Internal SDO requests now synchronized with external requests.
Internal SDO requests are managed by master FSM and can conflict with
external requests managed by slave FSM. The internal SDO requests
includes SDO requests created by an application and external request are
typical created by EtherCAT Tool for SDO upload/download or a directory
fetch initiated with ethercat sdos command. The conflict will cause a
FPWR from an external request to be overwritten by a FPWR from an
internal SDO request (or oppersite) in the same "train" of datagrams.
/*****************************************************************************
*
* $Id$
*
* 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 "FoeCommand.h"
#include "foe.h"
/*****************************************************************************/
FoeCommand::FoeCommand(const string &name, const string &briefDesc):
Command(name, briefDesc)
{
}
/****************************************************************************/
std::string FoeCommand::resultText(int result)
{
switch (result) {
case FOE_BUSY:
return "FOE_BUSY";
case FOE_READY:
return "FOE_READY";
case FOE_IDLE:
return "FOE_IDLE";
case FOE_WC_ERROR:
return "FOE_WC_ERROR";
case FOE_RECEIVE_ERROR:
return "FOE_RECEIVE_ERROR";
case FOE_PROT_ERROR:
return "FOE_PROT_ERROR";
case FOE_NODATA_ERROR:
return "FOE_NODATA_ERROR";
case FOE_PACKETNO_ERROR:
return "FOE_PACKETNO_ERROR";
case FOE_OPCODE_ERROR:
return "FOE_OPCODE_ERROR";
case FOE_TIMEOUT_ERROR:
return "FOE_TIMEOUT_ERROR";
case FOE_SEND_RX_DATA_ERROR:
return "FOE_SEND_RX_DATA_ERROR";
case FOE_RX_DATA_ACK_ERROR:
return "FOE_RX_DATA_ACK_ERROR";
case FOE_ACK_ERROR:
return "FOE_ACK_ERROR";
case FOE_MBOX_FETCH_ERROR:
return "FOE_MBOX_FETCH_ERROR";
case FOE_READ_NODATA_ERROR:
return "FOE_READ_NODATA_ERROR";
case FOE_MBOX_PROT_ERROR:
return "FOE_MBOX_PROT_ERROR";
default:
return "???";
}
}
/****************************************************************************/
std::string FoeCommand::errorText(int errorCode)
{
switch (errorCode) {
case 0x00008001:
return "Not found.";
case 0x00008002:
return "Access denied.";
case 0x00008003:
return "Disk full.";
case 0x00008004:
return "Illegal.";
case 0x00008005:
return "Packet number wrong.";
case 0x00008006:
return "Already exists.";
case 0x00008007:
return "No user.";
case 0x00008008:
return "Bootstrap only.";
case 0x00008009:
return "Not Bootstrap.";
case 0x0000800a:
return "No rights.";
case 0x0000800b:
return "Program Error.";
default:
return "Unknown error code";
}
}
/****************************************************************************/