Fixed typos.
/*****************************************************************************
*
* $Id$
*
****************************************************************************/
#include <iostream>
#include <iomanip>
using namespace std;
#include "globals.h"
#include "coe_datatypes.h"
/****************************************************************************/
const char *help_sdo_upload =
"[OPTIONS]\n"
"\n"
"\n"
"Command-specific options:\n";
/****************************************************************************/
void command_sdo_upload(void)
{
stringstream strIndex, strSubIndex;
int sval;
ec_ioctl_slave_sdo_upload_t data;
unsigned int uval;
const CoEDataType *dataType = NULL;
if (slavePosition < 0) {
stringstream err;
err << "'sdo_upload' requires a slave! Please specify --slave.";
throw MasterDeviceException(err.str());
}
data.slave_position = slavePosition;
if (commandArgs.size() != 2) {
stringstream err;
err << "'sdo_upload' takes two arguments!";
throw MasterDeviceException(err.str());
}
strIndex << commandArgs[0];
strIndex
>> resetiosflags(ios::basefield) // guess base from prefix
>> data.sdo_index;
if (strIndex.fail()) {
stringstream err;
err << "Invalid Sdo index '" << commandArgs[0] << "'!";
throw MasterDeviceException(err.str());
}
strSubIndex << commandArgs[1];
strSubIndex
>> resetiosflags(ios::basefield) // guess base from prefix
>> uval;
if (strSubIndex.fail() || uval > 0xff) {
stringstream err;
err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";
throw MasterDeviceException(err.str());
}
data.sdo_entry_subindex = uval;
if (dataTypeStr != "") { // data type specified
if (!(dataType = findDataType(dataTypeStr))) {
stringstream err;
err << "Invalid data type '" << dataTypeStr << "'!";
throw MasterDeviceException(err.str());
}
} else { // no data type specified: fetch from dictionary
ec_ioctl_slave_sdo_entry_t entry;
masterDev.open(MasterDevice::Read);
try {
masterDev.getSdoEntry(&entry, slavePosition,
data.sdo_index, data.sdo_entry_subindex);
} catch (MasterDeviceException &e) {
stringstream err;
err << "Failed to determine Sdo entry data type. "
<< "Please specify --type.";
throw ExecutionFailureException(err);
}
if (!(dataType = findDataType(entry.data_type))) {
stringstream err;
err << "Pdo entry has unknown data type 0x"
<< hex << setfill('0') << setw(4) << entry.data_type << "!"
<< " Please specify --type.";
throw ExecutionFailureException(err);
}
}
if (dataType->byteSize) {
data.target_size = dataType->byteSize;
} else {
data.target_size = DefaultBufferSize;
}
data.target = new uint8_t[data.target_size + 1];
masterDev.open(MasterDevice::Read);
try {
masterDev.sdoUpload(&data);
} catch (MasterDeviceException &e) {
delete [] data.target;
throw e;
}
masterDev.close();
if (dataType->byteSize && data.data_size != dataType->byteSize) {
stringstream err;
err << "Data type mismatch. Expected " << dataType->name
<< " with " << dataType->byteSize << " byte, but got "
<< data.data_size << " byte.";
throw MasterDeviceException(err.str());
}
cout << setfill('0');
switch (dataType->coeCode) {
case 0x0002: // int8
sval = *(int8_t *) data.target;
cout << sval << " 0x" << hex << setw(2) << sval << endl;
break;
case 0x0003: // int16
sval = le16tocpu(*(int16_t *) data.target);
cout << sval << " 0x" << hex << setw(4) << sval << endl;
break;
case 0x0004: // int32
sval = le32tocpu(*(int32_t *) data.target);
cout << sval << " 0x" << hex << setw(8) << sval << endl;
break;
case 0x0005: // uint8
uval = (unsigned int) *(uint8_t *) data.target;
cout << uval << " 0x" << hex << setw(2) << uval << endl;
break;
case 0x0006: // uint16
uval = le16tocpu(*(uint16_t *) data.target);
cout << uval << " 0x" << hex << setw(4) << uval << endl;
break;
case 0x0007: // uint32
uval = le32tocpu(*(uint32_t *) data.target);
cout << uval << " 0x" << hex << setw(8) << uval << endl;
break;
case 0x0009: // string
cout << string((const char *) data.target, data.data_size)
<< endl;
break;
default:
printRawData(data.target, data.data_size);
break;
}
delete [] data.target;
}
/*****************************************************************************/