diff -r 7ffbca63fc72 -r 59be91dfcbe1 tool/CommandUpload.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/CommandUpload.cpp	Thu Jul 24 13:27:06 2008 +0000
@@ -0,0 +1,205 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ ****************************************************************************/
+
+#include <iostream>
+#include <iomanip>
+using namespace std;
+
+#include "CommandUpload.h"
+#include "coe_datatypes.h"
+#include "byteorder.h"
+
+/*****************************************************************************/
+
+CommandUpload::CommandUpload():
+    Command("upload", "Read an Sdo entry from a slave.")
+{
+}
+
+/*****************************************************************************/
+
+string CommandUpload::helpString() const
+{
+    stringstream str;
+
+    str << getName() << " [OPTIONS] <INDEX> <SUBINDEX>" << 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:" << endl
+        << "  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
+        << 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 CommandUpload::execute(MasterDevice &m, const StringVector &args)
+{
+    stringstream err, strIndex, strSubIndex;
+    int sval;
+    ec_ioctl_slave_sdo_upload_t data;
+    unsigned int uval;
+    const CoEDataType *dataType = NULL;
+
+    if (slavePosition < 0) {
+        err << "'" << getName() << "' requires a slave! "
+            << "Please specify --slave.";
+        throwInvalidUsageException(err);
+    }
+    data.slave_position = slavePosition;
+
+    if (args.size() != 2) {
+        err << "'" << getName() << "' takes two 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
+        >> uval;
+    if (strSubIndex.fail() || uval > 0xff) {
+        err << "Invalid Sdo subindex '" << args[1] << "'!";
+        throwInvalidUsageException(err);
+    }
+    data.sdo_entry_subindex = uval;
+
+    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::Read);
+
+        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.target_size = dataType->byteSize;
+    } else {
+        data.target_size = DefaultBufferSize;
+    }
+
+    data.target = new uint8_t[data.target_size + 1];
+
+    m.open(MasterDevice::Read);
+
+	try {
+		m.sdoUpload(&data);
+	} catch (MasterDeviceException &e) {
+        delete [] data.target;
+        throw e;
+    }
+
+    m.close();
+
+    if (dataType->byteSize && data.data_size != dataType->byteSize) {
+        err << "Data type mismatch. Expected " << dataType->name
+            << " with " << dataType->byteSize << " byte, but got "
+            << data.data_size << " byte.";
+        throwCommandException(err);
+    }
+
+    cout << setfill('0');
+    switch (dataType->coeCode) {
+        case 0x0002: // int8
+            sval = *(int8_t *) data.target;
+            cout << sval << " 0x" << hex << setw(2) << sval << endl;
+            break;
+        case 0x0003: // int16
+            sval = le16tocpu(*(int16_t *) data.target);
+            cout << sval << " 0x" << hex << setw(4) << sval << endl;
+            break;
+        case 0x0004: // int32
+            sval = le32tocpu(*(int32_t *) data.target);
+            cout << sval << " 0x" << hex << setw(8) << sval << endl;
+            break;
+        case 0x0005: // uint8
+            uval = (unsigned int) *(uint8_t *) data.target;
+            cout << uval << " 0x" << hex << setw(2) << uval << endl;
+            break;
+        case 0x0006: // uint16
+            uval = le16tocpu(*(uint16_t *) data.target);
+            cout << uval << " 0x" << hex << setw(4) << uval << endl;
+            break;
+        case 0x0007: // uint32
+            uval = le32tocpu(*(uint32_t *) data.target);
+            cout << uval << " 0x" << hex << setw(8) << uval << endl;
+            break;
+        case 0x0009: // string
+            cout << string((const char *) data.target, data.data_size)
+                << endl;
+            break;
+        default:
+            printRawData(data.target, data.data_size); // FIXME
+            break;
+    }
+
+    delete [] data.target;
+}
+
+/****************************************************************************/
+
+void CommandUpload::printRawData(
+		const uint8_t *data,
+		unsigned int size
+		)
+{
+    cout << hex << setfill('0');
+    while (size--) {
+        cout << "0x" << setw(2) << (unsigned int) *data++;
+        if (size)
+            cout << " ";
+    }
+    cout << endl;
+}
+
+/*****************************************************************************/