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ethercat
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Sourced out data type handling into an own class.

This commit is contained in:
Florian Pose 2010-03-05 13:39:57 +01:00
parent f904612136
commit 4fa95c9d06
18 changed files with 373 additions and 416 deletions
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2
TODO
View File

@ -30,6 +30,8 @@ Version 1.5.0:
* 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:

80
tool/CommandDownload.cpp
View File

@ -86,7 +86,7 @@ string CommandDownload::helpString() const
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 @@ void CommandDownload::execute(const StringVector &args)
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]

70
tool/CommandReg.cpp
View File

@ -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},
{}
};
/*****************************************************************************/

50
tool/CommandRegRead.cpp
View File

@ -37,7 +37,7 @@ using namespace std;
/*****************************************************************************/
CommandRegRead::CommandRegRead():
CommandReg("reg_read", "Output a slave's register contents.")
Command("reg_read", "Output a slave's register contents.")
{
}
@ -164,49 +164,11 @@ void CommandRegRead::execute(const StringVector &args)
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;

6
tool/CommandRegRead.h
View File

@ -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();

63
tool/CommandRegWrite.cpp
View File

@ -39,7 +39,7 @@ using namespace std;
/*****************************************************************************/
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 @@ void CommandRegWrite::execute(const StringVector &args)
if (dataType->byteSize) {
data.length = dataType->byteSize;
data.data = new uint8_t[data.length];
} else {
data.length = 1024; // FIXME
}
strValue << args[1];
strValue >> resetiosflags(ios::basefield); // guess base from prefix
strValue.exceptions(ios::failbit);
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]

6
tool/CommandRegWrite.h
View File

@ -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();

40
tool/CommandSoeRead.cpp
View File

@ -73,6 +73,7 @@ void CommandSoeRead::execute(const StringVector &args)
{
SlaveList slaves;
stringstream err, strIdn;
const DataType *dataType = NULL;
ec_ioctl_slave_soe_t data;
if (args.size() != 1) {
@ -101,7 +102,21 @@ void CommandSoeRead::execute(const StringVector &args)
}
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 @@ void CommandSoeRead::execute(const StringVector &args)
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;
}
/*****************************************************************************/

7
tool/CommandSoeRead.h
View File

@ -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);
};
/****************************************************************************/

83
tool/CommandUpload.cpp
View File

@ -173,87 +173,14 @@ void CommandUpload::execute(const StringVector &args)
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;
}
/*****************************************************************************/

2
tool/CommandUpload.h
View File

@ -45,8 +45,6 @@ class CommandUpload:
protected:
enum {DefaultBufferSize = 64 * 1024};
static void printRawData(const uint8_t *, unsigned int);
};
/****************************************************************************/

265
tool/DataTypeHandler.cpp Normal file
View File

@ -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},
{}
};
/*****************************************************************************/

41
tool/CommandReg.h → tool/DataTypeHandler.h
View File

@ -27,26 +27,49 @@
*
****************************************************************************/
#ifndef __COMMANDREG_H__
#define __COMMANDREG_H__
#include "Command.h"
#ifndef __DATATYPEHANDLER_H__
#define __DATATYPEHANDLER_H__
/****************************************************************************/
class CommandReg:
public Command
#include <stdint.h>
#include <string>
#include <stdexcept>
#include <ostream>
/****************************************************************************/
class DataTypeHandler
{
public:
CommandReg(const string &, const string &);
DataTypeHandler();
protected:
struct DataType {
const char *name;
unsigned int byteSize;
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[];
static const DataType *findDataType(const string &);
};
/****************************************************************************/

9
tool/Makefile.am
View File

@ -49,7 +49,6 @@ ethercat_SOURCES = \
CommandGraph.cpp \
CommandMaster.cpp \
CommandPdos.cpp \
CommandReg.cpp \
CommandRegRead.cpp \
CommandRegWrite.cpp \
CommandSdos.cpp \
@ -61,6 +60,7 @@ ethercat_SOURCES = \
CommandUpload.cpp \
CommandVersion.cpp \
CommandXml.cpp \
DataTypeHandler.cpp \
FoeCommand.cpp \
MasterDevice.cpp \
NumberListParser.cpp \
@ -88,7 +88,6 @@ noinst_HEADERS = \
CommandGraph.h \
CommandMaster.h \
CommandPdos.h \
CommandReg.h \
CommandRegRead.h \
CommandRegWrite.h \
CommandSdos.h \
@ -100,6 +99,7 @@ noinst_HEADERS = \
CommandUpload.h \
CommandVersion.h \
CommandXml.h \
DataTypeHandler.h \
FoeCommand.h \
MasterDevice.h \
NumberListParser.h \
@ -118,6 +118,9 @@ REV = `if test -s $(top_srcdir)/revision; then \
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)
#------------------------------------------------------------------------------

8
tool/MasterDevice.cpp
View File

@ -534,10 +534,10 @@ void MasterDevice::readSoe(ec_ioctl_slave_soe_t *data)
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);
}
}
}

4
tool/MasterDevice.h
View File

@ -34,8 +34,8 @@
#include <sstream>
using namespace std;
#include "../include/ecrt.h"
#include "../master/ioctl.h"
#include "ecrt.h"
#include "ioctl.h"
/****************************************************************************/

41
tool/SdoCommand.cpp
View File

@ -38,32 +38,6 @@ SdoCommand::SdoCommand(const string &name, const string &briefDesc):
/****************************************************************************/
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 @@ const char *SdoCommand::abortText(uint32_t abortCode)
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.

12
tool/SdoCommand.h
View File

@ -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 @@ class SdoCommand:
const char *message;
};
static const DataType dataTypes[];
static const AbortMessage abortMessages[];
};