/*****************************************************************************
*
* $Id$
*
* 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 "CommandUpload.h"
/*****************************************************************************/
CommandUpload::CommandUpload():
SdoCommand("upload", "Read an SDO entry from a slave.")
{
}
/*****************************************************************************/
string CommandUpload::helpString() const
{
stringstream str;
str << getName() << " [OPTIONS] <INDEX> <SUBINDEX>" << 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
<< 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 CommandUpload::execute(MasterDevice &m, const StringVector &args)
{
SlaveList slaves;
stringstream err, strIndex, strSubIndex;
ec_ioctl_slave_sdo_upload_t data;
const DataType *dataType = NULL;
unsigned int uval;
if (args.size() != 2) {
err << "'" << getName() << "' takes two 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
>> uval;
if (strSubIndex.fail() || uval > 0xff) {
err << "Invalid SDO subindex '" << args[1] << "'!";
throwInvalidUsageException(err);
}
data.sdo_entry_subindex = uval;
m.open(MasterDevice::Read);
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.target_size = dataType->byteSize;
} else {
data.target_size = DefaultBufferSize;
}
data.target = new uint8_t[data.target_size + 1];
try {
m.sdoUpload(&data);
} catch (MasterDeviceSdoAbortException &e) {
delete [] data.target;
err << "SDO transfer aborted with code 0x"
<< setfill('0') << hex << setw(8) << e.abortCode
<< ": " << abortText(e.abortCode);
throwCommandException(err);
} catch (MasterDeviceException &e) {
delete [] data.target;
throw e;
}
m.close();
if (dataType->byteSize && data.data_size != dataType->byteSize) {
err << "Data type mismatch. Expected " << dataType->name
<< " with " << dataType->byteSize << " byte, but got "
<< data.data_size << " byte.";
throwCommandException(err);
}
cout << setfill('0');
switch (dataType->coeCode) {
case 0x0002: // int8
{
int val = (int) *data.target;
cout << "0x" << hex << setw(2) << val
<< " " << dec << val << endl;
}
break;
case 0x0003: // int16
{
int16_t val = le16_to_cpup(data.target);
cout << "0x" << hex << setw(4) << val
<< " " << dec << val << endl;
}
break;
case 0x0004: // int32
{
int32_t val = le32_to_cpup(data.target);
cout << "0x" << hex << setw(8) << val
<< " " << dec << val << endl;
}
break;
case 0x0005: // uint8
{
unsigned int val = (unsigned int) *data.target;
cout << "0x" << hex << setw(2) << val
<< " " << dec << val << endl;
}
break;
case 0x0006: // uint16
{
uint16_t val = le16_to_cpup(data.target);
cout << "0x" << hex << setw(4) << val
<< " " << dec << val << endl;
}
break;
case 0x0007: // uint32
{
uint32_t val = le32_to_cpup(data.target);
cout << "0x" << hex << setw(8) << val
<< " " << dec << val << endl;
}
break;
case 0x0009: // string
cout << string((const char *) data.target, data.data_size)
<< endl;
break;
case 0x000a: // octet_string
cout << string((const char *) data.target, data.data_size)
<< endl;
break;
default:
printRawData(data.target, data.data_size); // FIXME
break;
}
delete [] data.target;
}
/****************************************************************************/
void CommandUpload::printRawData(
const uint8_t *data,
unsigned int size
)
{
cout << hex << setfill('0');
while (size--) {
cout << "0x" << setw(2) << (unsigned int) *data++;
if (size)
cout << " ";
}
cout << endl;
}
/*****************************************************************************/