use app_start_time for initial DC offset calculation because app_time might be overwritten while calculating the offsets.
/*****************************************************************************
*
* $Id$
*
* 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 <iomanip>
using namespace std;
#include "SoeCommand.h"
extern const ec_code_msg_t soe_error_codes[];
/*****************************************************************************/
SoeCommand::SoeCommand(const string &name, const string &briefDesc):
Command(name, briefDesc)
{
}
/*****************************************************************************/
uint16_t SoeCommand::parseIdn(const string &str)
{
uint16_t idn = 0x0000;
stringstream s, err;
if (!str.length()) {
err << "Zero-size string not allowed!";
throw runtime_error(err.str());
}
if (str[0] == 'S' || str[0] == 'P') {
unsigned int num;
unsigned char c;
s << str;
s >> c;
if (c == 'P') {
idn |= 0x8000;
}
s >> c;
if (s.fail() || c != '-') {
err << "'-' expected!";
throw runtime_error(err.str());
}
s >> num;
if (s.fail() || num > 7) {
err << "Invalid parameter set number!";
throw runtime_error(err.str());
}
idn |= num << 12;
s >> c;
if (s.fail() || c != '-') {
err << "'-' expected!";
throw runtime_error(err.str());
}
s >> num;
if (s.fail() || num > 4095) {
err << "Invalid data block number!";
throw runtime_error(err.str());
}
idn |= num;
s.peek();
if (!s.eof()) {
err << "Additional input!";
throw runtime_error(err.str());
}
} else {
s << str;
s >> resetiosflags(ios::basefield) >> idn;
if (s.fail()) {
err << "Invalid number!";
throw runtime_error(err.str());
}
}
return idn;
}
/*****************************************************************************/
/** Outputs an SoE error code.
*/
std::string SoeCommand::errorMsg(uint16_t code)
{
const ec_code_msg_t *error_msg;
stringstream str;
str << "0x" << hex << setfill('0') << setw(4) << code << ": ";
for (error_msg = soe_error_codes; error_msg->code; error_msg++) {
if (error_msg->code == code) {
str << error_msg->message;
return str.str();
}
}
str << "(Unknown)";
return str.str();
}
/****************************************************************************/