice::open(Permissions perm)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	44	stringstream deviceName;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	45
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	46	if (fd == -1) { // not already open
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	47	deviceName << "/dev/EtherCAT" << index;
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	48
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	49	if ((fd = ::open(deviceName.str().c_str(),
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	50	perm == ReadWrite ? O_RDWR : O_RDONLY)) == -1) {
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	51	stringstream err;
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	52	err << "Failed to open master device " << deviceName.str() << ": "
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	53	<< strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	54	throw MasterDeviceException(err);
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	55	}
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	56	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	57	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	58
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	59	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	60
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	61	void MasterDevice::close()
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	62	{
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	63	if (fd != -1) {
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	64	::close(fd);
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	65	fd = -1;
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	66	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	67	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	68
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	69	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	70
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	71	void MasterDevice::getMaster(ec_ioctl_master_t *data)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	72	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	73	if (ioctl(fd, EC_IOCTL_MASTER, data) < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	74	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	75	err << "Failed to get master information: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	76	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	77	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	79
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	80	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	81
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	82	void MasterDevice::getConfig(ec_ioctl_config_t *data, unsigned int index)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	83	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	84	data->config_index = index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	85
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	86	if (ioctl(fd, EC_IOCTL_CONFIG, data) < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	87	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	err << "Failed to get slave configuration: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	89	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	90	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	91	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	92
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	93	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	94
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	95	void MasterDevice::getConfigPdo(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	96	ec_ioctl_config_pdo_t *data,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	97	unsigned int index,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	98	uint8_t sync_index,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	99	uint16_t pdo_pos
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	100	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	101	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	102	data->config_index = index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	103	data->sync_index = sync_index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	104	data->pdo_pos = pdo_pos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	105
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	106	if (ioctl(fd, EC_IOCTL_CONFIG_PDO, data) < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	107	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	108	err << "Failed to get slave config Pdo: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	109	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	110	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	111	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	112
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	114
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	115	void MasterDevice::getConfigPdoEntry(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	ec_ioctl_config_pdo_entry_t *data,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	117	unsigned int index,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	118	uint8_t sync_index,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	119	uint16_t pdo_pos,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	120	uint8_t entry_pos
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	121	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	122	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	123	data->config_index = index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	124	data->sync_index = sync_index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	125	data->pdo_pos = pdo_pos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	126	data->entry_pos = entry_pos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	127
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	128	if (ioctl(fd, EC_IOCTL_CONFIG_PDO_ENTRY, data) < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	129	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	130	err << "Failed to get slave config Pdo entry: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	131	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	132	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	133	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	134
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	135	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	136
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	137	void MasterDevice::getConfigSdo(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	138	ec_ioctl_config_sdo_t *data,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	139	unsigned int index,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	140	unsigned int sdo_pos
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	141	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	142	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	143	data->config_index = index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	144	data->sdo_pos = sdo_pos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	145
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	146	if (ioctl(fd, EC_IOCTL_CONFIG_SDO, data) < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	147	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	148	err << "Failed to get slave config Sdo: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	149	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	150	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	151	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	152
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	153	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	154
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	155	void MasterDevice::getDomain(ec_ioctl_domain_t *data, unsigned int index)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	156	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	157	data->index = index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	158
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	159	if (ioctl(fd, EC_IOCTL_DOMAIN, data)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	160	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	161	err << "Failed to get domain: ";
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	162	if (errno == EINVAL)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	163	err << "Domain " << index << " does not exist!";
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	164	else
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	165	err << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	166	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	167	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	168	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	169
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	170	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	171
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	172	void MasterDevice::getData(ec_ioctl_domain_data_t *data,
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	173	unsigned int domainIndex, unsigned int dataSize, unsigned char *mem)
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	174	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	175	data->domain_index = domainIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	176	data->data_size = dataSize;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	177	data->target = mem;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	178
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	179	if (ioctl(fd, EC_IOCTL_DOMAIN_DATA, data) < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	180	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	181	err << "Failed to get domain data: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	182	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	183	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	184	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	185
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	186	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	187
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	188	void MasterDevice::getSlave(ec_ioctl_slave_t *slave, uint16_t slaveIndex)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	189	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	190	slave->position = slaveIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	191
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	192	if (ioctl(fd, EC_IOCTL_SLAVE, slave)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	193	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	194	err << "Failed to get slave: ";
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	195	if (errno == EINVAL)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	196	err << "Slave " << slaveIndex << " does not exist!";
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	197	else
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	198	err << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	199	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	200	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	201	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	202
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	203	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	204
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	205	void MasterDevice::getFmmu(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	206	ec_ioctl_domain_fmmu_t *fmmu,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	207	unsigned int domainIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	208	unsigned int fmmuIndex
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	209	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	210	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	211	fmmu->domain_index = domainIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	212	fmmu->fmmu_index = fmmuIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	213
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	214	if (ioctl(fd, EC_IOCTL_DOMAIN_FMMU, fmmu)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	215	stringstream err;
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	216	err << "Failed to get domain FMMU: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	217	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	218	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	219	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	220
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	221	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	222
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	223	void MasterDevice::getSync(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	224	ec_ioctl_slave_sync_t *sync,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	225	uint16_t slaveIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	226	uint8_t syncIndex
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	227	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	228	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	229	sync->slave_position = slaveIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	230	sync->sync_index = syncIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	231
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	232	if (ioctl(fd, EC_IOCTL_SLAVE_SYNC, sync)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	233	stringstream err;
