fp@1122: /*****************************************************************************
fp@1122:  *
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@1122:  *
fp@1122:  ****************************************************************************/
fp@1122: 
fp@1122: #include <sys/stat.h>
fp@1122: #include <fcntl.h>
fp@1122: #include <errno.h>
fp@1122: #include <sys/ioctl.h>
fp@1222: #include <string.h>
fp@1238: #include <unistd.h>
fp@1122: 
fp@1122: #include <sstream>
fp@1126: #include <iomanip>
fp@1122: using namespace std;
fp@1122: 
fp@1122: #include "MasterDevice.h"
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1826: MasterDevice::MasterDevice(unsigned int index):
fp@1826:     index(index),
fp@1826:     masterCount(0U),
fp@1826:     fd(-1)
fp@1826: {
fp@1122: }
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1122: MasterDevice::~MasterDevice()
fp@1122: {
fp@1122:     close();
fp@1122: }
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1122: void MasterDevice::setIndex(unsigned int i)
fp@1122: {
fp@1122:     index = i;
fp@1122: }
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1122: void MasterDevice::open(Permissions perm)
fp@1122: {
fp@1122:     stringstream deviceName;
fp@1122: 
fp@1126:     if (fd == -1) { // not already open
fp@1826:         ec_ioctl_module_t module_data;
fp@1804:         deviceName << "/dev/EtherCAT" << index;
fp@1804: 
fp@1804:         if ((fd = ::open(deviceName.str().c_str(),
fp@1804:                         perm == ReadWrite ? O_RDWR : O_RDONLY)) == -1) {
fp@1804:             stringstream err;
fp@1804:             err << "Failed to open master device " << deviceName.str() << ": "
fp@1804:                 << strerror(errno);
fp@1804:             throw MasterDeviceException(err);
fp@1804:         }
fp@1826: 
fp@1826:         getModule(&module_data);
fp@1826:         if (module_data.ioctl_version_magic != EC_IOCTL_VERSION_MAGIC) {
fp@1826:             stringstream err;
fp@1826:             err << "ioctl() version magic is differing: "
fp@1850:                 << deviceName.str() << ": " << module_data.ioctl_version_magic
fp@1826:                 << ", ethercat tool: " << EC_IOCTL_VERSION_MAGIC;
fp@1826:             throw MasterDeviceException(err);
fp@1826:         }
fp@1826:         masterCount = module_data.master_count;
fp@1122:     }
fp@1122: }
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1122: void MasterDevice::close()
fp@1122: {
fp@1126:     if (fd != -1) {
fp@1804:         ::close(fd);
fp@1804:         fd = -1;
fp@1804:     }
fp@1126: }
fp@1126: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1826: void MasterDevice::getModule(ec_ioctl_module_t *data)
fp@1826: {
fp@1826:     if (ioctl(fd, EC_IOCTL_MODULE, data) < 0) {
fp@1826:         stringstream err;
fp@1826:         err << "Failed to get module information: " << strerror(errno);
fp@1826:         throw MasterDeviceException(err);
fp@1826:     }
fp@1826: }
fp@1826: 
fp@1826: /****************************************************************************/
fp@1826: 
fp@1122: void MasterDevice::getMaster(ec_ioctl_master_t *data)
fp@1122: {
fp@1122:     if (ioctl(fd, EC_IOCTL_MASTER, data) < 0) {
fp@1122:         stringstream err;
fp@1122:         err << "Failed to get master information: " << strerror(errno);
fp@1136:         throw MasterDeviceException(err);
fp@1122:     }
fp@1122: }
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1122: void MasterDevice::getConfig(ec_ioctl_config_t *data, unsigned int index)
fp@1122: {
fp@1122:     data->config_index = index;
fp@1122: 
fp@1122:     if (ioctl(fd, EC_IOCTL_CONFIG, data) < 0) {
fp@1122:         stringstream err;
fp@1122:         err << "Failed to get slave configuration: " << strerror(errno);
fp@1136:         throw MasterDeviceException(err);
fp@1122:     }
fp@1122: }
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1122: void MasterDevice::getConfigPdo(
fp@1122:         ec_ioctl_config_pdo_t *data,
