/*****************************************************************************
*
* $Id$
*
* 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.
*
****************************************************************************/
#define DEBUG 0
#if DEBUG
#include <iostream>
#endif
#include <iomanip>
#include <sstream>
using namespace std;
#include "DataTypeHandler.h"
#include "ecrt.h"
/*****************************************************************************/
DataTypeHandler::DataTypeHandler()
{
}
/****************************************************************************/
const DataTypeHandler::DataType *DataTypeHandler::findDataType(
const string &str
)
{
const DataType *d;
for (d = dataTypes; d->name; d++)
if (str == d->name)
return d;
return NULL; // FIXME exception
}
/****************************************************************************/
string DataTypeHandler::typeInfo()
{
stringstream s;
s
<< "These are valid data types to use with" << endl
<< "the --type option:" << endl
<< " bool," << endl
<< " int8, int16, int32, int64," << endl
<< " uint8, uint16, uint32, uint64," << endl
<< " float, double," << endl
<< " string, octet_string, unicode_string." << endl
<< "For sign-and-magnitude coding, use the following types:" << endl
<< " sm8, sm16, sm32, sm64" << endl;
return s.str();
}
/****************************************************************************/
const DataTypeHandler::DataType *DataTypeHandler::findDataType(uint16_t code)
{
const DataType *d;
for (d = dataTypes; d->name; d++)
if (code == d->code)
return d;
return NULL;
}
/****************************************************************************/
size_t DataTypeHandler::interpretAsType(
const DataType *type,
const string &source,
void *target,
size_t targetSize
)
{
stringstream str;
size_t dataSize = type->byteSize;
#if DEBUG
cerr << __func__ << "(targetSize=" << targetSize << ")" << endl;
#endif
str << source;
str >> resetiosflags(ios::basefield); // guess base from prefix
str.exceptions(ios::failbit);
#if DEBUG
cerr << "code=" << type->code << endl;
#endif
switch (type->code) {
case 0x0001: // bool
{
int16_t val; // uint8_t is interpreted as char
str >> val;
if (val > 1 || val < 0)
throw ios::failure("Value out of range");
*(uint8_t *) target = val;
break;
}
case 0x0002: // int8
{
int16_t val; // uint8_t is interpreted as char
str >> val;
if (val > 127 || val < -128)
throw ios::failure("Value out of range");
*(uint8_t *) target = val;
break;
}
case 0x0003: // int16
{
int16_t val;
str >> val;
*(int16_t *) target = cpu_to_le16(val);
break;
}
case 0x0004: // int32
{
int32_t val;
str >> val;
*(int32_t *) target = cpu_to_le32(val);
break;
}
case 0x0005: // uint8
{
uint16_t val; // uint8_t is interpreted as char
str >> val;
if (val > 0xff)
throw ios::failure("Value out of range");
*(uint8_t *) target = val;
break;
}
case 0x0006: // uint16
{
uint16_t val;
str >> val;
*(uint16_t *) target = cpu_to_le16(val);
break;
}
case 0x0007: // uint32
{
uint32_t val;
str >> val;
*(uint32_t *) target = cpu_to_le32(val);
break;
}
case 0x0008: // float
{
float val;
str >> val;
*(uint32_t *) target =
cpu_to_le32(*(uint32_t *) (void *) &val);
break;
}
case 0x0009: // string
case 0x000a: // octet_string
case 0x000b: // unicode_string
dataSize = str.str().size();
if (dataSize > targetSize) {
stringstream err;
err << "String too large ("
<< dataSize << " > " << targetSize << ")";
throw SizeException(err.str());
}
str >> (char *) target;
break;
case 0x0011: // double
{
double val;
str >> val;
*(uint64_t *) target =
cpu_to_le64(*(uint64_t *) (void *) &val);
break;
}
break;
case 0x0015: // int64
{
int64_t val;
str >> val;
*(int64_t *) target = cpu_to_le64(val);
break;
}
break;
case 0x001b: // uint64
{
uint64_t val;
str >> val;
*(uint64_t *) target = cpu_to_le64(val);
break;
}
break;
case 0x0010: // int24
case 0x0012: // int40
case 0x0013: // int48
case 0x0014: // int56
case 0x0016: // uint24
case 0x0018: // uint40
case 0x0019: // uint48
case 0x001a: // uint56
{
stringstream err;
err << "Non-native integer type " << type->name
<< " is not yet implemented.";
throw runtime_error(err.str());
}
case 0xfffb: // sm8
case 0xfffc: // sm16
case 0xfffd: // sm32
case 0xfffe: // sm64
{
stringstream err;
err << "Sign-and-magitude types not yet"
" implemented for input direction.";
throw runtime_error(err.str());
}
default:
{
stringstream err;
err << "Unknown data type 0x" << hex << type->code;
throw runtime_error(err.str());
}
}
#if DEBUG
printRawData(cerr, (const uint8_t *) target, dataSize);
