author | Florian Pose <fp@igh-essen.com> |
Thu, 24 Jul 2008 08:11:07 +0000 | |
changeset 1140 | cc779f7d2496 |
parent 1137 | a73c0f54be42 |
permissions | -rw-r--r-- |
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/***************************************************************************** |
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* |
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* $Id$ |
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* |
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****************************************************************************/ |
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#include <iostream> |
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#include <iomanip> |
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using namespace std; |
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#include "globals.h" |
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#include "coe_datatypes.h" |
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/****************************************************************************/ |
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const char *help_download = |
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"[OPTIONS] <INDEX> <SUBINDEX> <VALUE>\n" |
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"\n" |
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"Download an Sdo entry to a slave.\n" |
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"\n" |
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"The data type of the Sdo entry is taken from the Sdo dictionary by\n" |
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"default. It can be overridden with the --type option. If the slave\n" |
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"does not support the Sdo information service or the Sdo is not in the\n" |
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"dictionary, the --type option is mandatory.\n" |
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"\n" |
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"These are the valid Sdo entry data types:\n" |
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" int8, int16, int32, uint8, uint16, uint32, string.\n" |
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"\n" |
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"Arguments:\n" |
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" INDEX is the Sdo index and must be an unsigned 16 bit number.\n" |
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" SUBINDEX is the Sdo entry subindex and must be an unsigned 8 bit\n" |
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" number.\n" |
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" VALUE is the value to download and must correspond to the Sdo\n" |
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" entry datatype (see above).\n" |
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"\n" |
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"Command-specific options:\n" |
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" --slave -s <index> Positive numerical ring position (mandatory).\n" |
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" --type -t <type> Forced Sdo entry data type (see above).\n" |
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"\n" |
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"Numerical values can be specified either with decimal (no prefix),\n" |
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"octal (prefix '0') or hexadecimal (prefix '0x') base.\n"; |
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|
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|
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/****************************************************************************/ |
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|
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void command_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 << "'" << commandName << "' requires a slave! " |
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<< "Please specify --slave."; |
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throw InvalidUsageException(err); |
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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 << "'" << commandName << "' takes 3 arguments!"; |
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throw InvalidUsageException(err); |
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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 InvalidUsageException(err); |
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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 InvalidUsageException(err); |
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} |
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data.sdo_entry_subindex = number; |
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|
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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 InvalidUsageException(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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|
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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 CommandException(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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throw CommandException(err); |
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} |
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} |
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109 |
|
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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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114 |
} |
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|
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data.data = new uint8_t[data.data_size + 1]; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
117 |
|
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
118 |
strValue << commandArgs[2]; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
119 |
strValue >> resetiosflags(ios::basefield); // guess base from prefix |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
120 |
strValue.exceptions(ios::failbit); |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
121 |
|
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
122 |
try { |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
123 |
switch (dataType->coeCode) { |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
124 |
case 0x0002: // int8 |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
125 |
{ |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
126 |
int16_t val; // uint8_t is interpreted as char |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
127 |
strValue >> val; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
128 |
if (val > 127 || val < -128) |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
129 |
throw ios::failure("Value out of range"); |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
130 |
*data.data = val; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
131 |
break; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
132 |
} |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
133 |
case 0x0003: // int16 |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
134 |
{ |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
135 |
int16_t val; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
136 |
strValue >> val; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
137 |
*(int16_t *) data.data = cputole16(val); |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
138 |
break; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
139 |
} |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
140 |
case 0x0004: // int32 |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
141 |
{ |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
142 |
int32_t val; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
143 |
strValue >> val; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
144 |
*(int32_t *) data.data = cputole32(val); |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
145 |
break; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
146 |
} |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
147 |
case 0x0005: // uint8 |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
148 |
{ |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
149 |
uint16_t val; // uint8_t is interpreted as char |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
150 |
strValue >> val; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
151 |
if (val > 0xff) |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
152 |
throw ios::failure("Value out of range"); |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
153 |
*data.data = val; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
154 |
break; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
155 |
} |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
156 |
case 0x0006: // uint16 |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
157 |
{ |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
158 |
uint16_t val; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
159 |
strValue >> val; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
160 |
*(uint16_t *) data.data = cputole16(val); |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
161 |
break; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
162 |
} |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
163 |
case 0x0007: // uint32 |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
164 |
{ |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
165 |
uint32_t val; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
166 |
strValue >> val; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
167 |
*(uint32_t *) data.data = cputole32(val); |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
168 |
break; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
169 |
} |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
170 |
case 0x0009: // string |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
171 |
if (strValue.str().size() >= data.data_size) { |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
172 |
err << "String too large"; |
1136
a0982873d655
Improved exceptions and commandName usage.
Florian Pose <fp@igh-essen.com>
parents:
1134
diff
changeset
|
173 |
throw CommandException(err); |
1134
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
174 |
} |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
175 |
data.data_size = strValue.str().size(); |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
176 |
strValue >> (char *) data.data; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
177 |
break; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
178 |
|
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
179 |
default: |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
180 |
delete [] data.data; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
181 |
err << "Unknown data type 0x" << hex << dataType->coeCode; |
1136
a0982873d655
Improved exceptions and commandName usage.
Florian Pose <fp@igh-essen.com>
parents:
1134
diff
changeset
|
182 |
throw CommandException(err); |
1134
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
183 |
} |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
184 |
} catch (ios::failure &e) { |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
185 |
delete [] data.data; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
186 |
err << "Invalid value argument '" << commandArgs[2] |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
187 |
<< "' for type '" << dataType->name << "'!"; |
1136
a0982873d655
Improved exceptions and commandName usage.
Florian Pose <fp@igh-essen.com>
parents:
1134
diff
changeset
|
188 |
throw InvalidUsageException(err); |
1134
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
189 |
} |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
190 |
|
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
191 |
masterDev.open(MasterDevice::ReadWrite); |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
192 |
|
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
193 |
try { |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
194 |
masterDev.sdoDownload(&data); |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
195 |
} catch(MasterDeviceException &e) { |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
196 |
delete [] data.data; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
197 |
throw e; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
198 |
} |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
199 |
|
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
200 |
delete [] data.data; |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
201 |
} |
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
202 |
|
3356141fa2f8
Renamed sdo_download command to download. Same with upload.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
203 |
/*****************************************************************************/ |