fp@1122:         unsigned int index,
fp@1122:         uint8_t sync_index,
fp@1122:         uint16_t pdo_pos
fp@1122:         )
fp@1122: {
fp@1122:     data->config_index = index;
fp@1122:     data->sync_index = sync_index;
fp@1122:     data->pdo_pos = pdo_pos;
fp@1122: 
fp@1122:     if (ioctl(fd, EC_IOCTL_CONFIG_PDO, data) < 0) {
fp@1122:         stringstream err;
fp@1327:         err << "Failed to get slave config PDO: " << strerror(errno);
fp@1136:         throw MasterDeviceException(err);
fp@1122:     }
fp@1122: }
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1122: void MasterDevice::getConfigPdoEntry(
fp@1122:         ec_ioctl_config_pdo_entry_t *data,
fp@1122:         unsigned int index,
fp@1122:         uint8_t sync_index,
fp@1122:         uint16_t pdo_pos,
fp@1122:         uint8_t entry_pos
fp@1122:         )
fp@1122: {
fp@1122:     data->config_index = index;
fp@1122:     data->sync_index = sync_index;
fp@1122:     data->pdo_pos = pdo_pos;
fp@1122:     data->entry_pos = entry_pos;
fp@1122: 
fp@1122:     if (ioctl(fd, EC_IOCTL_CONFIG_PDO_ENTRY, data) < 0) {
fp@1122:         stringstream err;
fp@1327:         err << "Failed to get slave config PDO entry: " << strerror(errno);
fp@1136:         throw MasterDeviceException(err);
fp@1122:     }
fp@1122: }
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1122: void MasterDevice::getConfigSdo(
fp@1122:         ec_ioctl_config_sdo_t *data,
fp@1122:         unsigned int index,
fp@1122:         unsigned int sdo_pos
fp@1122:         )
fp@1122: {
fp@1122:     data->config_index = index;
fp@1122:     data->sdo_pos = sdo_pos;
fp@1122: 
fp@1122:     if (ioctl(fd, EC_IOCTL_CONFIG_SDO, data) < 0) {
fp@1122:         stringstream err;
fp@1327:         err << "Failed to get slave config SDO: " << strerror(errno);
fp@1136:         throw MasterDeviceException(err);
fp@1122:     }
fp@1122: }
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1966: void MasterDevice::getConfigIdn(
fp@1966:         ec_ioctl_config_idn_t *data,
fp@1966:         unsigned int index,
fp@1966:         unsigned int pos
fp@1966:         )
fp@1966: {
fp@1966:     data->config_index = index;
fp@1966:     data->idn_pos = pos;
fp@1966: 
fp@1966:     if (ioctl(fd, EC_IOCTL_CONFIG_IDN, data) < 0) {
fp@1966:         stringstream err;
fp@1966:         err << "Failed to get slave config IDN: " << strerror(errno);
fp@1966:         throw MasterDeviceException(err);
fp@1966:     }
fp@1966: }
fp@1966: 
fp@1966: /****************************************************************************/
fp@1966: 
fp@1122: void MasterDevice::getDomain(ec_ioctl_domain_t *data, unsigned int index)
fp@1122: {
fp@1122:     data->index = index;
fp@1122: 
fp@1122:     if (ioctl(fd, EC_IOCTL_DOMAIN, data)) {
fp@1122:         stringstream err;
fp@1122:         err << "Failed to get domain: ";
fp@1122:         if (errno == EINVAL)
fp@1122:             err << "Domain " << index << " does not exist!";
fp@1122:         else
fp@1122:             err << strerror(errno);
fp@1136:         throw MasterDeviceException(err);
fp@1122:     }
fp@1122: }
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1126: void MasterDevice::getData(ec_ioctl_domain_data_t *data,
fp@1126:         unsigned int domainIndex, unsigned int dataSize, unsigned char *mem)
fp@1122: {
fp@1122:     data->domain_index = domainIndex;
fp@1122:     data->data_size = dataSize;
fp@1122:     data->target = mem;
fp@1122: 
fp@1122:     if (ioctl(fd, EC_IOCTL_DOMAIN_DATA, data) < 0) {
fp@1122:         stringstream err;
fp@1122:         err << "Failed to get domain data: " << strerror(errno);
fp@1136:         throw MasterDeviceException(err);
fp@1122:     }
fp@1122: }
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1122: void MasterDevice::getSlave(ec_ioctl_slave_t *slave, uint16_t slaveIndex)
fp@1122: {
fp@1122:     slave->position = slaveIndex;
fp@1122: 
fp@1122:     if (ioctl(fd, EC_IOCTL_SLAVE, slave)) {
