--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/SdoCommand.cpp	Fri Aug 01 10:10:55 2008 +0000
@@ -0,0 +1,116 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include "SdoCommand.h"
+
+/*****************************************************************************/
+
+SdoCommand::SdoCommand(const string &name, const string &briefDesc):
+    Command(name, briefDesc)
+{
+}
+
+/****************************************************************************/
+
+const SdoCommand::DataType *SdoCommand::findDataType(const string &str)
+{
+    const DataType *d;
+    
+    for (d = dataTypes; d->name; d++)
+        if (str == d->name)
+            return d;
+
+    return NULL;
+}
+
+/****************************************************************************/
+
+const SdoCommand::DataType *SdoCommand::findDataType(uint16_t code)
+{
+    const DataType *d;
+    
+    for (d = dataTypes; d->name; d++)
+        if (code == d->coeCode)
+            return d;
+
+    return NULL;
+}
+
+/****************************************************************************/
+
+const char *SdoCommand::abortText(uint32_t abortCode)
+{
+    const AbortMessage *abortMsg;
+
+    for (abortMsg = abortMessages; abortMsg->code; abortMsg++) {
+        if (abortMsg->code == abortCode) {
+            return abortMsg->message;
+        }
+    }
+
+    return "???";
+}
+
+/****************************************************************************/
+
+const SdoCommand::DataType SdoCommand::dataTypes[] = {
+    {"int8",   0x0002, 1},
+    {"int16",  0x0003, 2},
+    {"int32",  0x0004, 4},
+    {"uint8",  0x0005, 1},
+    {"uint16", 0x0006, 2},
+    {"uint32", 0x0007, 4},
+    {"string", 0x0009, 0},
+    {"raw",    0xffff, 0},
+    {}
+};
+
+/*****************************************************************************/
+
+/** Sdo abort messages.
+ *
+ * The "Abort Sdo transfer request" supplies an abort code, which can be
+ * translated to clear text. This table does the mapping of the codes and
+ * messages.
+ */
+const SdoCommand::AbortMessage SdoCommand::abortMessages[] = {
+    {0x05030000, "Toggle bit not changed"},
+    {0x05040000, "Sdo protocol timeout"},
+    {0x05040001, "Client/Server command specifier not valid or unknown"},
+    {0x05040005, "Out of memory"},
+    {0x06010000, "Unsupported access to an object"},
+    {0x06010001, "Attempt to read a write-only object"},
+    {0x06010002, "Attempt to write a read-only object"},
+    {0x06020000, "This object does not exist in the object directory"},
+    {0x06040041, "The object cannot be mapped into the Pdo"},
+    {0x06040042, "The number and length of the objects to be mapped would"
+     " exceed the Pdo length"},
+    {0x06040043, "General parameter incompatibility reason"},
+    {0x06040047, "Gerneral internal incompatibility in device"},
+    {0x06060000, "Access failure due to a hardware error"},
+    {0x06070010, "Data type does not match, length of service parameter does"
+     " not match"},
+    {0x06070012, "Data type does not match, length of service parameter too"
+     " high"},
+    {0x06070013, "Data type does not match, length of service parameter too"
+     " low"},
+    {0x06090011, "Subindex does not exist"},
+    {0x06090030, "Value range of parameter exceeded"},
+    {0x06090031, "Value of parameter written too high"},
+    {0x06090032, "Value of parameter written too low"},
+    {0x06090036, "Maximum value is less than minimum value"},
+    {0x08000000, "General error"},
+    {0x08000020, "Data cannot be transferred or stored to the application"},
+    {0x08000021, "Data cannot be transferred or stored to the application"
+     " because of local control"},
+    {0x08000022, "Data cannot be transferred or stored to the application"
+     " because of the present device state"},
+    {0x08000023, "Object dictionary dynamic generation fails or no object"
+     " dictionary is present"},
+    {}
+};
+
+/****************************************************************************/