fp@1142: /*****************************************************************************
fp@1142:  *
fp@1363:  *  $Id$
fp@1363:  *
fp@1363:  *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
fp@1363:  *
fp@1363:  *  This file is part of the IgH EtherCAT Master.
fp@1363:  *
fp@1363:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1363:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1363:  *  published by the Free Software Foundation.
fp@1363:  *
fp@1363:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1363:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1363:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1363:  *  Public License for more details.
fp@1363:  *
fp@1363:  *  You should have received a copy of the GNU General Public License along
fp@1363:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@1363:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1363:  *
fp@1363:  *  ---
fp@1363:  *
fp@1363:  *  The license mentioned above concerns the source code only. Using the
fp@1363:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1363:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@1142:  *
fp@1142:  ****************************************************************************/
fp@1142: 
fp@1142: #include <iostream>
fp@1142: #include <iomanip>
fp@1142: using namespace std;
fp@1142: 
fp@1142: #include "CommandDownload.h"
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: CommandDownload::CommandDownload():
fp@1327:     SdoCommand("download", "Write an SDO entry to a slave.")
fp@1142: {
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/
fp@1142: 
fp@1142: string CommandDownload::helpString() const
fp@1142: {
fp@1142:     stringstream str;
fp@1142: 
fp@1142:     str << getName() << " [OPTIONS] <INDEX> <SUBINDEX> <VALUE>" << endl
fp@1142:     	<< endl
fp@1142:     	<< getBriefDescription() << endl
fp@1157:         << endl
fp@1157:         << "This command requires a single slave to be selected." << endl
fp@1142:     	<< endl
fp@1327:     	<< "The data type of the SDO entry is taken from the SDO" << endl
fp@1142: 		<< "dictionary by default. It can be overridden with the" << endl
fp@1327: 		<< "--type option. If the slave does not support the SDO" << endl
fp@1327: 		<< "information service or the SDO is not in the dictionary," << endl
fp@1142: 		<< "the --type option is mandatory." << endl
fp@1142:     	<< endl
fp@1327:     	<< "These are the valid SDO entry data types:" << endl
fp@1334:     	<< "  int8, int16, int32, uint8, uint16, uint32, string," << endl
fp@1334:         << "  octet_string." << endl
fp@1142:     	<< endl
fp@1144:     	<< "Arguments:" << endl
fp@1327:     	<< "  INDEX    is the SDO index and must be an unsigned" << endl
fp@1142: 		<< "           16 bit number." << endl
fp@1327:     	<< "  SUBINDEX is the SDO entry subindex and must be an" << endl
fp@1142: 		<< "           unsigned 8 bit number." << endl
fp@1142:     	<< "  VALUE    is the value to download and must correspond" << endl
fp@1327: 		<< "           to the SDO entry datatype (see above)." << endl
fp@1142:     	<< endl
fp@1142:     	<< "Command-specific options:" << endl
fp@1157:         << "  --alias    -a <alias>" << endl
fp@1157:         << "  --position -p <pos>    Slave selection. See the help of" << endl
fp@1157:         << "                         the 'slaves' command." << endl
fp@1327:     	<< "  --type     -t <type>   SDO entry data type (see above)." << endl
fp@1142:     	<< endl
fp@1142: 		<< numericInfo();
fp@1142: 
fp@1142: 	return str.str();
fp@1142: }
fp@1142: 
fp@1142: /****************************************************************************/
fp@1142: 
fp@1142: void CommandDownload::execute(MasterDevice &m, const StringVector &args)
fp@1142: {
fp@1142:     stringstream strIndex, strSubIndex, strValue, err;
fp@1142:     ec_ioctl_slave_sdo_download_t data;
fp@1142:     unsigned int number;
fp@1184:     const DataType *dataType = NULL;
fp@1151:     SlaveList slaves;
fp@1142: 
fp@1142:     if (args.size() != 3) {
fp@1142:         err << "'" << getName() << "' takes 3 arguments!";
fp@1142:         throwInvalidUsageException(err);
fp@1142:     }
fp@1142: 
fp@1142:     strIndex << args[0];
fp@1142:     strIndex
fp@1142:         >> resetiosflags(ios::basefield) // guess base from prefix
fp@1142:         >> data.sdo_index;
fp@1142:     if (strIndex.fail()) {
fp@1327:         err << "Invalid SDO index '" << args[0] << "'!";
fp@1142:         throwInvalidUsageException(err);
fp@1142:     }
fp@1142: 
fp@1142:     strSubIndex << args[1];
fp@1142:     strSubIndex
fp@1142:         >> resetiosflags(ios::basefield) // guess base from prefix
fp@1142:         >> number;
fp@1142:     if (strSubIndex.fail() || number > 0xff) {
fp@1327:         err << "Invalid SDO subindex '" << args[1] << "'!";
fp@1142:         throwInvalidUsageException(err);
fp@1142:     }
fp@1142:     data.sdo_entry_subindex = number;
fp@1142: 
fp@1151:     m.open(MasterDevice::ReadWrite);
fp@1151:     slaves = selectedSlaves(m);
fp@1151:     if (slaves.size() != 1) {
fp@1155:         throwSingleSlaveRequired(slaves.size());
fp@1151:     }
fp@1151:     data.slave_position = slaves.front().position;
fp@1151: 
fp@1166:     if (!getDataType().empty()) { // data type specified
fp@1166:         if (!(dataType = findDataType(getDataType()))) {
fp@1166:             err << "Invalid data type '" << getDataType() << "'!";
fp@1142:             throwInvalidUsageException(err);
fp@1142:         }
fp@1142:     } else { // no data type specified: fetch from dictionary
fp@1142:         ec_ioctl_slave_sdo_entry_t entry;
fp@1142: 
fp@1142:         try {
fp@1151:             m.getSdoEntry(&entry, data.slave_position,
fp@1142:                     data.sdo_index, data.sdo_entry_subindex);
fp@1142:         } catch (MasterDeviceException &e) {
fp@1327:             err << "Failed to determine SDO entry data type. "
fp@1142:                 << "Please specify --type.";
fp@1142:             throwCommandException(err);
fp@1142:         }
fp@1142:         if (!(dataType = findDataType(entry.data_type))) {
fp@1327:             err << "PDO entry has unknown data type 0x"
fp@1142:                 << hex << setfill('0') << setw(4) << entry.data_type << "!"