#endif
return dataSize;
}
/****************************************************************************/
void DataTypeHandler::outputData(
ostream &o,
const DataType *type,
void *data,
size_t dataSize
)
{
uint16_t typeCode;
if (type) {
if (type->byteSize && dataSize != type->byteSize) {
stringstream err;
err << "Data type mismatch. Expected " << type->name
<< " with " << type->byteSize << " byte, but got "
<< dataSize << " byte.";
throw SizeException(err.str());
}
typeCode = type->code;
} else {
typeCode = 0xffff; // raw data
}
o << setfill('0');
switch (typeCode) {
case 0x0001: // bool
{
int val = (int) *(int8_t *) data;
o << "0x" << hex << setw(2) << val
<< " " << dec << val << endl;
}
break;
case 0x0002: // int8
{
int val = (int) *(int8_t *) data;
o << "0x" << hex << setw(2) << val
<< " " << dec << val << endl;
}
break;
case 0x0003: // int16
{
int16_t val = le16_to_cpup(data);
o << "0x" << hex << setw(4) << val
<< " " << dec << val << endl;
}
break;
case 0x0004: // int32
{
int32_t val = le32_to_cpup(data);
o << "0x" << hex << setw(8) << val
<< " " << dec << val << endl;
}
break;
case 0x0005: // uint8
{
unsigned int val = (unsigned int) *(uint8_t *) data;
o << "0x" << hex << setw(2) << val
<< " " << dec << val << endl;
}
break;
case 0x0006: // uint16
{
uint16_t val = le16_to_cpup(data);
o << "0x" << hex << setw(4) << val
<< " " << dec << val << endl;
}
break;
case 0x0007: // uint32
{
uint32_t val = le32_to_cpup(data);
o << "0x" << hex << setw(8) << val
<< " " << dec << val << endl;
}
break;
case 0x0008: // float
{
uint32_t val = le32_to_cpup(data);
float fval = *(float *) (void *) &val;
o << fval << endl;
}
break;
case 0x0009: // string
o << string((const char *) data, dataSize) << endl;
break;
case 0x000a: // octet_string
o << string((const char *) data, dataSize) << flush;
break;
case 0x000b: // unicode_string
// FIXME encoding
o << string((const char *) data, dataSize) << endl;
break;
case 0x0011: // double
{
uint64_t val = le64_to_cpup(data);
double fval = *(double *) (void *) &val;
o << fval << endl;
}
break;
case 0x0015: // int64
{
int64_t val = le64_to_cpup(data);
o << "0x" << hex << setw(16) << val
<< " " << dec << val << endl;
}
break;
case 0x001b: // uint64
{
uint64_t val = le64_to_cpup(data);
o << "0x" << hex << setw(16) << val
<< " " << dec << val << endl;
}
break;
case 0xfffb: // sm8
{
int8_t val = *(uint8_t *) data;
int8_t smval = val < 0 ? (val & 0x7f) * -1 : val;
o << "0x" << hex << setw(2) << (int) val
<< " " << dec << (int) smval << endl;
}
break;
case 0xfffc: // sm16
{
int16_t val = le16_to_cpup(data);
int16_t smval = val < 0 ? (val & 0x7fff) * -1 : val;
o << "0x" << hex << setw(4) << val
<< " " << dec << smval << endl;
}
break;
case 0xfffd: // sm32
{
int32_t val = le32_to_cpup(data);
int32_t smval = val < 0 ? (val & 0x7fffffffUL) * -1 : val;
o << "0x" << hex << setw(8) << val
<< " " << dec << smval << endl;
}
break;
case 0xfffe: // sm64
{
int64_t val = le64_to_cpup(data);
int64_t smval =
val < 0 ? (val & 0x7fffffffffffffffULL) * -1 : val;
o << "0x" << hex << setw(16) << val
<< " " << dec << smval << endl;
}
break;
default:
printRawData(o, (const uint8_t *) data, dataSize); // FIXME
break;
}
}
/****************************************************************************/
void DataTypeHandler::printRawData(
ostream &o,
const uint8_t *data,
size_t size
)
{
o << hex << setfill('0');
while (size--) {
o << "0x" << setw(2) << (unsigned int) *data++;
if (size)
o << " ";
}
o << endl;
}
/****************************************************************************/
const DataTypeHandler::DataType DataTypeHandler::dataTypes[] = {
{"bool", 0x0001, 1},
{"int8", 0x0002, 1},
{"int16", 0x0003, 2},
{"int32", 0x0004, 4},
{"uint8", 0x0005, 1},
{"uint16", 0x0006, 2},
{"uint32", 0x0007, 4},
{"float", 0x0008, 4},
{"string", 0x0009, 0}, // a. k. a. visible_string
{"octet_string", 0x000a, 0},
{"unicode_string", 0x000b, 0},
// ... not implemented yet
{"int24", 0x0010, 3},
{"double", 0x0011, 8},
{"int40", 0x0012, 5},
{"int48", 0x0013, 6},
{"int56", 0x0014, 7},
{"int64", 0x0015, 8},
{"uint24", 0x0016, 3},
// reserved 0x0017
{"uint40", 0x0018, 5},
{"uint48", 0x0019, 6},
{"uint56", 0x001a, 7},
{"uint64", 0x001b, 8},
// reserved 0x001c-0x001f
{"sm8", 0xfffb, 1}, // sign-and-magnitude coding
{"sm16", 0xfffc, 2}, // sign-and-magnitude coding
{"sm32", 0xfffd, 4}, // sign-and-magnitude coding
{"sm64", 0xfffe, 8}, // sign-and-magnitude coding
{"raw", 0xffff, 0},
{}
};
/*****************************************************************************/