author | Florian Pose <fp@igh-essen.com> |
Tue, 22 Jul 2008 14:26:21 +0000 | |
changeset 1128 | b69b2c850160 |
parent 1126 | b09fd81894cb |
child 1130 | bb1c11adb2db |
permissions | -rw-r--r-- |
1126
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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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|
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#include "globals.h" |
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#include "coe_datatypes.h" |
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/****************************************************************************/ |
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const char *help_sdo_download = |
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"[OPTIONS]\n" |
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"\n" |
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"\n" |
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"Command-specific options:\n"; |
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/****************************************************************************/ |
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|
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void command_sdo_download(void) |
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{ |
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stringstream strIndex, strSubIndex, strValue, err; |
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ec_ioctl_slave_sdo_download_t data; |
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unsigned int number; |
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const CoEDataType *dataType = NULL; |
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|
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if (slavePosition < 0) { |
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err << "'sdo_download' requires a slave! Please specify --slave."; |
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throw MasterDeviceException(err.str()); |
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} |
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data.slave_position = slavePosition; |
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|
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if (commandArgs.size() != 3) { |
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err << "'sdo_download' takes 3 arguments!"; |
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throw MasterDeviceException(err.str()); |
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} |
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|
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strIndex << commandArgs[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 '" << commandArgs[0] << "'!"; |
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throw MasterDeviceException(err.str()); |
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} |
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|
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strSubIndex << commandArgs[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 '" << commandArgs[1] << "'!"; |
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throw MasterDeviceException(err.str()); |
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} |
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data.sdo_entry_subindex = number; |
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if (dataTypeStr != "") { // data type specified |
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if (!(dataType = findDataType(dataTypeStr))) { |
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err << "Invalid data type '" << dataTypeStr << "'!"; |
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throw MasterDeviceException(err.str()); |
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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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|
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masterDev.open(MasterDevice::ReadWrite); |
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|
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try { |
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masterDev.getSdoEntry(&entry, slavePosition, |
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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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throw ExecutionFailureException(err); |
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78 |
} |
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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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throw ExecutionFailureException(err); |
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84 |
} |
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85 |
} |
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86 |
|
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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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91 |
} |
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92 |
|
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data.data = new uint8_t[data.data_size + 1]; |
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94 |
|
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strValue << commandArgs[2]; |
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strValue >> resetiosflags(ios::basefield); // guess base from prefix |
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97 |
strValue.exceptions(ios::failbit); |
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98 |
|
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try { |
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switch (dataType->coeCode) { |
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101 |
case 0x0002: // int8 |
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102 |
{ |
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103 |
int16_t val; // uint8_t is interpreted as char |
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104 |
strValue >> val; |
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105 |
if (val > 127 || val < -128) |
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106 |
throw ios::failure("Value out of range"); |
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107 |
*data.data = val; |
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108 |
break; |
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109 |
} |
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110 |
case 0x0003: // int16 |
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111 |
{ |
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112 |
int16_t val; |
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113 |
strValue >> val; |
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114 |
*(int16_t *) data.data = cputole16(val); |
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115 |
break; |
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116 |
} |
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117 |
case 0x0004: // int32 |
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118 |
{ |
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119 |
int32_t val; |
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120 |
strValue >> val; |
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121 |
*(int32_t *) data.data = cputole32(val); |
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122 |
break; |
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123 |
} |
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124 |
case 0x0005: // uint8 |
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125 |
{ |
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126 |
uint16_t val; // uint8_t is interpreted as char |
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127 |
strValue >> val; |
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128 |
if (val > 0xff) |
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129 |
throw ios::failure("Value out of range"); |
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130 |
*data.data = val; |
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131 |
break; |
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132 |
} |
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133 |
case 0x0006: // uint16 |
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134 |
{ |
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135 |
uint16_t val; |
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136 |
strValue >> val; |
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137 |
*(uint16_t *) data.data = cputole16(val); |
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138 |
break; |
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|
139 |
} |
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140 |
case 0x0007: // uint32 |
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141 |
{ |
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142 |
uint32_t val; |
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143 |
strValue >> val; |
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144 |
*(uint32_t *) data.data = cputole32(val); |
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|
145 |
break; |
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|
146 |
} |
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147 |
case 0x0009: // string |
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148 |
if (strValue.str().size() >= data.data_size) { |
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149 |
err << "String too large"; |
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150 |
throw MasterDeviceException(err.str()); |
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|
151 |
} |
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152 |
data.data_size = strValue.str().size(); |
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153 |
strValue >> (char *) data.data; |
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|
154 |
break; |
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|
155 |
|
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156 |
default: |
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|
157 |
delete [] data.data; |
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|
158 |
err << "Unknown data type 0x" << hex << dataType->coeCode; |
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|
159 |
throw MasterDeviceException(err.str()); |
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|
160 |
} |
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|
161 |
} catch (ios::failure &e) { |
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|
162 |
delete [] data.data; |
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|
163 |
err << "Invalid value argument '" << commandArgs[2] |
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164 |
<< "' for type '" << dataType->name << "'!"; |
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|
165 |
throw MasterDeviceException(err.str()); |
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|
166 |
} |
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|
167 |
|
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|
168 |
masterDev.open(MasterDevice::ReadWrite); |
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|
169 |
|
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|
170 |
try { |
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|
171 |
masterDev.sdoDownload(&data); |
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|
172 |
} catch(MasterDeviceException &e) { |
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|
173 |
delete [] data.data; |
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|
174 |
throw e; |
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|
175 |
} |
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|
176 |
|
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|
177 |
delete [] data.data; |
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|
178 |
} |
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|
179 |
|
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|
180 |
/*****************************************************************************/ |