/*****************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License version 2, as
* published by the Free Software Foundation.
*
* The IgH EtherCAT Master is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* ---
*
* 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.
*
****************************************************************************/
#include <iostream>
#include <iomanip>
using namespace std;
#include "CommandDownload.h"
/*****************************************************************************/
CommandDownload::CommandDownload():
SdoCommand("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
<< "This command requires a single slave to be selected." << 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
<< " octet_string." << endl
<< endl
<< "Arguments:" << endl
<< " 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
<< " --alias -a <alias>" << endl
<< " --position -p <pos> Slave selection. See the help of" << endl
<< " the 'slaves' command." << endl
<< " --type -t <type> SDO entry data type (see 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 DataType *dataType = NULL;
SlaveList slaves;
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;
m.open(MasterDevice::ReadWrite);
slaves = selectedSlaves(m);
if (slaves.size() != 1) {
throwSingleSlaveRequired(slaves.size());
}
data.slave_position = slaves.front().position;
if (!getDataType().empty()) { // data type specified
if (!(dataType = findDataType(getDataType()))) {
err << "Invalid data type '" << getDataType() << "'!";
throwInvalidUsageException(err);
}
} else { // no data type specified: fetch from dictionary
ec_ioctl_slave_sdo_entry_t entry;
try {
m.getSdoEntry(&entry, data.slave_position,
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 = cpu_to_le16(val);
break;
}
case 0x0004: // int32
{
int32_t val;
strValue >> val;
*(int32_t *) data.data = cpu_to_le32(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 = cpu_to_le16(val);
break;
}
case 0x0007: // uint32
{
uint32_t val;
strValue >> val;
*(uint32_t *) data.data = cpu_to_le32(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;
case 0x000a: // octet_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);
}
try {
m.sdoDownload(&data);
} catch (MasterDeviceSdoAbortException &e) {
delete [] data.data;
err << "SDO transfer aborted with code 0x"
<< setfill('0') << hex << setw(8) << e.abortCode
<< ": " << abortText(e.abortCode);
throwCommandException(err);
} catch(MasterDeviceException &e) {
delete [] data.data;
throw e;
}
delete [] data.data;
}
/*****************************************************************************/