diff --git a/TODO b/TODO
index e7b21e0d6662647fc6e6b97b1626ffecba469b52..8c61b06df019f3ecce29ff0c6a81f0b993f3b8db 100644
--- a/TODO
+++ b/TODO
@@ -40,8 +40,6 @@ Version 1.5.0:
- Implement indent in 'ethercat ma'
- Implement 0xXXXX:YY format for specifying SDOs.
- Lookup codes for 64bit data types.
- - Move data type usage string into DataTypeHandler.
- - Implement interpretation of SoE '[SP]-x-yyy' strings.
- Implement reading from stream for soe_write.
Future issues:
diff --git a/tool/CommandDownload.cpp b/tool/CommandDownload.cpp
index 47ec9c1564edea7ccccf8262424d14c40d603a62..ee008f139dcaad1134532b21310b408a399e5d02 100644
--- a/tool/CommandDownload.cpp
+++ b/tool/CommandDownload.cpp
@@ -59,9 +59,7 @@ string CommandDownload::helpString() const
<< "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
- << " octet_string." << endl
+ << typeInfo()
<< endl
<< "Arguments:" << endl
<< " INDEX is the SDO index and must be an unsigned" << endl
diff --git a/tool/CommandRegRead.cpp b/tool/CommandRegRead.cpp
index 5689d52366ad7917b08e66846f7fc53bb1ad72b3..8847ba7bcd9becb2c3e63fbb8273e4bae1f85766 100644
--- a/tool/CommandRegRead.cpp
+++ b/tool/CommandRegRead.cpp
@@ -62,9 +62,7 @@ string CommandRegRead::helpString() const
<< " can be omitted), if a selected data type" << endl
<< " implies a length." << endl
<< endl
- << "These are the valid data types:" << endl
- << " int8, int16, int32, int64, uint8, uint16, uint32," << endl
- << " uint64, string, raw." << endl
+ << typeInfo()
<< endl
<< "Command-specific options:" << endl
<< " --alias -a <alias>" << endl
diff --git a/tool/CommandRegWrite.cpp b/tool/CommandRegWrite.cpp
index 9927f3d427dbc20be3d4c231f050c6403cf7e989..0c6ed51292d8648a469475a75a0ac2cfe64014df 100644
--- a/tool/CommandRegWrite.cpp
+++ b/tool/CommandRegWrite.cpp
@@ -64,9 +64,7 @@ string CommandRegWrite::helpString() const
<< " stdin. If a datatype was specified, VALUE is" << endl
<< " interpreted respective to the given type." << endl
<< endl
- << "These are the valid data types:" << endl
- << " int8, int16, int32, int64, uint8, uint16, uint32," << endl
- << " uint64, string." << endl
+ << typeInfo()
<< endl
<< "Command-specific options:" << endl
<< " --alias -a <alias>" << endl
diff --git a/tool/CommandSoeRead.cpp b/tool/CommandSoeRead.cpp
index 7623d8a8c52967da8ee4c038a7593a7e4bf089c8..6edb894d3ef9054f2d6cd299127c9fc29c87cea4 100644
--- a/tool/CommandSoeRead.cpp
+++ b/tool/CommandSoeRead.cpp
@@ -37,7 +37,7 @@ using namespace std;
/*****************************************************************************/
CommandSoeRead::CommandSoeRead():
- Command("soe_read", "Read an SoE IDN from a slave.")
+ SoeCommand("soe_read", "Read an SoE IDN from a slave.")
{
}
@@ -47,20 +47,27 @@ string CommandSoeRead::helpString() const
{
stringstream str;
- str << getName() << " [OPTIONS] <INDEX> <SUBINDEX>" << endl
+ str << getName() << " [OPTIONS] <IDN>" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "This command requires a single slave to be selected." << endl
<< endl
<< "Arguments:" << endl
- << " IDN is the IDN and must be an unsigned" << endl
- << " 16 bit number." << endl
+ << " IDN is the IDN and must be either an unsigned" << endl
+ << " 16 bit number acc. to IEC 61800-7-204:" << endl
+ << " Bit 15: (0) Standard data, (1) Product data" << endl
+ << " Bit 14 - 12: Parameter set (0 - 7)" << endl
+ << " Bit 11 - 0: Data block number" << endl
+ << " or a string like 'P-0-150'." << endl
+ << endl
+ << typeInfo()
<< endl
<< "Command-specific options:" << endl
<< " --alias -a <alias>" << endl
<< " --position -p <pos> Slave selection. See the help of" << endl
<< " the 'slaves' command." << endl
+ << " --type -t <type> Data type (see above)." << endl
<< endl
<< numericInfo();
@@ -72,7 +79,7 @@ string CommandSoeRead::helpString() const
void CommandSoeRead::execute(const StringVector &args)
{
SlaveList slaves;
- stringstream err, strIdn;
+ stringstream err;
const DataType *dataType = NULL;
ec_ioctl_slave_soe_read_t ioctl;
@@ -81,12 +88,10 @@ void CommandSoeRead::execute(const StringVector &args)
throwInvalidUsageException(err);
}
- strIdn << args[0];
- strIdn