fp@1122:         stringstream err;
fp@1122:         err << "Failed to get slave: ";
fp@1122:         if (errno == EINVAL)
fp@1122:             err << "Slave " << slaveIndex << " does not exist!";
fp@1122:         else
fp@1122:             err << strerror(errno);
fp@1136:         throw MasterDeviceException(err);
fp@1122:     }
fp@1122: }
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1122: void MasterDevice::getFmmu(
fp@1122:         ec_ioctl_domain_fmmu_t *fmmu,
fp@1122:         unsigned int domainIndex,
fp@1122:         unsigned int fmmuIndex
fp@1122:         )
fp@1122: {
fp@1122:     fmmu->domain_index = domainIndex;
fp@1122:     fmmu->fmmu_index = fmmuIndex;
fp@1122: 
fp@1122:     if (ioctl(fd, EC_IOCTL_DOMAIN_FMMU, fmmu)) {
fp@1122:         stringstream err;
fp@1126:         err << "Failed to get domain FMMU: " << strerror(errno);
fp@1136:         throw MasterDeviceException(err);
fp@1122:     }
fp@1122: }
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1122: void MasterDevice::getSync(
fp@1122:         ec_ioctl_slave_sync_t *sync,
fp@1122:         uint16_t slaveIndex,
fp@1122:         uint8_t syncIndex
fp@1122:         )
fp@1122: {
fp@1122:     sync->slave_position = slaveIndex;
fp@1122:     sync->sync_index = syncIndex;
fp@1122: 
fp@1122:     if (ioctl(fd, EC_IOCTL_SLAVE_SYNC, sync)) {
fp@1122:         stringstream err;
fp@1126:         err << "Failed to get sync manager: " << strerror(errno);
fp@1136:         throw MasterDeviceException(err);
fp@1122:     }
fp@1122: }
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1122: void MasterDevice::getPdo(
fp@1122:         ec_ioctl_slave_sync_pdo_t *pdo,
fp@1122:         uint16_t slaveIndex,
fp@1122:         uint8_t syncIndex,
fp@1122:         uint8_t pdoPos
fp@1122:         )
fp@1122: {
fp@1122:     pdo->slave_position = slaveIndex;
fp@1122:     pdo->sync_index = syncIndex;
fp@1122:     pdo->pdo_pos = pdoPos;
fp@1122: 
fp@1122:     if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO, pdo)) {
fp@1122:         stringstream err;
fp@1327:         err << "Failed to get PDO: " << strerror(errno);
fp@1136:         throw MasterDeviceException(err);
fp@1122:     }
fp@1122: }
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1122: void MasterDevice::getPdoEntry(
fp@1122:         ec_ioctl_slave_sync_pdo_entry_t *entry,
fp@1122:         uint16_t slaveIndex,
fp@1122:         uint8_t syncIndex,
fp@1122:         uint8_t pdoPos,
fp@1122:         uint8_t entryPos
fp@1122:         )
fp@1122: {
fp@1122:     entry->slave_position = slaveIndex;
fp@1122:     entry->sync_index = syncIndex;
fp@1122:     entry->pdo_pos = pdoPos;
fp@1122:     entry->entry_pos = entryPos;
fp@1122: 
fp@1122:     if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, entry)) {
fp@1122:         stringstream err;
fp@1327:         err << "Failed to get PDO entry: " << strerror(errno);
fp@1136:         throw MasterDeviceException(err);
fp@1122:     }
fp@1122: }
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1122: void MasterDevice::getSdo(
fp@1122:         ec_ioctl_slave_sdo_t *sdo,
fp@1122:         uint16_t slaveIndex,
fp@1122:         uint16_t sdoPosition
fp@1122:         )
fp@1122: {
fp@1122:     sdo->slave_position = slaveIndex;
fp@1122:     sdo->sdo_position = sdoPosition;
fp@1122: 
fp@1122:     if (ioctl(fd, EC_IOCTL_SLAVE_SDO, sdo)) {
fp@1122:         stringstream err;
fp@1327:         err << "Failed to get SDO: " << strerror(errno);
fp@1136:         throw MasterDeviceException(err);
fp@1122:     }
fp@1122: }
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1122: void MasterDevice::getSdoEntry(
fp@1122:         ec_ioctl_slave_sdo_entry_t *entry,
fp@1122:         uint16_t slaveIndex,
fp@1122:         int sdoSpec,
fp@1122:         uint8_t entrySubindex
fp@1122:         )
fp@1122: {
fp@1122:     entry->slave_position = slaveIndex;
fp@1122:     entry->sdo_spec = sdoSpec;
fp@1122:     entry->sdo_entry_subindex = entrySubindex;
