Fixed spacing.
/*****************************************************************************
*
* $Id$
*
****************************************************************************/
#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"},
{}
};
/****************************************************************************/