--- a/TODO Fri Mar 05 13:20:42 2010 +0100
+++ b/TODO Fri Mar 05 13:39:57 2010 +0100
@@ -30,6 +30,8 @@
* Implement indent in 'ethercat ma'
* Add master index to log messages.
* Implement 0xXXXX:YY format for specifying SDOs.
+* Lookup CoE codes for 64bit data types.
+* Move data type usage string into DataTypeHandler.
Future issues:
--- a/tool/CommandDownload.cpp Fri Mar 05 13:20:42 2010 +0100
+++ b/tool/CommandDownload.cpp Fri Mar 05 13:39:57 2010 +0100
@@ -86,7 +86,7 @@
void CommandDownload::execute(const StringVector &args)
{
- stringstream strIndex, strSubIndex, strValue, err;
+ stringstream strIndex, strSubIndex, err;
ec_ioctl_slave_sdo_download_t data;
unsigned int number;
const DataType *dataType = NULL;
@@ -160,80 +160,12 @@
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 = cpu_to_le16(val);
- break;
- }
- case 0x0004: // int32
- {
- int32_t val;
- strValue >> val;
- *(int32_t *) data.data = cpu_to_le32(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 = cpu_to_le16(val);
- break;
- }
- case 0x0007: // uint32
- {
- uint32_t val;
- strValue >> val;
- *(uint32_t *) data.data = cpu_to_le32(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;
- case 0x000a: // octet_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);
- }
+ data.data_size = interpretAsType(
+ dataType, args[2], data.data, data.data_size);
+ } catch (SizeException &e) {
+ delete [] data.data;
+ throwCommandException(e.what());
} catch (ios::failure &e) {
delete [] data.data;
err << "Invalid value argument '" << args[2]
--- a/tool/CommandReg.cpp Fri Mar 05 13:20:42 2010 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,70 +0,0 @@
-/*****************************************************************************
- *
- * $Id$
- *
- * Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
- *
- * This file is part of the IgH EtherCAT Master.
- *
- * The IgH EtherCAT Master is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License version 2, as
- * published by the Free Software Foundation.
- *
- * The IgH EtherCAT Master is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
- * Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with the IgH EtherCAT Master; if not, write to the Free Software
- * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
- *
- * ---
- *
- * The license mentioned above concerns the source code only. Using the
- * EtherCAT technology and brand is only permitted in compliance with the
- * industrial property and similar rights of Beckhoff Automation GmbH.
- *
- ****************************************************************************/
-
-#include "CommandReg.h"
-
-/*****************************************************************************/
-
-CommandReg::CommandReg(const string &name, const string &briefDesc):
- Command(name, briefDesc)
-{
-}
-
-/****************************************************************************/
-
-const CommandReg::DataType *CommandReg::findDataType(
- const string &str
- )
-{
- const DataType *d;
-
- for (d = dataTypes; d->name; d++)
- if (str == d->name)
- return d;
-
- return NULL;
-}
-
-/****************************************************************************/
-
-const CommandReg::DataType CommandReg::dataTypes[] = {
- {"int8", 1},
- {"int16", 2},
- {"int32", 4},
- {"int64", 8},
- {"uint8", 1},
- {"uint16", 2},
- {"uint32", 4},
- {"uint64", 8},
- {"string", 0},
- {"raw", 0},
- {}
-};
-
-/*****************************************************************************/
--- a/tool/CommandReg.h Fri Mar 05 13:20:42 2010 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,54 +0,0 @@
-/*****************************************************************************
- *
- * $Id$
- *
- * Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
- *
- * This file is part of the IgH EtherCAT Master.
- *
- * The IgH EtherCAT Master is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License version 2, as
- * published by the Free Software Foundation.
- *
- * The IgH EtherCAT Master is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
- * Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with the IgH EtherCAT Master; if not, write to the Free Software
- * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
- *
- * ---
- *
- * The license mentioned above concerns the source code only. Using the
- * EtherCAT technology and brand is only permitted in compliance with the
- * industrial property and similar rights of Beckhoff Automation GmbH.