fp@1122: 
fp@1122:     if (ioctl(fd, EC_IOCTL_SLAVE_SDO_ENTRY, entry)) {
fp@1122:         stringstream err;
fp@1327:         err << "Failed to get SDO entry: " << strerror(errno);
fp@1136:         throw MasterDeviceException(err);
fp@1122:     }
fp@1122: }
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1122: void MasterDevice::readSii(
fp@1122:         ec_ioctl_slave_sii_t *data
fp@1122:         )
fp@1122: {
fp@1122:     if (ioctl(fd, EC_IOCTL_SLAVE_SII_READ, data) < 0) {
fp@1122:         stringstream err;
fp@1122:         err << "Failed to read SII: " << strerror(errno);
fp@1136:         throw MasterDeviceException(err);
fp@1122:     }
fp@1122: }
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1122: void MasterDevice::writeSii(
fp@1122:         ec_ioctl_slave_sii_t *data
fp@1122:         )
fp@1122: {
fp@1122:     if (ioctl(fd, EC_IOCTL_SLAVE_SII_WRITE, data) < 0) {
fp@1122:         stringstream err;
fp@1122:         err << "Failed to write SII: " << strerror(errno);
fp@1136:         throw MasterDeviceException(err);
fp@1122:     }
fp@1122: }
fp@1122: 
fp@1122: /****************************************************************************/
fp@1122: 
fp@1388: void MasterDevice::readReg(
fp@1388:         ec_ioctl_slave_reg_t *data
fp@1388:         )
fp@1388: {
fp@1388:     if (ioctl(fd, EC_IOCTL_SLAVE_REG_READ, data) < 0) {
fp@1388:         stringstream err;
fp@1388:         err << "Failed to read register: " << strerror(errno);
fp@1388:         throw MasterDeviceException(err);
fp@1388:     }
fp@1388: }
fp@1388: 
fp@1388: /****************************************************************************/
fp@1388: 
fp@1388: void MasterDevice::writeReg(
fp@1388:         ec_ioctl_slave_reg_t *data
fp@1388:         )
fp@1388: {
fp@1388:     if (ioctl(fd, EC_IOCTL_SLAVE_REG_WRITE, data) < 0) {
fp@1388:         stringstream err;
fp@1388:         err << "Failed to write register: " << strerror(errno);
fp@1200:         throw MasterDeviceException(err);
fp@1200:     }
fp@1200: }
fp@1200: 
fp@1200: /****************************************************************************/
fp@1200: 
fp@1335: void MasterDevice::readFoe(
fp@1335:         ec_ioctl_slave_foe_t *data
fp@1335:         )
fp@1335: {
fp@1335:     if (ioctl(fd, EC_IOCTL_SLAVE_FOE_READ, data) < 0) {
fp@1335:         stringstream err;
fp@1335:         err << "Failed to read via FoE: " << strerror(errno);
fp@1335:         throw MasterDeviceException(err);
fp@1335:     }
fp@1335: }
fp@1335: 
fp@1335: /****************************************************************************/
fp@1335: 
fp@1335: void MasterDevice::writeFoe(
fp@1335:         ec_ioctl_slave_foe_t *data
fp@1335:         )
fp@1335: {
fp@1335:     if (ioctl(fd, EC_IOCTL_SLAVE_FOE_WRITE, data) < 0) {
fp@1335:         stringstream err;
fp@1335:         err << "Failed to write via FoE: " << strerror(errno);
fp@1335:         throw MasterDeviceException(err);
fp@1335:     }
fp@1335: }
fp@1335: 
fp@1335: /****************************************************************************/
fp@1335: 
fp@1126: void MasterDevice::setDebug(unsigned int debugLevel)
fp@1126: {
fp@1126:     if (ioctl(fd, EC_IOCTL_MASTER_DEBUG, debugLevel) < 0) {
fp@1126:         stringstream err;
fp@1126:         err << "Failed to set debug level: " << strerror(errno);
fp@1136:         throw MasterDeviceException(err);
fp@1804:     }
fp@1126: }
fp@1126: 
fp@1126: /****************************************************************************/
fp@1126: 
fp@1961: void MasterDevice::rescan()
fp@1961: {
fp@1961:     if (ioctl(fd, EC_IOCTL_MASTER_RESCAN, 0) < 0) {
fp@1961:         stringstream err;
fp@1961:         err << "Failed to command rescan: " << strerror(errno);
fp@1961:         throw MasterDeviceException(err);
fp@1961:     }
fp@1961: }
fp@1961: 
fp@1961: /****************************************************************************/
fp@1961: 
