--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/CommandDownload.cpp Thu Jul 24 13:27:06 2008 +0000
@@ -0,0 +1,219 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <iostream>
+#include <iomanip>
+using namespace std;
+
+#include "CommandDownload.h"
+#include "coe_datatypes.h"
+#include "byteorder.h"
+
+/*****************************************************************************/
+
+CommandDownload::CommandDownload():
+ Command("download", "Write an Sdo entry to a slave.")
+{
+}
+
+/*****************************************************************************/
+
+string CommandDownload::helpString() const
+{
+ stringstream str;
+
+ str << getName() << " [OPTIONS] <INDEX> <SUBINDEX> <VALUE>" << endl
+ << endl
+ << getBriefDescription() << endl
+ << endl
+ << "The data type of the Sdo entry is taken from the Sdo" << endl
+ << "dictionary by default. It can be overridden with the" << endl
+ << "--type option. If the slave does not support the Sdo" << endl
+ << "information service or the Sdo is not in the dictionary," << endl
+ << "the --type option is mandatory." << endl
+ << endl
+ << "These are the valid Sdo entry data types:" << endl
+ << " int8, int16, int32, uint8, uint16, uint32, string." << endl
+ << endl
+ << "Arguments:"
+ << " INDEX is the Sdo index and must be an unsigned" << endl
+ << " 16 bit number." << endl
+ << " SUBINDEX is the Sdo entry subindex and must be an" << endl
+ << " unsigned 8 bit number." << endl
+ << " VALUE is the value to download and must correspond" << endl
+ << " to the Sdo entry datatype (see above)." << endl
+ << endl
+ << "Command-specific options:" << endl
+ << " --slave -s <index> Positive numerical ring position" << endl
+ << " (mandatory)." << endl
+ << " --type -t <type> Forced Sdo entry data type (see" << endl
+ << " above)." << endl
+ << endl
+ << numericInfo();
+
+ return str.str();
+}
+
+/****************************************************************************/
+
+void CommandDownload::execute(MasterDevice &m, const StringVector &args)
+{
+ stringstream strIndex, strSubIndex, strValue, err;
+ ec_ioctl_slave_sdo_download_t data;
+ unsigned int number;
+ const CoEDataType *dataType = NULL;
+
+ if (slavePosition < 0) {
+ err << "'" << getName() << "' requires a slave! "
+ << "Please specify --slave.";
+ throwInvalidUsageException(err);
+ }
+ data.slave_position = slavePosition;
+
+ if (args.size() != 3) {
+ err << "'" << getName() << "' takes 3 arguments!";
+ throwInvalidUsageException(err);
+ }
+
+ strIndex << args[0];
+ strIndex
+ >> resetiosflags(ios::basefield) // guess base from prefix
+ >> data.sdo_index;
+ if (strIndex.fail()) {
+ err << "Invalid Sdo index '" << args[0] << "'!";
+ throwInvalidUsageException(err);
+ }
+
+ strSubIndex << args[1];
+ strSubIndex
+ >> resetiosflags(ios::basefield) // guess base from prefix
+ >> number;
+ if (strSubIndex.fail() || number > 0xff) {
+ err << "Invalid Sdo subindex '" << args[1] << "'!";
+ throwInvalidUsageException(err);
+ }
+ data.sdo_entry_subindex = number;
+
+ if (dataTypeStr != "") { // data type specified
+ if (!(dataType = findDataType(dataTypeStr))) {
+ err << "Invalid data type '" << dataTypeStr << "'!";
+ throwInvalidUsageException(err);
+ }
+ } else { // no data type specified: fetch from dictionary
+ ec_ioctl_slave_sdo_entry_t entry;
+
+ m.open(MasterDevice::ReadWrite);
+
+ try {
+ m.getSdoEntry(&entry, slavePosition,
+ data.sdo_index, data.sdo_entry_subindex);
+ } catch (MasterDeviceException &e) {
+ err << "Failed to determine Sdo entry data type. "
+ << "Please specify --type.";
+ throwCommandException(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.";
+ throwCommandException(err);
+ }
+ }
+
+ if (dataType->byteSize) {
+ data.data_size = dataType->byteSize;
+ } else {
+ data.data_size = DefaultBufferSize;
+ }
+
+ data.data = new uint8_t[data.data_size + 1];
+
+ strValue << args[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";
+ throwCommandException(err);
+ }
+ data.data_size = strValue.str().size();
+ strValue >> (char *) data.data;
+ break;
+
+ default:
+ delete [] data.data;
+ err << "Unknown data type 0x" << hex << dataType->coeCode;
+ throwCommandException(err);
+ }
+ } catch (ios::failure &e) {
+ delete [] data.data;
+ err << "Invalid value argument '" << args[2]
+ << "' for type '" << dataType->name << "'!";
+ throwInvalidUsageException(err);
+ }
+
+ m.open(MasterDevice::ReadWrite);
+
+ try {
+ m.sdoDownload(&data);
+ } catch(MasterDeviceException &e) {
+ delete [] data.data;
+ throw e;
+ }
+
+ delete [] data.data;
+}
+
+/*****************************************************************************/