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@1126: const char *help_sdo_upload =
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_upload(void)
fp@1126: {
fp@1126:     stringstream strIndex, strSubIndex;
fp@1126:     int sval;
fp@1126:     ec_ioctl_slave_sdo_upload_t data;
fp@1126:     unsigned int uval;
fp@1126:     const CoEDataType *dataType = NULL;
fp@1126: 
fp@1126:     if (slavePosition < 0) {
fp@1126:         stringstream err;
fp@1126:         err << "'sdo_upload' 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() != 2) {
fp@1126:         stringstream err;
fp@1126:         err << "'sdo_upload' takes two 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:         stringstream err;
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:         >> uval;
fp@1126:     if (strSubIndex.fail() || uval > 0xff) {
fp@1126:         stringstream err;
fp@1126:         err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";
fp@1126:         throw MasterDeviceException(err.str());
fp@1126:     }
fp@1126:     data.sdo_entry_subindex = uval;
fp@1126: 
fp@1126:     if (dataTypeStr != "") { // data type specified
fp@1126:         if (!(dataType = findDataType(dataTypeStr))) {
fp@1126:             stringstream err;
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::Read);
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:             stringstream err;
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:             stringstream err;
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.target_size = dataType->byteSize;
fp@1126:     } else {
fp@1126:         data.target_size = DefaultBufferSize;
fp@1126:     }
fp@1126: 
fp@1126:     data.target = new uint8_t[data.target_size + 1];
fp@1126: 
fp@1126:     masterDev.open(MasterDevice::Read);
fp@1126: 
fp@1126: 	try {
fp@1126: 		masterDev.sdoUpload(&data);
fp@1126: 	} catch (MasterDeviceException &e) {
fp@1126:         delete [] data.target;
fp@1126:         throw e;
fp@1126:     }
fp@1126: 
fp@1126:     masterDev.close();
fp@1126: 
fp@1126:     if (dataType->byteSize && data.data_size != dataType->byteSize) {
fp@1126:         stringstream err;
fp@1126:         err << "Data type mismatch. Expected " << dataType->name
fp@1126:             << " with " << dataType->byteSize << " byte, but got "
fp@1126:             << data.data_size << " byte.";
fp@1126:         throw MasterDeviceException(err.str());
fp@1126:     }
fp@1126: 
fp@1126:     cout << setfill('0');
fp@1126:     switch (dataType->coeCode) {
fp@1126:         case 0x0002: // int8
fp@1126:             sval = *(int8_t *) data.target;
fp@1126:             cout << sval << " 0x" << hex << setw(2) << sval << endl;
fp@1126:             break;
fp@1126:         case 0x0003: // int16
fp@1126:             sval = le16tocpu(*(int16_t *) data.target);
fp@1126:             cout << sval << " 0x" << hex << setw(4) << sval << endl;
fp@1126:             break;
fp@1126:         case 0x0004: // int32
fp@1126:             sval = le32tocpu(*(int32_t *) data.target);
fp@1126:             cout << sval << " 0x" << hex << setw(8) << sval << endl;
fp@1126:             break;
fp@1126:         case 0x0005: // uint8
fp@1126:             uval = (unsigned int) *(uint8_t *) data.target;
fp@1126:             cout << uval << " 0x" << hex << setw(2) << uval << endl;
fp@1126:             break;
fp@1126:         case 0x0006: // uint16
fp@1126:             uval = le16tocpu(*(uint16_t *) data.target);
fp@1126:             cout << uval << " 0x" << hex << setw(4) << uval << endl;
fp@1126:             break;
fp@1126:         case 0x0007: // uint32
fp@1126:             uval = le32tocpu(*(uint32_t *) data.target);
fp@1126:             cout << uval << " 0x" << hex << setw(8) << uval << endl;
fp@1126:             break;
fp@1126:         case 0x0009: // string
fp@1126:             cout << string((const char *) data.target, data.data_size)
fp@1126:                 << endl;
fp@1126:             break;
fp@1126:         default:
fp@1126:             printRawData(data.target, data.data_size);
fp@1126:             break;
fp@1126:     }
fp@1126: 
fp@1126:     delete [] data.target;
fp@1126: }
fp@1126: 
fp@1126: /*****************************************************************************/