fp@1126: void MasterDevice::sdoDownload(ec_ioctl_slave_sdo_download_t *data)
fp@1126: {
fp@1126:     if (ioctl(fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, data) < 0) {
fp@1126:         stringstream err;
fp@1126:         if (errno == EIO && data->abort_code) {
fp@1184:             throw MasterDeviceSdoAbortException(data->abort_code);
fp@1126:         } else {
fp@1327:             err << "Failed to download SDO: " << strerror(errno);
fp@1184:             throw MasterDeviceException(err);
fp@1126:         }
fp@1804:     }
fp@1126: }
fp@1126: 
fp@1126: /****************************************************************************/
fp@1126: 
fp@1126: void MasterDevice::sdoUpload(ec_ioctl_slave_sdo_upload_t *data)
fp@1126: {
fp@1135:     if (ioctl(fd, EC_IOCTL_SLAVE_SDO_UPLOAD, data) < 0) {
fp@1126:         stringstream err;
fp@1126:         if (errno == EIO && data->abort_code) {
fp@1184:             throw MasterDeviceSdoAbortException(data->abort_code);
fp@1126:         } else {
fp@1327:             err << "Failed to upload SDO: " << strerror(errno);
fp@1184:             throw MasterDeviceException(err);
fp@1126:         }
fp@1126:     }
fp@1126: }
fp@1126: 
fp@1126: /****************************************************************************/
fp@1126: 
fp@1122: void MasterDevice::requestState(
fp@1122:         uint16_t slavePosition,
fp@1122:         uint8_t state
fp@1122:         )
fp@1122: {
fp@1122:     ec_ioctl_slave_state_t data;
fp@1122: 
fp@1122:     data.slave_position = slavePosition;
fp@1148:     data.al_state = state;
fp@2421: 
fp@1122:     if (ioctl(fd, EC_IOCTL_SLAVE_STATE, &data)) {
fp@1122:         stringstream err;
fp@1122:         err << "Failed to request slave state: ";
fp@1122:         if (errno == EINVAL)
fp@1122:             err << "Slave " << slavePosition << " does not exist!";
fp@1122:         else
fp@1122:             err << strerror(errno);
fp@1136:         throw MasterDeviceException(err);
fp@1122:     }
fp@1122: }
fp@1122: 
fp@1485: /****************************************************************************/
fp@1485: 
fp@1516: #ifdef EC_EOE
fp@1516: 
fp@1485: void MasterDevice::getEoeHandler(
fp@1485:         ec_ioctl_eoe_handler_t *eoe,
fp@1485:         uint16_t eoeHandlerIndex
fp@1485:         )
fp@1485: {
fp@1485:     eoe->eoe_index = eoeHandlerIndex;
fp@1485: 
fp@1485:     if (ioctl(fd, EC_IOCTL_EOE_HANDLER, eoe)) {
fp@1485:         stringstream err;
fp@1485:         err << "Failed to get EoE handler: " << strerror(errno);
fp@1485:         throw MasterDeviceException(err);
fp@1485:     }
fp@1485: }
fp@1485: 
fp@1516: #endif
fp@1516: 
fp@1831: /****************************************************************************/
fp@1831: 
fp@1837: void MasterDevice::readSoe(ec_ioctl_slave_soe_read_t *data)
fp@1831: {
fp@1831:     if (ioctl(fd, EC_IOCTL_SLAVE_SOE_READ, data) < 0) {
fp@1831:         if (errno == EIO && data->error_code) {
fp@1831:             throw MasterDeviceSoeException(data->error_code);
fp@1831:         } else {
fp@1835:             stringstream err;
fp@1835:             err << "Failed to read IDN: " << strerror(errno);
fp@1835:             throw MasterDeviceException(err);
fp@1835:         }
fp@1831:     }
fp@1831: }
fp@1831: 
fp@1837: /****************************************************************************/
fp@1837: 
fp@1837: void MasterDevice::writeSoe(ec_ioctl_slave_soe_write_t *data)
fp@1837: {
fp@1837:     if (ioctl(fd, EC_IOCTL_SLAVE_SOE_WRITE, data) < 0) {
fp@1837:         if (errno == EIO && data->error_code) {
fp@1837:             throw MasterDeviceSoeException(data->error_code);
fp@1837:         } else {
fp@1837:             stringstream err;
fp@1837:             err << "Failed to write IDN: " << strerror(errno);
fp@1837:             throw MasterDeviceException(err);
fp@1837:         }
fp@1837:     }
fp@1837: }
fp@1837: 
fp@1122: /*****************************************************************************/