diff -r 7ffbca63fc72 -r 59be91dfcbe1 tool/CommandDownload.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/CommandDownload.cpp	Thu Jul 24 13:27:06 2008 +0000
@@ -0,0 +1,219 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <iostream>
+#include <iomanip>
+using namespace std;
+
+#include "CommandDownload.h"
+#include "coe_datatypes.h"
+#include "byteorder.h"
+
+/*****************************************************************************/
+
+CommandDownload::CommandDownload():
+    Command("download", "Write an Sdo entry to a slave.")
+{
+}
+
+/*****************************************************************************/
+
+string CommandDownload::helpString() const
+{
+    stringstream str;
+
+    str << getName() << " [OPTIONS] <INDEX> <SUBINDEX> <VALUE>" << endl
+    	<< endl
+    	<< getBriefDescription() << endl
+    	<< endl
+    	<< "The data type of the Sdo entry is taken from the Sdo" << endl
+		<< "dictionary by default. It can be overridden with the" << endl
+		<< "--type option. If the slave does not support the Sdo" << endl
+		<< "information service or the Sdo is not in the dictionary," << endl
+		<< "the --type option is mandatory." << endl
+    	<< endl
+    	<< "These are the valid Sdo entry data types:" << endl
+    	<< "  int8, int16, int32, uint8, uint16, uint32, string." << endl
+    	<< endl
+    	<< "Arguments:"
+    	<< "  INDEX    is the Sdo index and must be an unsigned" << endl
+		<< "           16 bit number." << endl
+    	<< "  SUBINDEX is the Sdo entry subindex and must be an" << endl
+		<< "           unsigned 8 bit number." << endl
+    	<< "  VALUE    is the value to download and must correspond" << endl
+		<< "           to the Sdo entry datatype (see above)." << endl
+    	<< endl
+    	<< "Command-specific options:" << endl
+    	<< "  --slave -s <index>  Positive numerical ring position" << endl
+		<< "                      (mandatory)." << endl
+    	<< "  --type  -t <type>   Forced Sdo entry data type (see" << endl
+		<< "                      above)." << endl
+    	<< endl
+		<< numericInfo();
+
+	return str.str();
+}
+
+/****************************************************************************/
+
+void CommandDownload::execute(MasterDevice &m, const StringVector &args)
+{
+    stringstream strIndex, strSubIndex, strValue, err;
+    ec_ioctl_slave_sdo_download_t data;
+    unsigned int number;
+    const CoEDataType *dataType = NULL;
+
+    if (slavePosition < 0) {
+        err << "'" << getName() << "' requires a slave! "
+            << "Please specify --slave.";
+        throwInvalidUsageException(err);
+    }
+    data.slave_position = slavePosition;
+
+    if (args.size() != 3) {
+        err << "'" << getName() << "' takes 3 arguments!";
+        throwInvalidUsageException(err);
+    }
+
+    strIndex << args[0];
+    strIndex
+        >> resetiosflags(ios::basefield) // guess base from prefix
+        >> data.sdo_index;
+    if (strIndex.fail()) {
+        err << "Invalid Sdo index '" << args[0] << "'!";
+        throwInvalidUsageException(err);
+    }
+
+    strSubIndex << args[1];
+    strSubIndex
+        >> resetiosflags(ios::basefield) // guess base from prefix
+        >> number;
+    if (strSubIndex.fail() || number > 0xff) {
+        err << "Invalid Sdo subindex '" << args[1] << "'!";
+        throwInvalidUsageException(err);
+    }
+    data.sdo_entry_subindex = number;
+
+    if (dataTypeStr != "") { // data type specified
+        if (!(dataType = findDataType(dataTypeStr))) {
+            err << "Invalid data type '" << dataTypeStr << "'!";
+            throwInvalidUsageException(err);
+        }
+    } else { // no data type specified: fetch from dictionary
+        ec_ioctl_slave_sdo_entry_t entry;
+
+        m.open(MasterDevice::ReadWrite);
+
+        try {
+            m.getSdoEntry(&entry, slavePosition,
+                    data.sdo_index, data.sdo_entry_subindex);
+        } catch (MasterDeviceException &e) {
+            err << "Failed to determine Sdo entry data type. "
+                << "Please specify --type.";
+            throwCommandException(err);
+        }
+        if (!(dataType = findDataType(entry.data_type))) {
+            err << "Pdo entry has unknown data type 0x"
+                << hex << setfill('0') << setw(4) << entry.data_type << "!"
+                << " Please specify --type.";
+            throwCommandException(err);
+        }
+    }
+
+    if (dataType->byteSize) {
+        data.data_size = dataType->byteSize;
+    } else {
+        data.data_size = DefaultBufferSize;
+    }
+
+    data.data = new uint8_t[data.data_size + 1];
+
+    strValue << args[2];
+    strValue >> resetiosflags(ios::basefield); // guess base from prefix
+    strValue.exceptions(ios::failbit);
+
+    try {
+        switch (dataType->coeCode) {
+            case 0x0002: // int8
+                {
+                    int16_t val; // uint8_t is interpreted as char
+                    strValue >> val;
+                    if (val > 127 || val < -128)
+                        throw ios::failure("Value out of range");
+                    *data.data = val;
+                    break;
+                }
+            case 0x0003: // int16
+                {
+                    int16_t val;
+                    strValue >> val;
+                    *(int16_t *) data.data = cputole16(val);
+                    break;
+                }
+            case 0x0004: // int32
+                {
+                    int32_t val;
+                    strValue >> val;
+                    *(int32_t *) data.data = cputole32(val);
+                    break;
+                }
+            case 0x0005: // uint8
+                {
+                    uint16_t val; // uint8_t is interpreted as char
+                    strValue >> val;
+                    if (val > 0xff)
+                        throw ios::failure("Value out of range");
+                    *data.data = val;
+                    break;
+                }
+            case 0x0006: // uint16
+                {
+                    uint16_t val;
+                    strValue >> val;
+                    *(uint16_t *) data.data = cputole16(val);
+                    break;
+                }
+            case 0x0007: // uint32
+                {
+                    uint32_t val;
+                    strValue >> val;
+                    *(uint32_t *) data.data = cputole32(val);
+                    break;
+                }
+            case 0x0009: // string
+                if (strValue.str().size() >= data.data_size) {
+                    err << "String too large";
+                    throwCommandException(err);
+                }
+                data.data_size = strValue.str().size();
+                strValue >> (char *) data.data;
+                break;
+
+            default:
+                delete [] data.data;
+                err << "Unknown data type 0x" << hex << dataType->coeCode;
+                throwCommandException(err);
+        }
+    } catch (ios::failure &e) {
+        delete [] data.data;
+        err << "Invalid value argument '" << args[2]
+            << "' for type '" << dataType->name << "'!";
+        throwInvalidUsageException(err);
+    }
+
+    m.open(MasterDevice::ReadWrite);
+
+	try {
+			m.sdoDownload(&data);
+	} catch(MasterDeviceException &e) {
+        delete [] data.data;
+        throw e;
+    }
+
+    delete [] data.data;
+}
+
+/*****************************************************************************/