83 /****************************************************************************/

    83 /****************************************************************************/

    84 

    84 

    85 void CommandDownload::execute(const StringVector &args)

    85 void CommandDownload::execute(const StringVector &args)

    86 {

    86 {

    87     stringstream strIndex, strSubIndex, err;

    87     stringstream strIndex, strSubIndex, err;

    88     ec_ioctl_slave_sdo_download_t data;

    89     ec_ioctl_slave_sdo_download_t data;

    89     unsigned int number;

    90     unsigned int number;

    90     const DataType *dataType = NULL;

    91     const DataType *dataType = NULL;

    91     SlaveList slaves;

    92     SlaveList slaves;

    92 

    93 

   112         err << "Invalid SDO subindex '" << args[1] << "'!";

   113         err << "Invalid SDO subindex '" << args[1] << "'!";

   113         throwInvalidUsageException(err);

   114         throwInvalidUsageException(err);

   114     }

   115     }

   115     data.sdo_entry_subindex = number;

   116     data.sdo_entry_subindex = number;

   116 

   117 

   118         err << getName() << " requires to select a single master!";

   120         err << getName() << " requires to select a single master!";

   119         throwInvalidUsageException(err);

   121         throwInvalidUsageException(err);

   120     }

   122     }

   122     m.open(MasterDevice::ReadWrite);

   124     m.open(MasterDevice::ReadWrite);

   123     slaves = selectedSlaves(m);

   125     slaves = selectedSlaves(m);

   124     if (slaves.size() != 1) {

   126     if (slaves.size() != 1) {

   125         throwSingleSlaveRequired(slaves.size());

   127         throwSingleSlaveRequired(slaves.size());

   126     }

   128     }