Newer
Older
/*****************************************************************************
*
* $Id$
*
****************************************************************************/
#include <iostream>
#include <iomanip>
using namespace std;
#include "globals.h"
#include "coe_datatypes.h"
/****************************************************************************/
const char *help_download =
"[OPTIONS]\n"
"\n"
"\n"
"Command-specific options:\n";
/****************************************************************************/
void command_download(void)
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
{
stringstream strIndex, strSubIndex, strValue, err;
ec_ioctl_slave_sdo_download_t data;
unsigned int number;
const CoEDataType *dataType = NULL;
if (slavePosition < 0) {
err << "'sdo_download' requires a slave! Please specify --slave.";
throw MasterDeviceException(err.str());
}
data.slave_position = slavePosition;
if (commandArgs.size() != 3) {
err << "'sdo_download' takes 3 arguments!";
throw MasterDeviceException(err.str());
}
strIndex << commandArgs[0];
strIndex
>> resetiosflags(ios::basefield) // guess base from prefix
>> data.sdo_index;
if (strIndex.fail()) {
err << "Invalid Sdo index '" << commandArgs[0] << "'!";
throw MasterDeviceException(err.str());
}
strSubIndex << commandArgs[1];
strSubIndex
>> resetiosflags(ios::basefield) // guess base from prefix
>> number;
if (strSubIndex.fail() || number > 0xff) {
err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";
throw MasterDeviceException(err.str());
}
data.sdo_entry_subindex = number;
if (dataTypeStr != "") { // data type specified
if (!(dataType = findDataType(dataTypeStr))) {
err << "Invalid data type '" << dataTypeStr << "'!";
throw MasterDeviceException(err.str());
}
} else { // no data type specified: fetch from dictionary
ec_ioctl_slave_sdo_entry_t entry;
masterDev.open(MasterDevice::ReadWrite);
try {
masterDev.getSdoEntry(&entry, slavePosition,
data.sdo_index, data.sdo_entry_subindex);
} catch (MasterDeviceException &e) {
err << "Failed to determine Sdo entry data type. "
<< "Please specify --type.";
throw ExecutionFailureException(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.";
throw ExecutionFailureException(err);
}
}
if (dataType->byteSize) {
data.data_size = dataType->byteSize;
} else {
data.data_size = DefaultBufferSize;
}
data.data = new uint8_t[data.data_size + 1];
strValue << commandArgs[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";
throw MasterDeviceException(err.str());
}
data.data_size = strValue.str().size();
strValue >> (char *) data.data;
break;
default:
delete [] data.data;
err << "Unknown data type 0x" << hex << dataType->coeCode;
throw MasterDeviceException(err.str());
}
} catch (ios::failure &e) {
delete [] data.data;
err << "Invalid value argument '" << commandArgs[2]
<< "' for type '" << dataType->name << "'!";
throw MasterDeviceException(err.str());
}
masterDev.open(MasterDevice::ReadWrite);
try {
masterDev.sdoDownload(&data);
} catch(MasterDeviceException &e) {
delete [] data.data;
throw e;
}
delete [] data.data;
}
/*****************************************************************************/