Implemented SoE write state machine and soe_write command.

tool/CommandSoeRead.cpp

@@ -74,7 +74,7 @@ void CommandSoeRead::execute(const StringVector &args)
     SlaveList slaves;
     stringstream err, strIdn;
     const DataType *dataType = NULL;
-    ec_ioctl_slave_soe_t data;
+    ec_ioctl_slave_soe_read_t ioctl;
 
     if (args.size() != 1) {
         err << "'" << getName() << "' takes one argument!";
@@ -84,7 +84,7 @@ void CommandSoeRead::execute(const StringVector &args)
     strIdn << args[0];
     strIdn
         >> resetiosflags(ios::basefield) // guess base from prefix
-        >> data.idn;
+        >> ioctl.idn;
     if (strIdn.fail()) {
         err << "Invalid IDN '" << args[0] << "'!";
         throwInvalidUsageException(err);
@@ -100,7 +100,7 @@ void CommandSoeRead::execute(const StringVector &args)
     if (slaves.size() != 1) {
         throwSingleSlaveRequired(slaves.size());
     }
-    data.slave_position = slaves.front().position;
+    ioctl.slave_position = slaves.front().position;
 
     if (getDataType().empty()) {
         dataType = findDataType("raw"); // FIXME
@@ -112,35 +112,35 @@ void CommandSoeRead::execute(const StringVector &args)
     }
 
     if (dataType->byteSize) {
-        data.mem_size = dataType->byteSize;
+        ioctl.mem_size = dataType->byteSize;
     } else {
-        data.mem_size = 1024;
+        ioctl.mem_size = 1024;
     }
 
-    data.data = new uint8_t[data.mem_size + 1];
+    ioctl.data = new uint8_t[ioctl.mem_size + 1];
 
     try {
-        m.readSoe(&data);
+        m.readSoe(&ioctl);
     } catch (MasterDeviceSoeException &e) {
-        delete [] data.data;
+        delete [] ioctl.data;
         err << "SoE read command aborted with code 0x"
             << setfill('0') << hex << setw(4) << e.errorCode;
         throwCommandException(err);
     } catch (MasterDeviceException &e) {
-        delete [] data.data;
+        delete [] ioctl.data;
         throw e;
     }
 
     m.close();
 
     try {
-        outputData(cout, dataType, data.data, data.data_size);
+        outputData(cout, dataType, ioctl.data, ioctl.data_size);
     } catch (SizeException &e) {
-        delete [] data.data;
+        delete [] ioctl.data;
         throwCommandException(e.what());
     }
 
