fp@1835: /*****************************************************************************
fp@1835:  *
fp@1835:  *  $Id$
fp@1835:  *
fp@1835:  *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
fp@1835:  *
fp@1835:  *  This file is part of the IgH EtherCAT Master.
fp@1835:  *
fp@1835:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1835:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1835:  *  published by the Free Software Foundation.
fp@1835:  *
fp@1835:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1835:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1835:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1835:  *  Public License for more details.
fp@1835:  *
fp@1835:  *  You should have received a copy of the GNU General Public License along
fp@1835:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@1835:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1835:  *
fp@1835:  *  ---
fp@1835:  *
fp@1835:  *  The license mentioned above concerns the source code only. Using the
fp@1835:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1835:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@1835:  *
fp@1835:  ****************************************************************************/
fp@1835: 
fp@1837: #define DEBUG 0
fp@1837: 
fp@1837: #if DEBUG
fp@1837: #include <iostream>
fp@1837: #endif
fp@1837: 
fp@1835: #include <iomanip>
fp@1835: #include <sstream>
fp@1835: using namespace std;
fp@1835: 
fp@1835: #include "DataTypeHandler.h"
fp@1835: 
fp@1835: #include "ecrt.h"
fp@1835: 
fp@1835: /*****************************************************************************/
fp@1835: 
fp@1835: DataTypeHandler::DataTypeHandler()
fp@1835: {
fp@1835: }
fp@1835: 
fp@1835: /****************************************************************************/
fp@1835: 
fp@1835: const DataTypeHandler::DataType *DataTypeHandler::findDataType(
fp@1835:         const string &str
fp@1835:         )
fp@1835: {
fp@1835:     const DataType *d;
fp@1835:     
fp@1835:     for (d = dataTypes; d->name; d++)
fp@1835:         if (str == d->name)
fp@1835:             return d;
fp@1835: 
fp@1835:     return NULL; // FIXME exception
fp@1835: }
fp@1835: 
fp@1835: /****************************************************************************/
fp@1835: 
fp@1868: string DataTypeHandler::typeInfo()
fp@1868: {
fp@1868: 	stringstream s;
fp@1868: 
fp@1868: 	s
fp@1868: 		<< "These are valid data types to use with" << endl
fp@1868: 		<< "the --type option:" << endl
fp@1871: 		<< "  bool," << endl
fp@1871: 		<< "  int8, int16, int32, int64," << endl
fp@1871: 		<< "  uint8, uint16, uint32, uint64," << endl
fp@1871: 		<< "  float, double" << endl
fp@1888: 		<< "  string, octet_string, unicode_string." << endl
fp@1888:         << "For sign-and-magnitude coding, use the following types:" << endl
fp@1888:         << "  sm8, sm16, sm32, sm64" << endl;
fp@1868: 	return s.str();
fp@1868: }
fp@1868: 
fp@1868: /****************************************************************************/
fp@1868: 
fp@1835: const DataTypeHandler::DataType *DataTypeHandler::findDataType(uint16_t code)
fp@1835: {
fp@1835:     const DataType *d;
fp@1835:     
fp@1835:     for (d = dataTypes; d->name; d++)
fp@1835:         if (code == d->code)
fp@1835:             return d;
fp@1835: 
fp@1835:     return NULL;
fp@1835: }
fp@1835: 
fp@1835: /****************************************************************************/
fp@1835: 
fp@1835: size_t DataTypeHandler::interpretAsType(
fp@1835:         const DataType *type,
fp@1835:         const string &source,
fp@1835:         void *target,
fp@1835:         size_t targetSize
fp@1835:         )
fp@1835: { 
fp@1835:     stringstream str;
fp@1835:     size_t dataSize = type->byteSize;
fp@1835: 
fp@1837: #if DEBUG
fp@1837: 	cerr << __func__ << "(targetSize=" << targetSize << ")" << endl;
fp@1837: #endif
fp@1837: 
fp@1835:     str << source;
fp@1835:     str >> resetiosflags(ios::basefield); // guess base from prefix
fp@1835:     str.exceptions(ios::failbit);
fp@1835: 
fp@1837: #if DEBUG
fp@1837: 	cerr << "code=" << type->code << endl;
fp@1837: #endif
fp@1837: 
fp@1835:     switch (type->code) {
fp@1871:         case 0x0001: // bool
fp@1871:             {
fp@1871:                 int16_t val; // uint8_t is interpreted as char
fp@1871:                 str >> val;
fp@1871:                 if (val > 1 || val < 0)
fp@1871:                     throw ios::failure("Value out of range");
fp@1871:                 *(uint8_t *) target = val;
