etherlabmaster: tool/MasterDevice.cpp@f18d124d7fbc (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	unsigned int MasterDevice::slaveCount()
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	ec_ioctl_master_t data;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	74
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	75	getMaster(&data);
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	76	return data.slave_count;
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	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	82	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	83	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	84	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	85	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	86	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	87	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	89
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	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	93	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	94	data->config_index = index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	95
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	96	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	97	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	98	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	99	throw MasterDeviceException(err);
1122 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
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	103	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	104
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	105	void MasterDevice::getConfigPdo(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	106	ec_ioctl_config_pdo_t *data,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	107	unsigned int index,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	108	uint8_t sync_index,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	109	uint16_t pdo_pos
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	data->config_index = index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	data->sync_index = sync_index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	114	data->pdo_pos = pdo_pos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	115
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	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	117	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	118	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	119	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	120	}
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	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	124
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	125	void MasterDevice::getConfigPdoEntry(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	126	ec_ioctl_config_pdo_entry_t *data,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	127	unsigned int index,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	128	uint8_t sync_index,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	129	uint16_t pdo_pos,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	130	uint8_t entry_pos
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	131	)
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	data->config_index = index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	134	data->sync_index = sync_index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	135	data->pdo_pos = pdo_pos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	136	data->entry_pos = entry_pos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	137
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	138	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	139	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	140	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	141	throw MasterDeviceException(err);
1122 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	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	144
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
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	147	void MasterDevice::getConfigSdo(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	148	ec_ioctl_config_sdo_t *data,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	149	unsigned int index,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	150	unsigned int sdo_pos
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	data->config_index = index;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	154	data->sdo_pos = sdo_pos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	155
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	156	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	157	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	158	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	159	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	160	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	161	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	162
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	163	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	164
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	165	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	166	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	167	data->index = index;
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	if (ioctl(fd, EC_IOCTL_DOMAIN, data)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	170	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	171	err << "Failed to get domain: ";
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	172	if (errno == EINVAL)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	173	err << "Domain " << index << " does not exist!";
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	174	else
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	175	err << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	176	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	177	}
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
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	180	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	181
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	182	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	183	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	184	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	185	data->domain_index = domainIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	186	data->data_size = dataSize;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	187	data->target = mem;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	188
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	189	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	190	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	191	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	192	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	193	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	194	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	195
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	196	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	197
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	198	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	199	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	200	slave->position = slaveIndex;
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	if (ioctl(fd, EC_IOCTL_SLAVE, slave)) {
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	203	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	204	err << "Failed to get slave: ";
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	205	if (errno == EINVAL)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	206	err << "Slave " << slaveIndex << " does not exist!";
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	207	else
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	208	err << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	209	throw MasterDeviceException(err);
1122 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	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	212
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
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	215	void MasterDevice::getFmmu(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	216	ec_ioctl_domain_fmmu_t *fmmu,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	217	unsigned int domainIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	218	unsigned int fmmuIndex
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	fmmu->domain_index = domainIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	222	fmmu->fmmu_index = fmmuIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	223
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	224	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	225	stringstream err;
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	226	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	227	throw MasterDeviceException(err);
1122 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	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	230
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
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	233	void MasterDevice::getSync(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	234	ec_ioctl_slave_sync_t *sync,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	235	uint16_t slaveIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	236	uint8_t syncIndex
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	sync->slave_position = slaveIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	240	sync->sync_index = syncIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	241
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	242	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	243	stringstream err;
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	244	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	245	throw MasterDeviceException(err);
1122 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
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	249	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	250
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	251	void MasterDevice::getPdo(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	252	ec_ioctl_slave_sync_pdo_t *pdo,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	253	uint16_t slaveIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	254	uint8_t syncIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	255	uint8_t pdoPos
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	pdo->slave_position = slaveIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	259	pdo->sync_index = syncIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	260	pdo->pdo_pos = pdoPos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	261