- *
- ****************************************************************************/
-
-#ifndef __COMMANDREG_H__
-#define __COMMANDREG_H__
-
-#include "Command.h"
-
-/****************************************************************************/
-
-class CommandReg:
- public Command
-{
- public:
- CommandReg(const string &, const string &);
-
- protected:
- struct DataType {
- const char *name;
- unsigned int byteSize;
- };
- static const DataType dataTypes[];
- static const DataType *findDataType(const string &);
-};
-
-/****************************************************************************/
-
-#endif
--- a/tool/CommandRegRead.cpp Fri Mar 05 13:20:42 2010 +0100
+++ b/tool/CommandRegRead.cpp Fri Mar 05 13:39:57 2010 +0100
@@ -37,7 +37,7 @@
/*****************************************************************************/
CommandRegRead::CommandRegRead():
- CommandReg("reg_read", "Output a slave's register contents.")
+ Command("reg_read", "Output a slave's register contents.")
{
}
@@ -164,49 +164,11 @@
throw e;
}
- cout << setfill('0');
- if (!dataType || string(dataType->name) == "string") {
- uint16_t i;
- for (i = 0; i < data.length; i++) {
- cout << data.data[i];
- }
- if (dataType)
- cout << endl;
- } else if (string(dataType->name) == "int8") {
- int val = (int) *data.data;
- cout << "0x" << hex << setw(2) << val << " " << dec << val << endl;
- } else if (string(dataType->name) == "int16") {
- int16_t val = le16_to_cpup(data.data);
- cout << "0x" << hex << setw(4) << val << " " << dec << val << endl;
- } else if (string(dataType->name) == "int32") {
- int32_t val = le32_to_cpup(data.data);
- cout << "0x" << hex << setw(8) << val << " " << dec << val << endl;
- } else if (string(dataType->name) == "int64") {
- int64_t val = le64_to_cpup(data.data);
- cout << "0x" << hex << setw(16) << val << " " << dec << val << endl;
- } else if (string(dataType->name) == "uint8") {
- unsigned int val = (unsigned int) *data.data;
- cout << "0x" << hex << setw(2) << val << " " << dec << val << endl;
- } else if (string(dataType->name) == "uint16") {
- uint16_t val = le16_to_cpup(data.data);
- cout << "0x" << hex << setw(4) << val << " " << dec << val << endl;
- } else if (string(dataType->name) == "uint32") {
- uint32_t val = le32_to_cpup(data.data);
- cout << "0x" << hex << setw(8) << val << " " << dec << val << endl;
- } else if (string(dataType->name) == "uint64") {
- uint64_t val = le64_to_cpup(data.data);
- cout << "0x" << hex << setw(16) << val << " " << dec << val << endl;
- } else { // raw
- uint8_t *d = data.data;
- unsigned int size = data.length;
-
- cout << hex << setfill('0');
- while (size--) {
- cout << "0x" << setw(2) << (unsigned int) *d++;
- if (size)
- cout << " ";
- }
- cout << endl;
+ try {
+ outputData(cout, dataType, data.data, data.length);
+ } catch (SizeException &e) {
+ delete [] data.data;
+ throwCommandException(e.what());
}
delete [] data.data;
--- a/tool/CommandRegRead.h Fri Mar 05 13:20:42 2010 +0100
+++ b/tool/CommandRegRead.h Fri Mar 05 13:39:57 2010 +0100
@@ -30,12 +30,14 @@
#ifndef __COMMANDREGREAD_H__
#define __COMMANDREGREAD_H__
-#include "CommandReg.h"
+#include "Command.h"
+#include "DataTypeHandler.h"
/****************************************************************************/
class CommandRegRead:
- public CommandReg
+ public Command,
+ public DataTypeHandler
{
public:
CommandRegRead();
--- a/tool/CommandRegWrite.cpp Fri Mar 05 13:20:42 2010 +0100
+++ b/tool/CommandRegWrite.cpp Fri Mar 05 13:39:57 2010 +0100
@@ -39,7 +39,7 @@
/*****************************************************************************/
CommandRegWrite::CommandRegWrite():
- CommandReg("reg_write", "Write data to a slave's registers.")