fp@1871:                 break;
fp@1871:             }
fp@1835:         case 0x0002: // int8
fp@1835:             {
fp@1835:                 int16_t val; // uint8_t is interpreted as char
fp@1835:                 str >> val;
fp@1835:                 if (val > 127 || val < -128)
fp@1835:                     throw ios::failure("Value out of range");
fp@1835:                 *(uint8_t *) target = val;
fp@1835:                 break;
fp@1835:             }
fp@1835:         case 0x0003: // int16
fp@1835:             {
fp@1835:                 int16_t val;
fp@1835:                 str >> val;
fp@1835:                 *(int16_t *) target = cpu_to_le16(val);
fp@1835:                 break;
fp@1835:             }
fp@1835:         case 0x0004: // int32
fp@1835:             {
fp@1835:                 int32_t val;
fp@1835:                 str >> val;
fp@1835:                 *(int32_t *) target = cpu_to_le32(val);
fp@1835:                 break;
fp@1835:             }
fp@1835:         case 0x0005: // uint8
fp@1835:             {
fp@1835:                 uint16_t val; // uint8_t is interpreted as char
fp@1835:                 str >> val;
fp@1835:                 if (val > 0xff)
fp@1835:                     throw ios::failure("Value out of range");
fp@1835:                 *(uint8_t *) target = val;
fp@1835:                 break;
fp@1835:             }
fp@1835:         case 0x0006: // uint16
fp@1835:             {
fp@1835:                 uint16_t val;
fp@1835:                 str >> val;
fp@1835:                 *(uint16_t *) target = cpu_to_le16(val);
fp@1835:                 break;
fp@1835:             }
fp@1835:         case 0x0007: // uint32
fp@1835:             {
fp@1835:                 uint32_t val;
fp@1835:                 str >> val;
fp@1835:                 *(uint32_t *) target = cpu_to_le32(val);
fp@1835:                 break;
fp@1835:             }
fp@1871:         case 0x0008: // float
fp@1871:             {
fp@1871:                 float val;
fp@1871:                 str >> val;
fp@1871:                 *(uint32_t *) target =
fp@1871: 					cpu_to_le32(*(uint32_t *) (void *) &val);
fp@1871:                 break;
fp@1871:             }
fp@1835:         case 0x0009: // string
fp@1835:         case 0x000a: // octet_string
fp@1871:         case 0x000b: // unicode_string
fp@1835:             dataSize = str.str().size();
fp@1835:             if (dataSize >= targetSize) {
fp@1835:                 stringstream err;
fp@1835:                 err << "String too large";
fp@1835:                 throw SizeException(err.str());
fp@1835:             }
fp@1835:             str >> (char *) target;
fp@1835:             break;
fp@1871:         case 0x0011: // double
fp@1871:             {
fp@1871:                 double val;
fp@1871:                 str >> val;
fp@1871:                 *(uint64_t *) target =
fp@1871: 					cpu_to_le64(*(uint64_t *) (void *) &val);
fp@1871:                 break;
fp@1871:             }
fp@1871:             break;
fp@1871:         case 0x0015: // int64
fp@1871:             {
fp@1871:                 int64_t val;
fp@1871:                 str >> val;
fp@1871:                 *(int64_t *) target = cpu_to_le64(val);
fp@1871:                 break;
fp@1871:             }
fp@1871:             break;
fp@1871:         case 0x001b: // uint64
fp@1871:             {
fp@1871:                 uint64_t val;
fp@1871:                 str >> val;
fp@1871:                 *(uint64_t *) target = cpu_to_le64(val);
fp@1871:                 break;
fp@1871:             }
fp@1871:             break;
fp@1871: 
fp@1871:         case 0x0010: // int24
fp@1871:         case 0x0012: // int40
fp@1871:         case 0x0013: // int48
fp@1871:         case 0x0014: // int56
fp@1871:         case 0x0016: // uint24
fp@1871:         case 0x0018: // uint40
fp@1871:         case 0x0019: // uint48
fp@1871:         case 0x001a: // uint56
fp@1871:             {
fp@1871:                 stringstream err;
fp@1871:                 err << "Non-native integer type " << type->name
fp@1871: 					<< " is not yet implemented.";
fp@1871:                 throw runtime_error(err.str());
fp@1871:             }
fp@1835: 
fp@1888:         case 0xfffb: // sm8
fp@1888:         case 0xfffc: // sm16
fp@1888:         case 0xfffd: // sm32
fp@1888:         case 0xfffe: // sm64
fp@1888:             {
fp@1888:                 stringstream err;
fp@1888:                 err << "Sign-and-magitude types not yet"
fp@1888:                     " implemented for input direction.";