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	262	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	263	stringstream err;
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	264	err << "Failed to get Pdo: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	265	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	266	}
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	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	270
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	271	void MasterDevice::getPdoEntry(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	272	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	273	uint16_t slaveIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	274	uint8_t syncIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	275	uint8_t pdoPos,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	276	uint8_t entryPos
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	277	)
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	entry->slave_position = slaveIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	280	entry->sync_index = syncIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	281	entry->pdo_pos = pdoPos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	282	entry->entry_pos = entryPos;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	283
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	284	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	285	stringstream err;
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	286	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	287	throw MasterDeviceException(err);
1122 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	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	290
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
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	293	void MasterDevice::getSdo(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	294	ec_ioctl_slave_sdo_t *sdo,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	295	uint16_t slaveIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	296	uint16_t sdoPosition
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	sdo->slave_position = slaveIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	300	sdo->sdo_position = sdoPosition;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	301
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	302	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	303	stringstream err;
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	304	err << "Failed to get Sdo: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	305	throw MasterDeviceException(err);
1122 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
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	309	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	310
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	311	void MasterDevice::getSdoEntry(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	312	ec_ioctl_slave_sdo_entry_t *entry,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	313	uint16_t slaveIndex,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	314	int sdoSpec,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	315	uint8_t entrySubindex
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	entry->slave_position = slaveIndex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	319	entry->sdo_spec = sdoSpec;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	320	entry->sdo_entry_subindex = entrySubindex;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	321
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	322	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	323	stringstream err;
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	324	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	325	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	326	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	327	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	328
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	void MasterDevice::readSii(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	332	ec_ioctl_slave_sii_t *data
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	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	335	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	336	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	337	err << "Failed to read SII: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	338	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	339	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	340	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	341
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	void MasterDevice::writeSii(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	345	ec_ioctl_slave_sii_t *data
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	346	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	347	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	348	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	349	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	350	err << "Failed to write SII: " << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	351	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	352	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	353	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	354
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	355	/****************************************************************************/
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	356
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	357	void MasterDevice::setDebug(unsigned int debugLevel)
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	358	{
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	359	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	360	stringstream err;
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	361	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	362	throw MasterDeviceException(err);
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	363	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	364	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	365
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	366	/****************************************************************************/
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	367
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	368	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	369	{
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	370	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	371	stringstream err;
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	372	err << "Failed to download Sdo: ";
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	373	if (errno == EIO && data->abort_code) {
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	374	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	375	<< setw(8) << data->abort_code;
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	376	} else {
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	377	err << strerror(errno);
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	378	}
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	379	throw MasterDeviceException(err);
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	380	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	381	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	382
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	383	/****************************************************************************/
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	384
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	385	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	386	{
1135 807ec6498502 Fixed sdoUpload(). Florian Pose <fp@igh-essen.com> parents: 1126 diff changeset	387	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	388	stringstream err;
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	389	err << "Failed to upload Sdo: ";
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	390	if (errno == EIO && data->abort_code) {
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	391	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	392	<< setw(8) << data->abort_code;
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	393	} else {
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	394	err << strerror(errno);
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	395	}
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	396	throw MasterDeviceException(err);
1126 b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	397	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	398	}
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	399
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	400	/****************************************************************************/
b09fd81894cb Moved every command into a separate file. Florian Pose <fp@igh-essen.com> parents: 1122 diff changeset	401
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	402	void MasterDevice::requestState(
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	403	uint16_t slavePosition,
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	404	uint8_t state
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	405	)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	406	{
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	407	ec_ioctl_slave_state_t data;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	408
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	409	data.slave_position = slavePosition;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	410	data.requested_state = state;
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	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	413	stringstream err;
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	414	err << "Failed to request slave state: ";
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	415	if (errno == EINVAL)
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	416	err << "Slave " << slavePosition << " does not exist!";
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	417	else
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	418	err << strerror(errno);
1136 a0982873d655 Improved exceptions and commandName usage. Florian Pose <fp@igh-essen.com> parents: 1135 diff changeset	419	throw MasterDeviceException(err);
1122 ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	420	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	421	}
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	422
ee305a780a02 First step of moving to command list. Florian Pose <fp@igh-essen.com> parents: diff changeset	423	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Fri, 25 Jul 2008 08:52:45 +0000
changeset 1146	f18d124d7fbc
parent 1136	a0982873d655
child 1148	1762296870bd
permissions	-rw-r--r--