- >> resetiosflags(ios::basefield) // guess base from prefix
- >> ioctl.idn;
- if (strIdn.fail()) {
- err << "Invalid IDN '" << args[0] << "'!";
+ try {
+ ioctl.idn = parseIdn(args[0]);
+ } catch (runtime_error &e) {
+ err << "Invalid IDN '" << args[0] << "': " << e.what();
throwInvalidUsageException(err);
}
diff --git a/tool/CommandSoeRead.h b/tool/CommandSoeRead.h
index c7cff524ba26692cf529aff6a496a9bf61b9891f..31ac9fe616158ec1f68cdee0f756e0bc5778af9d 100644
--- a/tool/CommandSoeRead.h
+++ b/tool/CommandSoeRead.h
@@ -30,14 +30,12 @@
#ifndef __COMMANDSOEREAD_H__
#define __COMMANDSOEREAD_H__
-#include "Command.h"
-#include "DataTypeHandler.h"
+#include "SoeCommand.h"
/****************************************************************************/
class CommandSoeRead:
- public Command,
- public DataTypeHandler
+ public SoeCommand
{
public:
CommandSoeRead();
diff --git a/tool/CommandSoeWrite.cpp b/tool/CommandSoeWrite.cpp
index 1d93f48dc3cc74c91faac1a46417058821953ac5..a67345b42ce73aa95eac343b94a905df46c766f7 100644
--- a/tool/CommandSoeWrite.cpp
+++ b/tool/CommandSoeWrite.cpp
@@ -37,7 +37,7 @@ using namespace std;
/*****************************************************************************/
CommandSoeWrite::CommandSoeWrite():
- Command("soe_write", "Write an SoE IDN to a slave.")
+ SoeCommand("soe_write", "Write an SoE IDN to a slave.")
{
}
@@ -47,17 +47,23 @@ string CommandSoeWrite::helpString() const
{
stringstream str;
- str << getName() << " [OPTIONS] <INDEX> <SUBINDEX> <VALUE>" << endl
+ str << getName() << " [OPTIONS] <IDN> <VALUE>" << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "This command requires a single slave to be selected." << endl
<< endl
<< "Arguments:" << endl
- << " IDN is the IDN and must be an unsigned" << endl
- << " 16 bit number." << endl
+ << " IDN is the IDN and must be either an unsigned" << endl
+ << " 16 bit number acc. to IEC 61800-7-204:" << endl
+ << " Bit 15: (0) Standard data, (1) Product data" << endl
+ << " Bit 14 - 12: Parameter set (0 - 7)" << endl
+ << " Bit 11 - 0: Data block number" << endl
+ << " or a string like 'P-0-150'." << endl
<< " VALUE is the value to write and is interpreted" << endl
<< " as the given datatype (see above)." << endl
+ << endl
+ << typeInfo()
<< endl
<< "Command-specific options:" << endl
<< " --alias -a <alias>" << endl
@@ -85,12 +91,10 @@ void CommandSoeWrite::execute(const StringVector &args)
throwInvalidUsageException(err);
}
- strIdn << args[0];
- strIdn
- >> resetiosflags(ios::basefield) // guess base from prefix
- >> ioctl.idn;
- if (strIdn.fail()) {
- err << "Invalid IDN '" << args[0] << "'!";
+ try {
+ ioctl.idn = parseIdn(args[0]);
+ } catch (runtime_error &e) {
+ err << "Invalid IDN '" << args[0] << "': " << e.what();
throwInvalidUsageException(err);
}
diff --git a/tool/CommandSoeWrite.h b/tool/CommandSoeWrite.h
index 3c507b4a8e11f4a874d5506c9279c5d5c32d60a0..c5cc14f50d5e0a75ac45b58ed83acf05d5544c40 100644
--- a/tool/CommandSoeWrite.h
+++ b/tool/CommandSoeWrite.h
@@ -30,14 +30,12 @@
#ifndef __COMMANDSOEWRITE_H__
#define __COMMANDSOEWRITE_H__
-#include "Command.h"
-#include "DataTypeHandler.h"
+#include "SoeCommand.h"
/****************************************************************************/
class CommandSoeWrite:
- public Command,
- public DataTypeHandler
+ public SoeCommand
{
public:
CommandSoeWrite();
diff --git a/tool/CommandUpload.cpp b/tool/CommandUpload.cpp
index 0f9605856770eea158bbc32a45235c9a42bdb738..7a186f54c8c85b7aeab7ed93f8b753c501c986cb 100644
--- a/tool/CommandUpload.cpp
+++ b/tool/CommandUpload.cpp
@@ -59,9 +59,7 @@ string CommandUpload::helpString() const
<< "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
- << " octet_string." << endl
+ << typeInfo()
<< endl
<< "Arguments:" << endl
<< " INDEX is the SDO index and must be an unsigned" << endl
diff --git a/tool/DataTypeHandler.cpp b/tool/DataTypeHandler.cpp
index 028c451c4a3e1c1aeefe429ab95d13b225738419..2dfaf838156cc098506126758127b31fd19c90e6 100644
--- a/tool/DataTypeHandler.cpp
+++ b/tool/DataTypeHandler.cpp
@@ -64,6 +64,20 @@ const DataTypeHandler::DataType *DataTypeHandler::findDataType(