fp@1888:                 throw runtime_error(err.str());
fp@1888:             }
fp@1888: 
fp@1835:         default:
fp@1835:             {
fp@1835:                 stringstream err;
fp@1835:                 err << "Unknown data type 0x" << hex << type->code;
fp@1835:                 throw runtime_error(err.str());
fp@1835:             }
fp@1835:     }
fp@1835: 
fp@1837: #if DEBUG
fp@1837: 	printRawData(cerr, (const uint8_t *) target, dataSize);
fp@1837: #endif
fp@1837: 
fp@1835:     return dataSize;
fp@1835: }
fp@1835: 
fp@1835: /****************************************************************************/
fp@1835: 
fp@1835: void DataTypeHandler::outputData(
fp@1835:         ostream &o,
fp@1835:         const DataType *type,
fp@1835:         void *data,
fp@1835:         size_t dataSize
fp@1835:         )
fp@1835: { 
fp@1835:     if (type->byteSize && dataSize != type->byteSize) {
fp@1835:         stringstream err;
fp@1835:         err << "Data type mismatch. Expected " << type->name
fp@1835:             << " with " << type->byteSize << " byte, but got "
fp@1835:             << dataSize << " byte.";
fp@1835:         throw SizeException(err.str());
fp@1835:     }
fp@1835: 
fp@1835:     o << setfill('0');
fp@1835: 
fp@1835:     switch (type->code) {
fp@1871:         case 0x0001: // bool
fp@1835:             {
fp@1835:                 int val = (int) *(int8_t *) data;
fp@1835:                 o << "0x" << hex << setw(2) << val
fp@1835:                     << " " << dec << val << endl;
fp@1835:             }
fp@1835:             break;
fp@1871:         case 0x0002: // int8
fp@1871:             {
fp@1871:                 int val = (int) *(int8_t *) data;
fp@1871:                 o << "0x" << hex << setw(2) << val
fp@1871:                     << " " << dec << val << endl;
fp@1871:             }
fp@1871:             break;
fp@1835:         case 0x0003: // int16
fp@1835:             {
fp@1835:                 int16_t val = le16_to_cpup(data);
fp@1835:                 o << "0x" << hex << setw(4) << val
fp@1835:                     << " " << dec << val << endl;
fp@1835:             }
fp@1835:             break;
fp@1835:         case 0x0004: // int32
fp@1835:             {
fp@1835:                 int32_t val = le32_to_cpup(data);
fp@1835:                 o << "0x" << hex << setw(8) << val
fp@1835:                     << " " << dec << val << endl;
fp@1835:             }
fp@1835:             break;
fp@1835:         case 0x0005: // uint8
fp@1835:             {
fp@1835:                 unsigned int val = (unsigned int) *(uint8_t *) data;
fp@1835:                 o << "0x" << hex << setw(2) << val
fp@1835:                     << " " << dec << val << endl;
fp@1835:             }
fp@1835:             break;
fp@1835:         case 0x0006: // uint16
fp@1835:             {
fp@1835:                 uint16_t val = le16_to_cpup(data);
fp@1835:                 o << "0x" << hex << setw(4) << val
fp@1835:                     << " " << dec << val << endl;
fp@1835:             }
fp@1835:             break;
fp@1835:         case 0x0007: // uint32
fp@1835:             {
fp@1835:                 uint32_t val = le32_to_cpup(data);
fp@1835:                 o << "0x" << hex << setw(8) << val
fp@1835:                     << " " << dec << val << endl;
fp@1835:             }
fp@1835:             break;
fp@1871:         case 0x0008: // float
fp@1871:             {
fp@1871:                 uint32_t val = le32_to_cpup(data);
fp@1871: 				float fval = *(float *) (void *) &val;
fp@1871:                 o << fval << endl;
fp@1871:             }
fp@1871:             break;
fp@1835:         case 0x0009: // string
fp@1835:             o << string((const char *) data, dataSize) << endl;
fp@1835:             break;
fp@1835:         case 0x000a: // octet_string
fp@1875:             o << string((const char *) data, dataSize) << flush;
fp@1835:             break;
fp@1871:         case 0x000b: // unicode_string
fp@1871: 			// FIXME encoding
fp@1871:             o << string((const char *) data, dataSize) << endl;
fp@1871:             break;
fp@1871:         case 0x0011: // double
fp@1871:             {
fp@1871:                 uint64_t val = le64_to_cpup(data);
fp@1871: 				double fval = *(double *) (void *) &val;
fp@1871:                 o << fval << endl;
fp@1871:             }
fp@1871:             break;
fp@1871:         case 0x0015: // int64
fp@1871:             {
fp@1871:                 int64_t val = le64_to_cpup(data);
fp@1871:                 o << "0x" << hex << setw(16) << val