+ Command("reg_write", "Write data to a slave's registers.")
{
}
@@ -131,63 +131,18 @@
if (dataType->byteSize) {
data.length = dataType->byteSize;
- data.data = new uint8_t[data.length];
- }
-
- strValue << args[1];
- strValue >> resetiosflags(ios::basefield); // guess base from prefix
- strValue.exceptions(ios::failbit);
+ } else {
+ data.length = 1024; // FIXME
+ }
+
+ data.data = new uint8_t[data.length];
try {
- if (string(dataType->name) == "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 = (int8_t) val;
- } else if (string(dataType->name) == "int16") {
- int16_t val;
- strValue >> val;
- *(int16_t *) data.data = cpu_to_le16(val);
- } else if (string(dataType->name) == "int32") {
- int32_t val;
- strValue >> val;
- *(int32_t *) data.data = cpu_to_le32(val);
- } else if (string(dataType->name) == "int64") {
- int64_t val;
- strValue >> val;
- *(int64_t *) data.data = cpu_to_le64(val);
- } else if (string(dataType->name) == "uint8") {
- uint16_t val; // uint8_t is interpreted as char
- strValue >> val;
- if (val > 0xff)
- throw ios::failure("Value out of range");
- *data.data = (uint8_t) val;
- } else if (string(dataType->name) == "uint16") {
- uint16_t val;
- strValue >> val;
- *(uint16_t *) data.data = cpu_to_le16(val);
- } else if (string(dataType->name) == "uint32") {
- uint32_t val;
- strValue >> val;
- *(uint32_t *) data.data = cpu_to_le32(val);
- } else if (string(dataType->name) == "uint64") {
- uint64_t val;
- strValue >> val;
- *(uint64_t *) data.data = cpu_to_le64(val);
- } else if (string(dataType->name) == "string" ||
- string(dataType->name) == "octet_string") {
- data.length = strValue.str().size();
- if (!data.length) {
- err << "Zero-size string now allowed!";
- throwCommandException(err);
- }
- data.data = new uint8_t[data.length];
- strValue >> (char *) data.data;
- } else {
- err << "Invalid data type " << dataType->name;
- throwCommandException(err);
- }
+ data.length = interpretAsType(
+ dataType, args[1], data.data, data.length);
+ } catch (SizeException &e) {
+ delete [] data.data;
+ throwCommandException(e.what());
} catch (ios::failure &e) {
delete [] data.data;
err << "Invalid value argument '" << args[1]
--- a/tool/CommandRegWrite.h Fri Mar 05 13:20:42 2010 +0100
+++ b/tool/CommandRegWrite.h Fri Mar 05 13:39:57 2010 +0100
@@ -30,12 +30,14 @@
#ifndef __COMMANDREGWRITE_H__
#define __COMMANDREGWRITE_H__
-#include "CommandReg.h"
+#include "Command.h"
+#include "DataTypeHandler.h"
/****************************************************************************/
class CommandRegWrite:
- public CommandReg
+ public Command,
+ public DataTypeHandler
{
public:
CommandRegWrite();
--- a/tool/CommandSoeRead.cpp Fri Mar 05 13:20:42 2010 +0100
+++ b/tool/CommandSoeRead.cpp Fri Mar 05 13:39:57 2010 +0100
@@ -73,6 +73,7 @@
{
SlaveList slaves;
stringstream err, strIdn;
+ const DataType *dataType = NULL;
ec_ioctl_slave_soe_t data;
if (args.size() != 1) {
@@ -101,7 +102,21 @@
}
data.slave_position = slaves.front().position;
- data.mem_size = 1024;
+ if (getDataType().empty()) {
+ dataType = findDataType("raw"); // FIXME
+ } else { // no data type specified
+ if (!(dataType = findDataType(getDataType()))) {
+ err << "Invalid data type '" << getDataType() << "'!";
+ throwInvalidUsageException(err);
+ }
+ }
+
+ if (dataType->byteSize) {
+ data.mem_size = dataType->byteSize;
+ } else {
+ data.mem_size = 1024;
+ }
+
data.data = new uint8_t[data.mem_size + 1];
try {
@@ -118,25 +133,14 @@
m.close();
- printRawData(data.data, data.data_size);
+ try {
