1 /*****************************************************************************

     2  *

     3  * $Id$

     4  *

     5  ****************************************************************************/

     6 

     7 #include "SdoCommand.h"

     8 

     9 /*****************************************************************************/

    10 

    11 SdoCommand::SdoCommand(const string &name, const string &briefDesc):

    12     Command(name, briefDesc)

    13 {

    14 }

    15 

    16 /****************************************************************************/

    17 

    18 const SdoCommand::DataType *SdoCommand::findDataType(const string &str)

    19 {

    20     const DataType *d;

    21     

    22     for (d = dataTypes; d->name; d++)

    23         if (str == d->name)

    24             return d;

    25 

    26     return NULL;

    27 }

    28 

    29 /****************************************************************************/

    30 

    31 const SdoCommand::DataType *SdoCommand::findDataType(uint16_t code)

    32 {

    33     const DataType *d;

    34     

    35     for (d = dataTypes; d->name; d++)

    36         if (code == d->coeCode)

    37             return d;

    38 

    39     return NULL;

    40 }

    41 

    42 /****************************************************************************/

    43 

    44 const char *SdoCommand::abortText(uint32_t abortCode)

    45 {

    46     const AbortMessage *abortMsg;

    47 

    48     for (abortMsg = abortMessages; abortMsg->code; abortMsg++) {

    49         if (abortMsg->code == abortCode) {

    50             return abortMsg->message;

    51         }

    52     }

    53 

    54     return "???";

    55 }

    56 

    57 /****************************************************************************/

    58 

    59 const SdoCommand::DataType SdoCommand::dataTypes[] = {

    60     {"int8",   0x0002, 1},

    61     {"int16",  0x0003, 2},

    62     {"int32",  0x0004, 4},

    63     {"uint8",  0x0005, 1},

    64     {"uint16", 0x0006, 2},

    65     {"uint32", 0x0007, 4},

    66     {"string", 0x0009, 0},

    67     {"raw",    0xffff, 0},

    68     {}

    69 };

    70 

    71 /*****************************************************************************/

    72 

    73 /** Sdo abort messages.

    74  *

    75  * The "Abort Sdo transfer request" supplies an abort code, which can be

    76  * translated to clear text. This table does the mapping of the codes and

    77  * messages.

    78  */

    79 const SdoCommand::AbortMessage SdoCommand::abortMessages[] = {

    80     {0x05030000, "Toggle bit not changed"},

    81     {0x05040000, "Sdo protocol timeout"},

    82     {0x05040001, "Client/Server command specifier not valid or unknown"},

    83     {0x05040005, "Out of memory"},

    84     {0x06010000, "Unsupported access to an object"},

    85     {0x06010001, "Attempt to read a write-only object"},

    86     {0x06010002, "Attempt to write a read-only object"},

    87     {0x06020000, "This object does not exist in the object directory"},

    88     {0x06040041, "The object cannot be mapped into the Pdo"},

    89     {0x06040042, "The number and length of the objects to be mapped would"

    90      " exceed the Pdo length"},

    91     {0x06040043, "General parameter incompatibility reason"},

    92     {0x06040047, "Gerneral internal incompatibility in device"},

    93     {0x06060000, "Access failure due to a hardware error"},

    94     {0x06070010, "Data type does not match, length of service parameter does"

    95      " not match"},

    96     {0x06070012, "Data type does not match, length of service parameter too"

    97      " high"},

    98     {0x06070013, "Data type does not match, length of service parameter too"

    99      " low"},

   100     {0x06090011, "Subindex does not exist"},

   101     {0x06090030, "Value range of parameter exceeded"},

   102     {0x06090031, "Value of parameter written too high"},

   103     {0x06090032, "Value of parameter written too low"},

   104     {0x06090036, "Maximum value is less than minimum value"},

   105     {0x08000000, "General error"},

   106     {0x08000020, "Data cannot be transferred or stored to the application"},

   107     {0x08000021, "Data cannot be transferred or stored to the application"

   108      " because of local control"},

   109     {0x08000022, "Data cannot be transferred or stored to the application"

   110      " because of the present device state"},

   111     {0x08000023, "Object dictionary dynamic generation fails or no object"

   112      " dictionary is present"},

   113     {}

   114 };

   115 

   116 /****************************************************************************/