/****************************************************************************/
+string DataTypeHandler::typeInfo()
+{
+ stringstream s;
+
+ s
+ << "These are valid data types to use with" << endl
+ << "the --type option:" << endl
+ << " int8, int16, int32, uint8, uint16, uint32, string," << endl
+ << " octet_string." << endl;
+ return s.str();
+}
+
+/****************************************************************************/
+
const DataTypeHandler::DataType *DataTypeHandler::findDataType(uint16_t code)
{
const DataType *d;
diff --git a/tool/DataTypeHandler.h b/tool/DataTypeHandler.h
index 2a0e08a0bfb3d7382ed7ccbaf777f1d2fb8ff07a..9064895726287c4f25ad11df638c04db39df3143 100644
--- a/tool/DataTypeHandler.h
+++ b/tool/DataTypeHandler.h
@@ -51,6 +51,8 @@ class DataTypeHandler
size_t byteSize;
};
+ static std::string typeInfo();
+
static const DataType *findDataType(const std::string &);
static const DataType *findDataType(uint16_t);
static size_t interpretAsType(const DataType *, const std::string &,
diff --git a/tool/Makefile.am b/tool/Makefile.am
index ba4d7fcd821a9145cb67ad7f078354ad49880f79..b1de2434b9037da6110798be4f37d00ee732a294 100644
--- a/tool/Makefile.am
+++ b/tool/Makefile.am
@@ -66,6 +66,7 @@ ethercat_SOURCES = \
MasterDevice.cpp \
NumberListParser.cpp \
SdoCommand.cpp \
+ SoeCommand.cpp \
main.cpp \
sii_crc.cpp
@@ -106,6 +107,7 @@ noinst_HEADERS = \
MasterDevice.h \
NumberListParser.h \
SdoCommand.h \
+ SoeCommand.h \
sii_crc.h
if ENABLE_EOE
diff --git a/tool/SoeCommand.cpp b/tool/SoeCommand.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..70030e2013b9584f204b54c6cee7bc9b42cca9ad
--- /dev/null
+++ b/tool/SoeCommand.cpp
@@ -0,0 +1,108 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ * 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>
+using namespace std;
+
+#include "SoeCommand.h"
+
+/*****************************************************************************/
+
+SoeCommand::SoeCommand(const string &name, const string &briefDesc):
+ Command(name, briefDesc)
+{
+}
+
+/*****************************************************************************/
+
+uint16_t SoeCommand::parseIdn(const string &str)
+{
+ uint16_t idn = 0x0000;
+ stringstream s, err;
+
+ if (!str.length()) {
+ err << "Zero-size string not allowed!";
+ throw runtime_error(err.str());
+ }
+
+ if (str[0] == 'S' || str[0] == 'P') {
+ unsigned int num;
+ unsigned char c;
+
+ s << str;
+
+ s >> c;
+ if (c == 'P') {
+ idn |= 0x8000;
+ }
+
+ s >> c;
+ if (s.fail() || c != '-') {
+ err << "'-' expected!";
+ throw runtime_error(err.str());
+ }
+
+ s >> num;
+ if (s.fail() || num > 7) {
+ err << "Invalid parameter set number!";
+ throw runtime_error(err.str());
+ }
+ idn |= num << 12;
+
+ s >> c;
+ if (s.fail() || c != '-') {
+ err << "'-' expected!";
+ throw runtime_error(err.str());
+ }
+
+ s >> num;
+ if (s.fail() || num > 4095) {
+ err << "Invalid data block number!";
+ throw runtime_error(err.str());
+ }
+ idn |= num;
+
+ s.peek();
+ if (!s.eof()) {
+ err << "Additional input!";
+ throw runtime_error(err.str());
+ }
+ } else {
+ s << str;
+ s >> resetiosflags(ios::basefield) >> idn;
+ if (s.fail()) {
+ err << "Invalid number!";
+ throw runtime_error(err.str());
+ }
+ }
+
+ return idn;
+}
+
+/****************************************************************************/
diff --git a/tool/SoeCommand.h b/tool/SoeCommand.h
new file mode 100644
index 0000000000000000000000000000000000000000..478bec90c99270bb11e554dfbec392737ada0647
--- /dev/null
+++ b/tool/SoeCommand.h
@@ -0,0 +1,51 @@
+/*****************************************************************************
+ *
+ * $Id$
+ *
+ * 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 __SOECOMMAND_H__
+#define __SOECOMMAND_H__
+
+#include "Command.h"
+#include "DataTypeHandler.h"
+
+/****************************************************************************/
+
+class SoeCommand:
+ public Command,
+ public DataTypeHandler
+{
+ public:
+ SoeCommand(const string &, const string &);
+
+ protected:
+ static uint16_t parseIdn(const string &);
+};
+
+/****************************************************************************/
+
+#endif