--- a/lib/voe_handler.c Thu Sep 06 14:21:02 2012 +0200
+++ b/lib/voe_handler.c Mon Nov 03 15:20:05 2014 +0100
@@ -1,11 +1,11 @@
/******************************************************************************
- *
+ *
* $Id$
- *
- * Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
- *
+ *
+ * Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH
+ *
* This file is part of the IgH EtherCAT master userspace library.
- *
+ *
* The IgH EtherCAT master userspace library is free software; you can
* redistribute it and/or modify it under the terms of the GNU Lesser General
* Public License as published by the Free Software Foundation; version 2.1
@@ -19,9 +19,9 @@
* You should have received a copy of the GNU Lesser General Public License
* along with the IgH EtherCAT master userspace library. If not, see
* <http://www.gnu.org/licenses/>.
- *
+ *
* ---
- *
+ *
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
@@ -35,22 +35,21 @@
/*****************************************************************************/
#include <stdlib.h>
-#include <sys/ioctl.h>
#include <stdio.h>
-#include <errno.h>
#include <string.h>
+#include "ioctl.h"
#include "voe_handler.h"
#include "slave_config.h"
#include "master.h"
-#include "master/ioctl.h"
/*****************************************************************************/
void ec_voe_handler_clear(ec_voe_handler_t *voe)
{
- if (voe->data)
+ if (voe->data) {
free(voe->data);
+ }
}
/*****************************************************************************/
@@ -59,15 +58,18 @@
uint16_t vendor_type)
{
ec_ioctl_voe_t data;
+ int ret;
data.config_index = voe->config->index;
data.voe_index = voe->index;
data.vendor_id = &vendor_id;
data.vendor_type = &vendor_type;
- if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_SEND_HEADER, &data) == -1)
+ ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_SEND_HEADER, &data);
+ if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to set VoE send header: %s\n",
- strerror(errno));
+ strerror(EC_IOCTL_ERRNO(ret)));
+ }
}
/*****************************************************************************/
@@ -76,15 +78,18 @@
uint32_t *vendor_id, uint16_t *vendor_type)
{
ec_ioctl_voe_t data;
+ int ret;
data.config_index = voe->config->index;
data.voe_index = voe->index;
data.vendor_id = vendor_id;
data.vendor_type = vendor_type;
- if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_REC_HEADER, &data) == -1)
+ ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_REC_HEADER, &data);
+ if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to get received VoE header: %s\n",
- strerror(errno));
+ strerror(EC_IOCTL_ERRNO(ret)));
+ }
}
/*****************************************************************************/
@@ -106,13 +111,16 @@
void ecrt_voe_handler_read(ec_voe_handler_t *voe)
{
ec_ioctl_voe_t data;
-
- data.config_index = voe->config->index;
- data.voe_index = voe->index;
-
- if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_READ, &data) == -1)
+ int ret;
+
+ data.config_index = voe->config->index;
+ data.voe_index = voe->index;
+
+ ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_READ, &data);
+ if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to initiate VoE reading: %s\n",
- strerror(errno));
+ strerror(EC_IOCTL_ERRNO(ret)));
+ }
}
/*****************************************************************************/
@@ -120,13 +128,16 @@
void ecrt_voe_handler_read_nosync(ec_voe_handler_t *voe)
{
ec_ioctl_voe_t data;
-
- data.config_index = voe->config->index;
- data.voe_index = voe->index;
-
- if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_READ_NOSYNC, &data) == -1)
+ int ret;
+
+ data.config_index = voe->config->index;
+ data.voe_index = voe->index;
+
+ ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_READ_NOSYNC, &data);
+ if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to initiate VoE reading: %s\n",
- strerror(errno));
+ strerror(EC_IOCTL_ERRNO(ret)));
+ }
}
/*****************************************************************************/
@@ -134,15 +145,18 @@
void ecrt_voe_handler_write(ec_voe_handler_t *voe, size_t size)
{
ec_ioctl_voe_t data;
+ int ret;
data.config_index = voe->config->index;
data.voe_index = voe->index;
data.size = size;
data.data = voe->data;
- if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_WRITE, &data) == -1)
+ ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_WRITE, &data);
+ if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to initiate VoE writing: %s\n",
- strerror(errno));
+ strerror(EC_IOCTL_ERRNO(ret)));
+ }
}
/*****************************************************************************/
@@ -150,33 +164,31 @@
ec_request_state_t ecrt_voe_handler_execute(ec_voe_handler_t *voe)
{
ec_ioctl_voe_t data;
-
- data.config_index = voe->config->index;
- data.voe_index = voe->index;
-
- if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_EXEC, &data) == -1) {
+ int ret;
+
+ data.config_index = voe->config->index;
+ data.voe_index = voe->index;
+
+ ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_EXEC, &data);
+ if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to execute VoE handler: %s\n",
- strerror(errno));
+ strerror(EC_IOCTL_ERRNO(ret)));
return EC_REQUEST_ERROR;
}
if (data.size) { // new data waiting to be copied
if (voe->mem_size < data.size) {
- if (voe->data)
- free(voe->data);
- voe->data = malloc(data.size);
- if (!voe->data) {
- voe->mem_size = 0;
- fprintf(stderr, "Failed to allocate VoE data memory!");
- return EC_REQUEST_ERROR;
- }
- voe->mem_size = data.size;
+ fprintf(stderr, "Received %zu bytes do not fit info VoE data"
+ " memory (%zu bytes)!\n", data.size, voe->mem_size);
+ return EC_REQUEST_ERROR;
}
data.data = voe->data;
- if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_DATA, &data) == -1) {
- fprintf(stderr, "Failed to get VoE data: %s\n", strerror(errno));
+ ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_DATA, &data);
+ if (EC_IOCTL_IS_ERROR(ret)) {
+ fprintf(stderr, "Failed to get VoE data: %s\n",
+ strerror(EC_IOCTL_ERRNO(ret)));
return EC_REQUEST_ERROR;
}
voe->data_size = data.size;