+ outputData(cout, dataType, data.data, data.data_size);
+ } catch (SizeException &e) {
+ delete [] data.data;
+ throwCommandException(e.what());
+ }
delete [] data.data;
}
-/****************************************************************************/
-
-void CommandSoeRead::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;
-}
-
/*****************************************************************************/
--- a/tool/CommandSoeRead.h Fri Mar 05 13:20:42 2010 +0100
+++ b/tool/CommandSoeRead.h Fri Mar 05 13:39:57 2010 +0100
@@ -31,20 +31,19 @@
#define __COMMANDSOEREAD_H__
#include "Command.h"
+#include "DataTypeHandler.h"
/****************************************************************************/
class CommandSoeRead:
- public Command
+ public Command,
+ public DataTypeHandler
{
public:
CommandSoeRead();
string helpString() const;
void execute(const StringVector &);
-
- protected:
- static void printRawData(const uint8_t *, unsigned int);
};
/****************************************************************************/
--- a/tool/CommandUpload.cpp Fri Mar 05 13:20:42 2010 +0100
+++ b/tool/CommandUpload.cpp Fri Mar 05 13:39:57 2010 +0100
@@ -173,87 +173,14 @@
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
- {
- int val = (int) *data.target;
- cout << "0x" << hex << setw(2) << val
- << " " << dec << val << endl;
- }
- break;
- case 0x0003: // int16
- {
- int16_t val = le16_to_cpup(data.target);
- cout << "0x" << hex << setw(4) << val
- << " " << dec << val << endl;
- }
- break;
- case 0x0004: // int32
- {
- int32_t val = le32_to_cpup(data.target);
- cout << "0x" << hex << setw(8) << val
- << " " << dec << val << endl;
- }
- break;
- case 0x0005: // uint8
- {
- unsigned int val = (unsigned int) *data.target;
- cout << "0x" << hex << setw(2) << val
- << " " << dec << val << endl;
- }
- break;
- case 0x0006: // uint16
- {
- uint16_t val = le16_to_cpup(data.target);
- cout << "0x" << hex << setw(4) << val
- << " " << dec << val << endl;
- }
- break;
- case 0x0007: // uint32
- {
- uint32_t val = le32_to_cpup(data.target);
- cout << "0x" << hex << setw(8) << val
- << " " << dec << val << endl;
- }
- break;
- case 0x0009: // string
- cout << string((const char *) data.target, data.data_size)
- << endl;
- break;
- case 0x000a: // octet_string
- cout << string((const char *) data.target, data.data_size)
- << endl;
- break;
- default:
- printRawData(data.target, data.data_size); // FIXME
- break;
+ try {
+ outputData(cout, dataType, data.target, data.data_size);
+ } catch (SizeException &e) {
+ delete [] data.target;
+ throwCommandException(e.what());
}
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;
-}
-
/*****************************************************************************/
--- a/tool/CommandUpload.h Fri Mar 05 13:20:42 2010 +0100
+++ b/tool/CommandUpload.h Fri Mar 05 13:39:57 2010 +0100
@@ -45,8 +45,6 @@
protected:
enum {DefaultBufferSize = 64 * 1024};
-
- static void printRawData(const uint8_t *, unsigned int);
};
/****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/DataTypeHandler.cpp Fri Mar 05 13:39:57 2010 +0100
@@ -0,0 +1,265 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License version 2, as
+ * published by the Free Software Foundation.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * ---
+ *
+ * The license mentioned above concerns the source code only. Using the
+ * EtherCAT technology and brand is only permitted in compliance with the
+ * industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ ****************************************************************************/
