fp@1126: /*****************************************************************************
fp@1126:  *
fp@1126:  * $Id$
fp@1126:  *
fp@1126:  ****************************************************************************/
fp@1126: 
fp@1126: #include <iostream>
fp@1126: #include <iomanip>
fp@1126: using namespace std;
fp@1126: 
fp@1126: #include "globals.h"
fp@1126: #include "coe_datatypes.h"
fp@1126: 
fp@1126: /****************************************************************************/
fp@1126: 
fp@1130: // FIXME
fp@1126: const char *help_sdo_download =
fp@1126:     "[OPTIONS]\n"
fp@1126:     "\n"
fp@1126:     "\n"
fp@1126:     "Command-specific options:\n";
fp@1126: 
fp@1126: /****************************************************************************/
fp@1126: 
fp@1126: void command_sdo_download(void)
fp@1126: {
fp@1126:     stringstream strIndex, strSubIndex, strValue, err;
fp@1126:     ec_ioctl_slave_sdo_download_t data;
fp@1126:     unsigned int number;
fp@1126:     const CoEDataType *dataType = NULL;
fp@1126: 
fp@1126:     if (slavePosition < 0) {
fp@1126:         err << "'sdo_download' requires a slave! Please specify --slave.";
fp@1126:         throw MasterDeviceException(err.str());
fp@1126:     }
fp@1126:     data.slave_position = slavePosition;
fp@1126: 
fp@1126:     if (commandArgs.size() != 3) {
fp@1126:         err << "'sdo_download' takes 3 arguments!";
fp@1126:         throw MasterDeviceException(err.str());
fp@1126:     }
fp@1126: 
fp@1126:     strIndex << commandArgs[0];
fp@1126:     strIndex
fp@1126:         >> resetiosflags(ios::basefield) // guess base from prefix
fp@1126:         >> data.sdo_index;
fp@1126:     if (strIndex.fail()) {
fp@1126:         err << "Invalid Sdo index '" << commandArgs[0] << "'!";
fp@1126:         throw MasterDeviceException(err.str());
fp@1126:     }
fp@1126: 
fp@1126:     strSubIndex << commandArgs[1];
fp@1126:     strSubIndex
fp@1126:         >> resetiosflags(ios::basefield) // guess base from prefix
fp@1126:         >> number;
fp@1126:     if (strSubIndex.fail() || number > 0xff) {
fp@1126:         err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";
fp@1126:         throw MasterDeviceException(err.str());
fp@1126:     }
fp@1126:     data.sdo_entry_subindex = number;
fp@1126: 
fp@1126:     if (dataTypeStr != "") { // data type specified
fp@1126:         if (!(dataType = findDataType(dataTypeStr))) {
fp@1126:             err << "Invalid data type '" << dataTypeStr << "'!";
fp@1126:             throw MasterDeviceException(err.str());
fp@1126:         }
fp@1126:     } else { // no data type specified: fetch from dictionary
fp@1126:         ec_ioctl_slave_sdo_entry_t entry;
fp@1126: 
fp@1126:         masterDev.open(MasterDevice::ReadWrite);
fp@1126: 
fp@1126:         try {
fp@1126:             masterDev.getSdoEntry(&entry, slavePosition,
fp@1126:                     data.sdo_index, data.sdo_entry_subindex);
fp@1126:         } catch (MasterDeviceException &e) {
fp@1126:             err << "Failed to determine Sdo entry data type. "
fp@1126:                 << "Please specify --type.";
fp@1126:             throw ExecutionFailureException(err);
fp@1126:         }
fp@1126:         if (!(dataType = findDataType(entry.data_type))) {
fp@1126:             err << "Pdo entry has unknown data type 0x"
fp@1126:                 << hex << setfill('0') << setw(4) << entry.data_type << "!"
