tool/CommandDownload.cpp
author Martin Troxler <ch1010277@ch10pc446>
Mon, 18 Oct 2010 10:30:57 +0200
changeset 1994 b369f3f92eb8
parent 1870 0cee1fb7f0fd
child 1968 4f682084c643
permissions -rw-r--r--
Inplace I/O: prevent pairing with already paired fmmus
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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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#include "MasterDevice.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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        << typeInfo()
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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(const StringVector &args)
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{
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    stringstream strIndex, strSubIndex, 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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    MasterDevice m(getSingleMasterIndex());
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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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        }
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        if (!(dataType = findDataType(entry.data_type))) {
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            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.data_size = dataType->byteSize;
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    } else {
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        data.data_size = DefaultBufferSize;
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    }
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    data.data = new uint8_t[data.data_size + 1];
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    try {
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20748e9d2238 Sourced out data type handling into an own class.
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        data.data_size = interpretAsType(
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                dataType, args[2], data.data, data.data_size);
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    } catch (SizeException &e) {
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        delete [] data.data;
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        throwCommandException(e.what());
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    } catch (ios::failure &e) {
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        delete [] data.data;
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        err << "Invalid value argument '" << args[2]
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            << "' for type '" << dataType->name << "'!";
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        throwInvalidUsageException(err);
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    }
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742607c464c4 Removed tabulators.
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    try {
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1fc1535dec29 Alias/Position selection.
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        m.sdoDownload(&data);
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    } catch (MasterDeviceSdoAbortException &e) {
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75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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        delete [] data.data;
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4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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   174
        err << "SDO transfer aborted with code 0x"
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75cd6681eb08 Introduced SdoCommand class to replace coe_datatypes.[ch]; added CoE abort codes in user space-
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            << setfill('0') << hex << setw(8) << e.abortCode
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            << ": " << abortText(e.abortCode);
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        throwCommandException(err);
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742607c464c4 Removed tabulators.
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   178
    } catch(MasterDeviceException &e) {
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        delete [] data.data;
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        throw e;
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    }
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    delete [] data.data;
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   184
}
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   185
59be91dfcbe1 Redesigned command interface.
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parents:
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   186
/*****************************************************************************/