+
+#include <iomanip>
+#include <sstream>
+using namespace std;
+
+#include "DataTypeHandler.h"
+
+#include "ecrt.h"
+
+/*****************************************************************************/
+
+DataTypeHandler::DataTypeHandler()
+{
+}
+
+/****************************************************************************/
+
+const DataTypeHandler::DataType *DataTypeHandler::findDataType(
+ const string &str
+ )
+{
+ const DataType *d;
+
+ for (d = dataTypes; d->name; d++)
+ if (str == d->name)
+ return d;
+
+ return NULL; // FIXME exception
+}
+
+/****************************************************************************/
+
+const DataTypeHandler::DataType *DataTypeHandler::findDataType(uint16_t code)
+{
+ const DataType *d;
+
+ for (d = dataTypes; d->name; d++)
+ if (code == d->code)
+ return d;
+
+ return NULL;
+}
+
+/****************************************************************************/
+
+size_t DataTypeHandler::interpretAsType(
+ const DataType *type,
+ const string &source,
+ void *target,
+ size_t targetSize
+ )
+{
+ stringstream str;
+ size_t dataSize = type->byteSize;
+
+ str << source;
+ str >> resetiosflags(ios::basefield); // guess base from prefix
+ str.exceptions(ios::failbit);
+
+ switch (type->code) {
+ case 0x0002: // int8
+ {
+ int16_t val; // uint8_t is interpreted as char
+ str >> val;
+ if (val > 127 || val < -128)
+ throw ios::failure("Value out of range");
+ *(uint8_t *) target = val;
+ break;
+ }
+ case 0x0003: // int16
+ {
+ int16_t val;
+ str >> val;
+ *(int16_t *) target = cpu_to_le16(val);
+ break;
+ }
+ case 0x0004: // int32
+ {
+ int32_t val;
+ str >> val;
+ *(int32_t *) target = cpu_to_le32(val);
+ break;
+ }
+ case 0x0005: // uint8
+ {
+ uint16_t val; // uint8_t is interpreted as char
+ str >> val;
+ if (val > 0xff)
+ throw ios::failure("Value out of range");
+ *(uint8_t *) target = val;
+ break;
+ }
+ case 0x0006: // uint16
+ {
+ uint16_t val;
+ str >> val;
+ *(uint16_t *) target = cpu_to_le16(val);
+ break;
+ }
+ case 0x0007: // uint32
+ {
+ uint32_t val;
+ str >> val;
+ *(uint32_t *) target = cpu_to_le32(val);
+ break;
+ }
+ case 0x0009: // string
+ case 0x000a: // octet_string
+ dataSize = str.str().size();
+ if (dataSize >= targetSize) {
+ stringstream err;
+ err << "String too large";
+ throw SizeException(err.str());
+ }
+ str >> (char *) target;
+ break;
+
+ default:
+ {
+ stringstream err;
+ err << "Unknown data type 0x" << hex << type->code;
+ throw runtime_error(err.str());
+ }
+ }
+
+ return dataSize;
+}
+
+/****************************************************************************/
+
+void DataTypeHandler::outputData(
+ ostream &o,
+ const DataType *type,
+ void *data,
+ size_t dataSize
+ )
+{
+ if (type->byteSize && dataSize != type->byteSize) {
+ stringstream err;
+ err << "Data type mismatch. Expected " << type->name
+ << " with " << type->byteSize << " byte, but got "
+ << dataSize << " byte.";
+ throw SizeException(err.str());
+ }
+
+ o << setfill('0');
+
+ switch (type->code) {
+ case 0x0002: // int8
+ {
+ int val = (int) *(int8_t *) data;
+ o << "0x" << hex << setw(2) << val
+ << " " << dec << val << endl;
+ }
+ break;
+ case 0x0003: // int16
+ {
+ int16_t val = le16_to_cpup(data);
+ o << "0x" << hex << setw(4) << val
+ << " " << dec << val << endl;
+ }
+ break;
+ case 0x0004: // int32
+ {
+ int32_t val = le32_to_cpup(data);
+ o << "0x" << hex << setw(8) << val
+ << " " << dec << val << endl;
+ }
+ break;
+ case 0x0005: // uint8
+ {
+ unsigned int val = (unsigned int) *(uint8_t *) data;
