fp@1184: /*****************************************************************************
fp@1184:  *
fp@1184:  * $Id$
fp@1184:  *
fp@1184:  ****************************************************************************/
fp@1184: 
fp@1184: #include "SdoCommand.h"
fp@1184: 
fp@1184: /*****************************************************************************/
fp@1184: 
fp@1184: SdoCommand::SdoCommand(const string &name, const string &briefDesc):
fp@1184:     Command(name, briefDesc)
fp@1184: {
fp@1184: }
fp@1184: 
fp@1184: /****************************************************************************/
fp@1184: 
fp@1184: const SdoCommand::DataType *SdoCommand::findDataType(const string &str)
fp@1184: {
fp@1184:     const DataType *d;
fp@1184:     
fp@1184:     for (d = dataTypes; d->name; d++)
fp@1184:         if (str == d->name)
fp@1184:             return d;
fp@1184: 
fp@1184:     return NULL;
fp@1184: }
fp@1184: 
fp@1184: /****************************************************************************/
fp@1184: 
fp@1184: const SdoCommand::DataType *SdoCommand::findDataType(uint16_t code)
fp@1184: {
fp@1184:     const DataType *d;
fp@1184:     
fp@1184:     for (d = dataTypes; d->name; d++)
fp@1184:         if (code == d->coeCode)
fp@1184:             return d;
fp@1184: 
fp@1184:     return NULL;
fp@1184: }
fp@1184: 
fp@1184: /****************************************************************************/
fp@1184: 
fp@1184: const char *SdoCommand::abortText(uint32_t abortCode)
fp@1184: {
fp@1184:     const AbortMessage *abortMsg;
fp@1184: 
fp@1184:     for (abortMsg = abortMessages; abortMsg->code; abortMsg++) {
fp@1184:         if (abortMsg->code == abortCode) {
fp@1184:             return abortMsg->message;
fp@1184:         }
fp@1184:     }
fp@1184: 
fp@1184:     return "???";
fp@1184: }
fp@1184: 
fp@1184: /****************************************************************************/
fp@1184: 
fp@1184: const SdoCommand::DataType SdoCommand::dataTypes[] = {
fp@1710:     {"int8",         0x0002, 1},
fp@1710:     {"int16",        0x0003, 2},
fp@1710:     {"int32",        0x0004, 4},
fp@1710:     {"uint8",        0x0005, 1},
fp@1710:     {"uint16",       0x0006, 2},
fp@1710:     {"uint32",       0x0007, 4},
fp@1710:     {"string",       0x0009, 0},
fp@1710:     {"octet_string", 0x000a, 0},
fp@1710:     {"raw",          0xffff, 0},
fp@1184:     {}
fp@1184: };
fp@1184: 
fp@1184: /*****************************************************************************/
fp@1184: 
fp@1686: /** SDO abort messages.
fp@1184:  *
fp@1686:  * The "Abort SDO transfer request" supplies an abort code, which can be
fp@1184:  * translated to clear text. This table does the mapping of the codes and
fp@1184:  * messages.
fp@1184:  */
fp@1184: const SdoCommand::AbortMessage SdoCommand::abortMessages[] = {
fp@1184:     {0x05030000, "Toggle bit not changed"},
fp@1686:     {0x05040000, "SDO protocol timeout"},
fp@1184:     {0x05040001, "Client/Server command specifier not valid or unknown"},
fp@1184:     {0x05040005, "Out of memory"},
fp@1184:     {0x06010000, "Unsupported access to an object"},
fp@1184:     {0x06010001, "Attempt to read a write-only object"},
fp@1184:     {0x06010002, "Attempt to write a read-only object"},
fp@1184:     {0x06020000, "This object does not exist in the object directory"},
fp@1686:     {0x06040041, "The object cannot be mapped into the PDO"},
fp@1184:     {0x06040042, "The number and length of the objects to be mapped would"
fp@1686:      " exceed the PDO length"},
fp@1184:     {0x06040043, "General parameter incompatibility reason"},
fp@1184:     {0x06040047, "Gerneral internal incompatibility in device"},
fp@1184:     {0x06060000, "Access failure due to a hardware error"},
fp@1184:     {0x06070010, "Data type does not match, length of service parameter does"
fp@1184:      " not match"},
fp@1184:     {0x06070012, "Data type does not match, length of service parameter too"
fp@1184:      " high"},
fp@1184:     {0x06070013, "Data type does not match, length of service parameter too"
fp@1184:      " low"},
fp@1184:     {0x06090011, "Subindex does not exist"},
fp@1184:     {0x06090030, "Value range of parameter exceeded"},
fp@1184:     {0x06090031, "Value of parameter written too high"},
fp@1184:     {0x06090032, "Value of parameter written too low"},
fp@1184:     {0x06090036, "Maximum value is less than minimum value"},
fp@1184:     {0x08000000, "General error"},
fp@1184:     {0x08000020, "Data cannot be transferred or stored to the application"},
fp@1184:     {0x08000021, "Data cannot be transferred or stored to the application"
fp@1184:      " because of local control"},
fp@1184:     {0x08000022, "Data cannot be transferred or stored to the application"
fp@1184:      " because of the present device state"},
fp@1184:     {0x08000023, "Object dictionary dynamic generation fails or no object"
fp@1184:      " dictionary is present"},
fp@1184:     {}
fp@1184: };
fp@1184: 
fp@1184: /****************************************************************************/