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Implemented SoE IDN parser for strings like 'P-0-0150'; moved data type

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information string to DataTypeHandler.
This commit is contained in:
Florian Pose
2010-03-11 14:29:43 +01:00
parent eaf749e9b4
commit fb8a75570d
14 changed files with 215 additions and 43 deletions
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2
TODO
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@@ -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:

4
tool/CommandDownload.cpp
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@@ -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

4
tool/CommandRegRead.cpp
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@@ -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

4
tool/CommandRegWrite.cpp
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@@ -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

27
tool/CommandSoeRead.cpp
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@@ -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);
}

6
tool/CommandSoeRead.h
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@@ -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();

24
tool/CommandSoeWrite.cpp
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@@ -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);
}

6
tool/CommandSoeWrite.h
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@@ -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();

4
tool/CommandUpload.cpp
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@@ -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

14
tool/DataTypeHandler.cpp
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@@ -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;

2
tool/DataTypeHandler.h
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@@ -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 &,

2
tool/Makefile.am
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@@ -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

108
tool/SoeCommand.cpp Normal file
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@@ -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;
}
/****************************************************************************/

51
tool/SoeCommand.h Normal file
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@@ -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