--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/cmd_download.cpp	Wed Jul 23 07:26:19 2008 +0000
@@ -0,0 +1,181 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <iostream>
+#include <iomanip>
+using namespace std;
+
+#include "globals.h"
+#include "coe_datatypes.h"
+
+/****************************************************************************/
+
+// FIXME
+const char *help_download =
+    "[OPTIONS]\n"
+    "\n"
+    "\n"
+    "Command-specific options:\n";
+
+/****************************************************************************/
+
+void command_download(void)
+{
+    stringstream strIndex, strSubIndex, strValue, err;
+    ec_ioctl_slave_sdo_download_t data;
+    unsigned int number;
+    const CoEDataType *dataType = NULL;
+
+    if (slavePosition < 0) {
+        err << "'sdo_download' requires a slave! Please specify --slave.";
+        throw MasterDeviceException(err.str());
+    }
+    data.slave_position = slavePosition;
+
+    if (commandArgs.size() != 3) {
+        err << "'sdo_download' takes 3 arguments!";
+        throw MasterDeviceException(err.str());
+    }
+
+    strIndex << commandArgs[0];
+    strIndex
+        >> resetiosflags(ios::basefield) // guess base from prefix
+        >> data.sdo_index;
+    if (strIndex.fail()) {
+        err << "Invalid Sdo index '" << commandArgs[0] << "'!";
+        throw MasterDeviceException(err.str());
+    }
+
+    strSubIndex << commandArgs[1];
+    strSubIndex
+        >> resetiosflags(ios::basefield) // guess base from prefix
+        >> number;
+    if (strSubIndex.fail() || number > 0xff) {
+        err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";
+        throw MasterDeviceException(err.str());
+    }
+    data.sdo_entry_subindex = number;
+
+    if (dataTypeStr != "") { // data type specified
+        if (!(dataType = findDataType(dataTypeStr))) {
+            err << "Invalid data type '" << dataTypeStr << "'!";
+            throw MasterDeviceException(err.str());
+        }
+    } else { // no data type specified: fetch from dictionary
+        ec_ioctl_slave_sdo_entry_t entry;
+
+        masterDev.open(MasterDevice::ReadWrite);
+
+        try {
+            masterDev.getSdoEntry(&entry, slavePosition,
+                    data.sdo_index, data.sdo_entry_subindex);
+        } catch (MasterDeviceException &e) {
+            err << "Failed to determine Sdo entry data type. "
+                << "Please specify --type.";
+            throw ExecutionFailureException(err);
+        }
+        if (!(dataType = findDataType(entry.data_type))) {
+            err << "Pdo entry has unknown data type 0x"
+                << hex << setfill('0') << setw(4) << entry.data_type << "!"
+                << " Please specify --type.";
+            throw ExecutionFailureException(err);
+        }
+    }
+
+    if (dataType->byteSize) {
+        data.data_size = dataType->byteSize;
+    } else {
+        data.data_size = DefaultBufferSize;
+    }
+
+    data.data = new uint8_t[data.data_size + 1];
+
+    strValue << commandArgs[2];
+    strValue >> resetiosflags(ios::basefield); // guess base from prefix
+    strValue.exceptions(ios::failbit);
+
+    try {
+        switch (dataType->coeCode) {
+            case 0x0002: // int8
+                {
+                    int16_t val; // uint8_t is interpreted as char
+                    strValue >> val;
+                    if (val > 127 || val < -128)
+                        throw ios::failure("Value out of range");
+                    *data.data = val;
+                    break;
+                }
+            case 0x0003: // int16
+                {
+                    int16_t val;
+                    strValue >> val;
+                    *(int16_t *) data.data = cputole16(val);
+                    break;
+                }
+            case 0x0004: // int32
+                {
+                    int32_t val;
+                    strValue >> val;
+                    *(int32_t *) data.data = cputole32(val);
+                    break;
+                }
+            case 0x0005: // uint8
+                {
+                    uint16_t val; // uint8_t is interpreted as char
+                    strValue >> val;
+                    if (val > 0xff)
+                        throw ios::failure("Value out of range");
+                    *data.data = val;
+                    break;
+                }
+            case 0x0006: // uint16
+                {
+                    uint16_t val;
+                    strValue >> val;
+                    *(uint16_t *) data.data = cputole16(val);
+                    break;
+                }
+            case 0x0007: // uint32
+                {
+                    uint32_t val;
+                    strValue >> val;
+                    *(uint32_t *) data.data = cputole32(val);
+                    break;
+                }
+            case 0x0009: // string
+                if (strValue.str().size() >= data.data_size) {
+                    err << "String too large";
+                    throw MasterDeviceException(err.str());
+                }
+                data.data_size = strValue.str().size();
+                strValue >> (char *) data.data;
+                break;
+
+            default:
+                delete [] data.data;
+                err << "Unknown data type 0x" << hex << dataType->coeCode;
+                throw MasterDeviceException(err.str());
+        }
+    } catch (ios::failure &e) {
+        delete [] data.data;
+        err << "Invalid value argument '" << commandArgs[2]
+            << "' for type '" << dataType->name << "'!";
+        throw MasterDeviceException(err.str());
+    }
+
+    masterDev.open(MasterDevice::ReadWrite);
+
+	try {
+		masterDev.sdoDownload(&data);
+	} catch(MasterDeviceException &e) {
+        delete [] data.data;
+        throw e;
+    }
+
+    delete [] data.data;
+}
+
+/*****************************************************************************/