+ o << "0x" << hex << setw(2) << val
+ << " " << dec << val << endl;
+ }
+ break;
+ case 0x0006: // uint16
+ {
+ uint16_t val = le16_to_cpup(data);
+ o << "0x" << hex << setw(4) << val
+ << " " << dec << val << endl;
+ }
+ break;
+ case 0x0007: // uint32
+ {
+ uint32_t val = le32_to_cpup(data);
+ o << "0x" << hex << setw(8) << val
+ << " " << dec << val << endl;
+ }
+ break;
+ case 0x0009: // string
+ o << string((const char *) data, dataSize) << endl;
+ break;
+ case 0x000a: // octet_string
+ o << string((const char *) data, dataSize) << endl;
+ break;
+ default:
+ printRawData(o, (const uint8_t *) data, dataSize); // FIXME
+ break;
+ }
+}
+
+/****************************************************************************/
+
+void DataTypeHandler::printRawData(
+ ostream &o,
+ const uint8_t *data,
+ size_t size
+ )
+{
+ o << hex << setfill('0');
+ while (size--) {
+ o << "0x" << setw(2) << (unsigned int) *data++;
+ if (size)
+ o << " ";
+ }
+ o << endl;
+}
+
+/****************************************************************************/
+
+const DataTypeHandler::DataType DataTypeHandler::dataTypes[] = {
+ {"int8", 0x0002, 1},
+ {"int16", 0x0003, 2},
+ {"int32", 0x0004, 4},
+ {"uint8", 0x0005, 1},
+ {"uint16", 0x0006, 2},
+ {"uint32", 0x0007, 4},
+ {"string", 0x0009, 0},
+ {"octet_string", 0x000a, 0},
+ {"raw", 0xffff, 0},
+ //{"int64", 8},
+ //{"uint64", 8},
+ {}
+};
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/tool/DataTypeHandler.h Fri Mar 05 13:39:57 2010 +0100
@@ -0,0 +1,77 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License version 2, as
+ * published by the Free Software Foundation.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * ---
+ *
+ * The license mentioned above concerns the source code only. Using the
+ * EtherCAT technology and brand is only permitted in compliance with the
+ * industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ ****************************************************************************/
+
+#ifndef __DATATYPEHANDLER_H__
+#define __DATATYPEHANDLER_H__
+
+/****************************************************************************/
+
+#include <stdint.h>
+#include <string>
+#include <stdexcept>
+#include <ostream>
+
+/****************************************************************************/
+
+class DataTypeHandler
+{
+ public:
+ DataTypeHandler();
+
+ protected:
+ struct DataType {
+ const char *name;
+ uint16_t code;
+ size_t byteSize;
+ };
+
+ static const DataType *findDataType(const std::string &);
+ static const DataType *findDataType(uint16_t);
+ static size_t interpretAsType(const DataType *, const std::string &,
+ void *, size_t);
+
+ class SizeException:
+ public std::runtime_error
+ {
+ public:
+ SizeException(const std::string &msg):
+ runtime_error(msg) {}
+ };
+
+ static void outputData(std::ostream &, const DataType *,
+ void *, size_t);
+ static void printRawData(ostream &, const uint8_t *, size_t);
+
+ private:
+ static const DataType dataTypes[];
+};
+
+/****************************************************************************/
+
+#endif
--- a/tool/Makefile.am Fri Mar 05 13:20:42 2010 +0100
+++ b/tool/Makefile.am Fri Mar 05 13:39:57 2010 +0100
@@ -49,7 +49,6 @@
CommandGraph.cpp \
CommandMaster.cpp \
CommandPdos.cpp \
- CommandReg.cpp \
CommandRegRead.cpp \
CommandRegWrite.cpp \
CommandSdos.cpp \
@@ -61,6 +60,7 @@
CommandUpload.cpp \
CommandVersion.cpp \
CommandXml.cpp \
+ DataTypeHandler.cpp \
FoeCommand.cpp \
MasterDevice.cpp \
NumberListParser.cpp \
@@ -88,7 +88,6 @@
CommandGraph.h \