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	234	err << "Failed to get sync manager: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	235	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	236	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	237	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	238
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	239	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	240
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	241	void MasterDevice::getPdo(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	242	ec_ioctl_slave_sync_pdo_t *pdo,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	243	uint16_t slaveIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	244	uint8_t syncIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	245	uint8_t pdoPos
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	246	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	247	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	248	pdo->slave_position = slaveIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	249	pdo->sync_index = syncIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	250	pdo->pdo_pos = pdoPos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	251
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	252	if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO, pdo)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	253	stringstream err;
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	254	err << "Failed to get Pdo: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	255	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	256	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	257	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	258
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	259	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	260
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	261	void MasterDevice::getPdoEntry(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	262	ec_ioctl_slave_sync_pdo_entry_t *entry,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	263	uint16_t slaveIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	264	uint8_t syncIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	265	uint8_t pdoPos,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	266	uint8_t entryPos
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	267	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	268	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	269	entry->slave_position = slaveIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	270	entry->sync_index = syncIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	271	entry->pdo_pos = pdoPos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	272	entry->entry_pos = entryPos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	273
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	274	if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, entry)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	275	stringstream err;
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	276	err << "Failed to get Pdo entry: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	277	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	278	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	279	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	280
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	281	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	282
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	283	void MasterDevice::getSdo(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	284	ec_ioctl_slave_sdo_t *sdo,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	285	uint16_t slaveIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	286	uint16_t sdoPosition
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	287	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	288	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	289	sdo->slave_position = slaveIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	290	sdo->sdo_position = sdoPosition;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	291
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	292	if (ioctl(fd, EC_IOCTL_SLAVE_SDO, sdo)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	293	stringstream err;
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	294	err << "Failed to get Sdo: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	295	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	296	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	297	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	298
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	299	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	300
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	301	void MasterDevice::getSdoEntry(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	302	ec_ioctl_slave_sdo_entry_t *entry,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	303	uint16_t slaveIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	304	int sdoSpec,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	305	uint8_t entrySubindex
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	306	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	307	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	308	entry->slave_position = slaveIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	309	entry->sdo_spec = sdoSpec;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	310	entry->sdo_entry_subindex = entrySubindex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	311
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	312	if (ioctl(fd, EC_IOCTL_SLAVE_SDO_ENTRY, entry)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	313	stringstream err;
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	314	err << "Failed to get Sdo entry: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	315	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	316	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	317	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	318
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	319	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	320
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	321	void MasterDevice::readSii(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	322	ec_ioctl_slave_sii_t *data
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	323	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	324	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	325	if (ioctl(fd, EC_IOCTL_SLAVE_SII_READ, data) < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	326	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	327	err << "Failed to read SII: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	328	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	329	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	330	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	331
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	332	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	333
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	334	void MasterDevice::writeSii(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	335	ec_ioctl_slave_sii_t *data
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	336	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	337	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	338	if (ioctl(fd, EC_IOCTL_SLAVE_SII_WRITE, data) < 0) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	339	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	340	err << "Failed to write SII: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	341	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	342	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	343	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	344
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	345	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	346
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	347	void MasterDevice::setDebug(unsigned int debugLevel)
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	348	{
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	349	if (ioctl(fd, EC_IOCTL_MASTER_DEBUG, debugLevel) < 0) {
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	350	stringstream err;
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	351	err << "Failed to set debug level: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	352	throw MasterDeviceException(err);
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	353	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	354	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	355
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	356	/****************************************************************************/
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	357
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	358	void MasterDevice::sdoDownload(ec_ioctl_slave_sdo_download_t *data)
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	359	{
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	360	if (ioctl(fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, data) < 0) {
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	361	stringstream err;
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	362	err << "Failed to download Sdo: ";
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	363	if (errno == EIO && data->abort_code) {
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	364	err << "Abort code 0x" << hex << setfill('0')
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	365	<< setw(8) << data->abort_code;
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	366	} else {
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	367	err << strerror(errno);
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	368	}
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	369	throw MasterDeviceException(err);
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	370	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	371	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	372
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	373	/****************************************************************************/
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	374
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	375	void MasterDevice::sdoUpload(ec_ioctl_slave_sdo_upload_t *data)
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	376	{
1135 807ec6498502 Fixed sdoUpload(). Florian Pose <fp@igh-essen.com> parents: 1126 diff changeset	377	if (ioctl(fd, EC_IOCTL_SLAVE_SDO_UPLOAD, data) < 0) {
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	378	stringstream err;
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	379	err << "Failed to upload Sdo: ";
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	380	if (errno == EIO && data->abort_code) {
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	381	err << "Abort code 0x" << hex << setfill('0')
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	382	<< setw(8) << data->abort_code;
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	383	} else {
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	384	err << strerror(errno);
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	385	}
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	386	throw MasterDeviceException(err);
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	387	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	388	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	389
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	390	/****************************************************************************/
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	391
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	392	void MasterDevice::requestState(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	393	uint16_t slavePosition,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	394	uint8_t state
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	395	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	396	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	397	ec_ioctl_slave_state_t data;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	398
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	399	data.slave_position = slavePosition;
1148 1762296870bd Renamed state field to al_state. Florian Pose <fp@igh-essen.com> parents: 1136 diff changeset	400	data.al_state = state;
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	401
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	402	if (ioctl(fd, EC_IOCTL_SLAVE_STATE, &data)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	403	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	404	err << "Failed to request slave state: ";
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	405	if (errno == EINVAL)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	406	err << "Slave " << slavePosition << " does not exist!";
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	407	else
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	408	err << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	409	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	410	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	411	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	412
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	413	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Tue, 29 Jul 2008 09:30:33 +0000
changeset 1170	af068174a630
parent 1160	f02ff486b313
child 1184	75cd6681eb08
permissions	-rw-r--r--