fp@1142:                 << " Please specify --type.";
fp@1142:             throwCommandException(err);
fp@1142:         }
fp@1142:     }
fp@1142: 
fp@1142:     if (dataType->byteSize) {
fp@1142:         data.data_size = dataType->byteSize;
fp@1142:     } else {
fp@1142:         data.data_size = DefaultBufferSize;
fp@1142:     }
fp@1142: 
fp@1142:     data.data = new uint8_t[data.data_size + 1];
fp@1142: 
fp@1142:     strValue << args[2];
fp@1142:     strValue >> resetiosflags(ios::basefield); // guess base from prefix
fp@1142:     strValue.exceptions(ios::failbit);
fp@1142: 
fp@1142:     try {
fp@1142:         switch (dataType->coeCode) {
fp@1142:             case 0x0002: // int8
fp@1142:                 {
fp@1142:                     int16_t val; // uint8_t is interpreted as char
fp@1142:                     strValue >> val;
fp@1142:                     if (val > 127 || val < -128)
fp@1142:                         throw ios::failure("Value out of range");
fp@1142:                     *data.data = val;
fp@1142:                     break;
fp@1142:                 }
fp@1142:             case 0x0003: // int16
fp@1142:                 {
fp@1142:                     int16_t val;
fp@1142:                     strValue >> val;
fp@1254:                     *(int16_t *) data.data = cpu_to_le16(val);
fp@1142:                     break;
fp@1142:                 }
fp@1142:             case 0x0004: // int32
fp@1142:                 {
fp@1142:                     int32_t val;
fp@1142:                     strValue >> val;
fp@1254:                     *(int32_t *) data.data = cpu_to_le32(val);
fp@1142:                     break;
fp@1142:                 }
fp@1142:             case 0x0005: // uint8
fp@1142:                 {
fp@1142:                     uint16_t val; // uint8_t is interpreted as char
fp@1142:                     strValue >> val;
fp@1142:                     if (val > 0xff)
fp@1142:                         throw ios::failure("Value out of range");
fp@1142:                     *data.data = val;
fp@1142:                     break;
fp@1142:                 }
fp@1142:             case 0x0006: // uint16
fp@1142:                 {
fp@1142:                     uint16_t val;
fp@1142:                     strValue >> val;
fp@1254:                     *(uint16_t *) data.data = cpu_to_le16(val);
fp@1142:                     break;
fp@1142:                 }
fp@1142:             case 0x0007: // uint32
fp@1142:                 {
fp@1142:                     uint32_t val;
fp@1142:                     strValue >> val;
fp@1254:                     *(uint32_t *) data.data = cpu_to_le32(val);
fp@1142:                     break;
fp@1142:                 }
fp@1142:             case 0x0009: // string
fp@1142:                 if (strValue.str().size() >= data.data_size) {
fp@1142:                     err << "String too large";
fp@1142:                     throwCommandException(err);
fp@1142:                 }
fp@1142:                 data.data_size = strValue.str().size();
fp@1142:                 strValue >> (char *) data.data;
fp@1142:                 break;
fp@1334:             case 0x000a: // octet_string
fp@1334:                 if (strValue.str().size() >= data.data_size) {
fp@1334:                     err << "String too large";
fp@1334:                     throwCommandException(err);
fp@1334:                 }
fp@1334:                 data.data_size = strValue.str().size();
fp@1334:                 strValue >> (char *) data.data;
fp@1334:                 break;
fp@1142: 
fp@1142:             default:
fp@1142:                 delete [] data.data;
fp@1142:                 err << "Unknown data type 0x" << hex << dataType->coeCode;
fp@1142:                 throwCommandException(err);
fp@1142:         }
fp@1142:     } catch (ios::failure &e) {
fp@1142:         delete [] data.data;
fp@1142:         err << "Invalid value argument '" << args[2]
fp@1142:             << "' for type '" << dataType->name << "'!";
fp@1142:         throwInvalidUsageException(err);
fp@1142:     }
fp@1142: 
fp@1142: 	try {
fp@1151:         m.sdoDownload(&data);
fp@1184: 	} catch (MasterDeviceSdoAbortException &e) {
fp@1184:         delete [] data.data;
fp@1327:         err << "SDO transfer aborted with code 0x"
fp@1184:             << setfill('0') << hex << setw(8) << e.abortCode
fp@1184:             << ": " << abortText(e.abortCode);
fp@1184:         throwCommandException(err);
fp@1142: 	} catch(MasterDeviceException &e) {
fp@1142:         delete [] data.data;
fp@1142:         throw e;
fp@1142:     }
fp@1142: 
fp@1142:     delete [] data.data;
fp@1142: }
fp@1142: 
fp@1142: /*****************************************************************************/