CommandMaster.h \
CommandPdos.h \
- CommandReg.h \
CommandRegRead.h \
CommandRegWrite.h \
CommandSdos.h \
@@ -100,6 +99,7 @@
CommandUpload.h \
CommandVersion.h \
CommandXml.h \
+ DataTypeHandler.h \
FoeCommand.h \
MasterDevice.h \
NumberListParser.h \
@@ -118,6 +118,9 @@
hg id -i $(top_srcdir) 2>/dev/null || echo "unknown"; \
fi`
-ethercat_CXXFLAGS = -I$(top_srcdir)/master -Wall -DREV=$(REV)
+ethercat_CXXFLAGS = \
+ -I$(top_srcdir)/include \
+ -I$(top_srcdir)/master \
+ -Wall -DREV=$(REV)
#------------------------------------------------------------------------------
--- a/tool/MasterDevice.cpp Fri Mar 05 13:20:42 2010 +0100
+++ b/tool/MasterDevice.cpp Fri Mar 05 13:39:57 2010 +0100
@@ -534,10 +534,10 @@
if (errno == EIO && data->error_code) {
throw MasterDeviceSoeException(data->error_code);
} else {
- stringstream err;
- err << "Failed to read IDN: " << strerror(errno);
- throw MasterDeviceException(err);
- }
+ stringstream err;
+ err << "Failed to read IDN: " << strerror(errno);
+ throw MasterDeviceException(err);
+ }
}
}
--- a/tool/MasterDevice.h Fri Mar 05 13:20:42 2010 +0100
+++ b/tool/MasterDevice.h Fri Mar 05 13:39:57 2010 +0100
@@ -34,8 +34,8 @@
#include <sstream>
using namespace std;
-#include "../include/ecrt.h"
-#include "../master/ioctl.h"
+#include "ecrt.h"
+#include "ioctl.h"
/****************************************************************************/
--- a/tool/SdoCommand.cpp Fri Mar 05 13:20:42 2010 +0100
+++ b/tool/SdoCommand.cpp Fri Mar 05 13:39:57 2010 +0100
@@ -38,32 +38,6 @@
/****************************************************************************/
-const SdoCommand::DataType *SdoCommand::findDataType(const string &str)
-{
- const DataType *d;
-
- for (d = dataTypes; d->name; d++)
- if (str == d->name)
- return d;
-
- return NULL;
-}
-
-/****************************************************************************/
-
-const SdoCommand::DataType *SdoCommand::findDataType(uint16_t code)
-{
- const DataType *d;
-
- for (d = dataTypes; d->name; d++)
- if (code == d->coeCode)
- return d;
-
- return NULL;
-}
-
-/****************************************************************************/
-
const char *SdoCommand::abortText(uint32_t abortCode)
{
const AbortMessage *abortMsg;
@@ -77,21 +51,6 @@
return "???";
}
-/****************************************************************************/
-
-const SdoCommand::DataType SdoCommand::dataTypes[] = {
- {"int8", 0x0002, 1},
- {"int16", 0x0003, 2},
- {"int32", 0x0004, 4},
- {"uint8", 0x0005, 1},
- {"uint16", 0x0006, 2},
- {"uint32", 0x0007, 4},
- {"string", 0x0009, 0},
- {"octet_string", 0x000a, 0},
- {"raw", 0xffff, 0},
- {}
-};
-
/*****************************************************************************/
/** SDO abort messages.
--- a/tool/SdoCommand.h Fri Mar 05 13:20:42 2010 +0100
+++ b/tool/SdoCommand.h Fri Mar 05 13:39:57 2010 +0100
@@ -31,22 +31,17 @@
#define __SDOCOMMAND_H__
#include "Command.h"
+#include "DataTypeHandler.h"
/****************************************************************************/
class SdoCommand:
- public Command
+ public Command,
+ public DataTypeHandler
{
public:
SdoCommand(const string &, const string &);
- struct DataType {
- const char *name;
- uint16_t coeCode;
- unsigned int byteSize;
- };
- static const DataType *findDataType(const string &);
- static const DataType *findDataType(uint16_t);
static const char *abortText(uint32_t);
private:
@@ -55,7 +50,6 @@
const char *message;
};
- static const DataType dataTypes[];
static const AbortMessage abortMessages[];
};