fp@1126:                 << " Please specify --type.";
fp@1126:             throw ExecutionFailureException(err);
fp@1126:         }
fp@1126:     }
fp@1126: 
fp@1126:     if (dataType->byteSize) {
fp@1126:         data.data_size = dataType->byteSize;
fp@1126:     } else {
fp@1126:         data.data_size = DefaultBufferSize;
fp@1126:     }
fp@1126: 
fp@1126:     data.data = new uint8_t[data.data_size + 1];
fp@1126: 
fp@1126:     strValue << commandArgs[2];
fp@1126:     strValue >> resetiosflags(ios::basefield); // guess base from prefix
fp@1126:     strValue.exceptions(ios::failbit);
fp@1126: 
fp@1126:     try {
fp@1126:         switch (dataType->coeCode) {
fp@1126:             case 0x0002: // int8
fp@1126:                 {
fp@1126:                     int16_t val; // uint8_t is interpreted as char
fp@1126:                     strValue >> val;
fp@1126:                     if (val > 127 || val < -128)
fp@1126:                         throw ios::failure("Value out of range");
fp@1126:                     *data.data = val;
fp@1126:                     break;
fp@1126:                 }
fp@1126:             case 0x0003: // int16
fp@1126:                 {
fp@1126:                     int16_t val;
fp@1126:                     strValue >> val;
fp@1126:                     *(int16_t *) data.data = cputole16(val);
fp@1126:                     break;
fp@1126:                 }
fp@1126:             case 0x0004: // int32
fp@1126:                 {
fp@1126:                     int32_t val;
fp@1126:                     strValue >> val;
fp@1126:                     *(int32_t *) data.data = cputole32(val);
fp@1126:                     break;
fp@1126:                 }
fp@1126:             case 0x0005: // uint8
fp@1126:                 {
fp@1126:                     uint16_t val; // uint8_t is interpreted as char
fp@1126:                     strValue >> val;
fp@1126:                     if (val > 0xff)
fp@1126:                         throw ios::failure("Value out of range");
fp@1126:                     *data.data = val;
fp@1126:                     break;
fp@1126:                 }
fp@1126:             case 0x0006: // uint16
fp@1126:                 {
fp@1126:                     uint16_t val;
fp@1126:                     strValue >> val;
fp@1126:                     *(uint16_t *) data.data = cputole16(val);
fp@1126:                     break;
fp@1126:                 }
fp@1126:             case 0x0007: // uint32
fp@1126:                 {
fp@1126:                     uint32_t val;
fp@1126:                     strValue >> val;
fp@1126:                     *(uint32_t *) data.data = cputole32(val);
fp@1126:                     break;
fp@1126:                 }
fp@1126:             case 0x0009: // string
fp@1126:                 if (strValue.str().size() >= data.data_size) {
fp@1126:                     err << "String too large";
fp@1126:                     throw MasterDeviceException(err.str());
fp@1126:                 }
fp@1126:                 data.data_size = strValue.str().size();
fp@1126:                 strValue >> (char *) data.data;
fp@1126:                 break;
fp@1126: 
fp@1126:             default:
fp@1126:                 delete [] data.data;
fp@1126:                 err << "Unknown data type 0x" << hex << dataType->coeCode;
fp@1126:                 throw MasterDeviceException(err.str());
fp@1126:         }
fp@1126:     } catch (ios::failure &e) {
fp@1126:         delete [] data.data;
fp@1126:         err << "Invalid value argument '" << commandArgs[2]
fp@1126:             << "' for type '" << dataType->name << "'!";
fp@1126:         throw MasterDeviceException(err.str());
fp@1126:     }
fp@1126: 
fp@1126:     masterDev.open(MasterDevice::ReadWrite);
fp@1126: 
fp@1126: 	try {
fp@1126: 		masterDev.sdoDownload(&data);
fp@1126: 	} catch(MasterDeviceException &e) {
fp@1126:         delete [] data.data;
fp@1126:         throw e;
fp@1126:     }
fp@1126: 
fp@1126:     delete [] data.data;
fp@1126: }
fp@1126: 
fp@1126: /*****************************************************************************/