fp@1871:                     << " " << dec << val << endl;
fp@1871:             }
fp@1871:             break;
fp@1871:         case 0x001b: // uint64
fp@1871:             {
fp@1871:                 uint64_t val = le64_to_cpup(data);
fp@1871:                 o << "0x" << hex << setw(16) << val
fp@1871:                     << " " << dec << val << endl;
fp@1871:             }
fp@1871:             break;
fp@1888:         case 0xfffb: // sm8
fp@1888:             {
fp@1888:                 int8_t val = *(uint8_t *) data;
fp@1888:                 int8_t smval = val < 0 ? (val & 0x7f) * -1 : val;
fp@1888:                 
fp@1888:                 o << "0x" << hex << setw(2) << (int) val
fp@1888:                     << " " << dec << (int) smval << endl;
fp@1888:             }
fp@1888:             break;
fp@1888:         case 0xfffc: // sm16
fp@1888:             {
fp@1888:                 int16_t val = le16_to_cpup(data);
fp@1888:                 int16_t smval = val < 0 ? (val & 0x7fff) * -1 : val;
fp@1888:                 
fp@1888:                 o << "0x" << hex << setw(4) << val
fp@1888:                     << " " << dec << smval << endl;
fp@1888:             }
fp@1888:             break;
fp@1888:         case 0xfffd: // sm32
fp@1888:             {
fp@1888:                 int32_t val = le32_to_cpup(data);
fp@1888:                 int32_t smval = val < 0 ? (val & 0x7fffffffUL) * -1 : val;
fp@1888:                 
fp@1888:                 o << "0x" << hex << setw(8) << val
fp@1888:                     << " " << dec << smval << endl;
fp@1888:             }
fp@1888:             break;
fp@1888:         case 0xfffe: // sm64
fp@1888:             {
fp@1888:                 int64_t val = le64_to_cpup(data);
fp@1888:                 int64_t smval =
fp@1888:                     val < 0 ? (val & 0x7fffffffffffffffULL) * -1 : val;
fp@1888:                 
fp@1888:                 o << "0x" << hex << setw(16) << val
fp@1888:                     << " " << dec << smval << endl;
fp@1888:             }
fp@1888:             break;
fp@1871: 
fp@1835:         default:
fp@1835:             printRawData(o, (const uint8_t *) data, dataSize); // FIXME
fp@1835:             break;
fp@1835:     }
fp@1835: }
fp@1835: 
fp@1835: /****************************************************************************/
fp@1835: 
fp@1835: void DataTypeHandler::printRawData(
fp@1835:         ostream &o,
fp@1835:         const uint8_t *data,
fp@1835:         size_t size
fp@1835:         )
fp@1835: {
fp@1835:     o << hex << setfill('0');
fp@1835:     while (size--) {
fp@1835:         o << "0x" << setw(2) << (unsigned int) *data++;
fp@1835:         if (size)
fp@1835:             o << " ";
fp@1835:     }
fp@1835:     o << endl;
fp@1835: }
fp@1835: 
fp@1835: /****************************************************************************/
fp@1835: 
fp@1835: const DataTypeHandler::DataType DataTypeHandler::dataTypes[] = {
fp@1871:     {"bool",           0x0001, 1},
fp@1871:     {"int8",           0x0002, 1},
fp@1871:     {"int16",          0x0003, 2},
fp@1871:     {"int32",          0x0004, 4},
fp@1871:     {"uint8",          0x0005, 1},
fp@1871:     {"uint16",         0x0006, 2},
fp@1871:     {"uint32",         0x0007, 4},
fp@1871:     {"float",          0x0008, 4},
fp@1871:     {"string",         0x0009, 0}, // a. k. a. visible_string
fp@1871:     {"octet_string",   0x000a, 0},
fp@1871:     {"unicode_string", 0x000b, 0},
fp@1871: 	// ... not implemented yet
fp@1871:     {"int24",          0x0010, 3},
fp@1871:     {"double",         0x0011, 8},
fp@1871:     {"int40",          0x0012, 5},
fp@1871:     {"int48",          0x0013, 6},
fp@1871:     {"int56",          0x0014, 7},
fp@1871:     {"int64",          0x0015, 8},
fp@1871:     {"uint24",         0x0016, 3},
fp@1871: 	// reserved        0x0017
fp@1871:     {"uint40",         0x0018, 5},
fp@1871:     {"uint48",         0x0019, 6},
fp@1871:     {"uint56",         0x001a, 7},
fp@1871:     {"uint64",         0x001b, 8},
fp@1871: 	// reserved        0x001c-0x001f
fp@1888:     {"sm8",            0xfffb, 1}, // sign-and-magnitude coding
fp@1888:     {"sm16",           0xfffc, 2}, // sign-and-magnitude coding
fp@1888:     {"sm32",           0xfffd, 4}, // sign-and-magnitude coding
fp@1888:     {"sm64",           0xfffe, 8}, // sign-and-magnitude coding
fp@1871:     {"raw",            0xffff, 0},
fp@1835:     {}
fp@1835: };
fp@1835: 
fp@1835: /*****************************************************************************/