-    delete [] data.data;
+    delete [] ioctl.data;
 }
 
 /*****************************************************************************/

tool/CommandSoeWrite.cpp

@@ -0,0 +1,160 @@
+/*****************************************************************************
+ *
+ *  $Id$
+ *
+ *  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 <iostream>
+#include <iomanip>
+using namespace std;
+
+#include "CommandSoeWrite.h"
+#include "MasterDevice.h"
+
+/*****************************************************************************/
+
+CommandSoeWrite::CommandSoeWrite():
+    Command("soe_write", "Write an SoE IDN to a slave.")
+{
+}
+
+/*****************************************************************************/
+
+string CommandSoeWrite::helpString() const
+{
+    stringstream str;
+
+    str << getName() << " [OPTIONS] <INDEX> <SUBINDEX> <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
+        << "  VALUE    is the value to write and is interpreted" << endl
+        << "           as the given datatype (see above)." << endl
+        << 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();
+
+    return str.str();
+}
+
+/****************************************************************************/
+
+void CommandSoeWrite::execute(const StringVector &args)
+{
+    stringstream strIdn, err;
+    const DataType *dataType = NULL;
+    ec_ioctl_slave_soe_write_t ioctl;
+    SlaveList slaves;
+    size_t memSize;
+
+    if (args.size() != 2) {
+        err << "'" << getName() << "' takes 2 arguments!";
+        throwInvalidUsageException(err);
+    }
+
+    strIdn << args[0];
+    strIdn
+        >> resetiosflags(ios::basefield) // guess base from prefix
+        >> ioctl.idn;
+    if (strIdn.fail()) {
+        err << "Invalid IDN '" << args[0] << "'!";
+        throwInvalidUsageException(err);
+    }
+
+    if (getMasterIndices().size() != 1) {
+        err << getName() << " requires to select a single master!";
+        throwInvalidUsageException(err);
+    }
+    MasterDevice m(getMasterIndices().front());
+    m.open(MasterDevice::ReadWrite);
+    slaves = selectedSlaves(m);
+    if (slaves.size() != 1) {
+        throwSingleSlaveRequired(slaves.size());
+    }
+    ioctl.slave_position = slaves.front().position;
+
+    if (!getDataType().empty()) { // data type specified
+        if (!(dataType = findDataType(getDataType()))) {
+            err << "Invalid data type '" << getDataType() << "'!";
+            throwInvalidUsageException(err);
+        }
+    } else { // no data type specified
+        err << "Please specify a data type.";
+        throwInvalidUsageException(err); // FIXME read from stream
+    }
+
+    if (dataType->byteSize) {
+        memSize = dataType->byteSize;
+    } else {
+        // guess string type size
+        memSize = args[1].size();
+        if (!memSize) {
+            err << "Empty argument not allowed.";
+            throwInvalidUsageException(err);
+        }
+    }
+
+    ioctl.data = new uint8_t[memSize + 1];
+
+    try {
+        ioctl.data_size = interpretAsType(
+                dataType, args[1], ioctl.data, memSize);
+    } catch (SizeException &e) {
+        delete [] ioctl.data;
+        throwCommandException(e.what());
+    } catch (ios::failure &e) {
+        delete [] ioctl.data;
+        err << "Invalid value argument '" << args[1]
+            << "' for type '" << dataType->name << "'!";
+        throwInvalidUsageException(err);
+    }
+
+    try {
+        m.writeSoe(&ioctl);
+    } catch (MasterDeviceSoeException &e) {
+        delete [] ioctl.data;
+        err << "SoE write command aborted with code 0x"
+            << setfill('0') << hex << setw(4) << e.errorCode << ".";
+        throwCommandException(err);
+    } catch (MasterDeviceException &e) {
+        delete [] ioctl.data;
+        throw e;
+    }
+
+    delete [] ioctl.data;
+}
+
+/*****************************************************************************/

tool/CommandSoeWrite.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 __COMMANDSOEWRITE_H__
+#define __COMMANDSOEWRITE_H__
+
+#include "Command.h"
+#include "DataTypeHandler.h"
+
+/****************************************************************************/
+
+class CommandSoeWrite:
+    public Command,
+    public DataTypeHandler
+{
+    public:
+        CommandSoeWrite();
+
+        string helpString() const;
+        void execute(const StringVector &);
+};
+
+/****************************************************************************/
+
+#endif

tool/DataTypeHandler.cpp

@@ -27,6 +27,12 @@
  *
  ****************************************************************************/
 
+#define DEBUG 0
+
+#if DEBUG
+#include <iostream>
+#endif
+
 #include <iomanip>
 #include <sstream>
 using namespace std;
@@ -81,10 +87,18 @@ size_t DataTypeHandler::interpretAsType(
     stringstream str;
     size_t dataSize = type->byteSize;
 
+#if DEBUG
+	cerr << __func__ << "(targetSize=" << targetSize << ")" << endl;
+#endif
+
     str << source;
     str >> resetiosflags(ios::basefield); // guess base from prefix
     str.exceptions(ios::failbit);
 
+#if DEBUG
+	cerr << "code=" << type->code << endl;
+#endif
+
     switch (type->code) {
         case 0x0002: // int8
             {
@@ -151,6 +165,10 @@ size_t DataTypeHandler::interpretAsType(
             }
     }
 
+#if DEBUG
+	printRawData(cerr, (const uint8_t *) target, dataSize);
+#endif
+
     return dataSize;
 }
 

tool/Makefile.am

@@ -56,6 +56,7 @@ ethercat_SOURCES = \
 	CommandSiiWrite.cpp \
 	CommandSlaves.cpp \
 	CommandSoeRead.cpp \
+	CommandSoeWrite.cpp \
 	CommandStates.cpp \
 	CommandUpload.cpp \
 	CommandVersion.cpp \
@@ -95,6 +96,7 @@ noinst_HEADERS = \
 	CommandSiiWrite.h \
 	CommandSlaves.h \
 	CommandSoeRead.h \
+	CommandSoeWrite.h \
 	CommandStates.h \
 	CommandUpload.h \
 	CommandVersion.h \

tool/MasterDevice.cpp

@@ -528,7 +528,7 @@ void MasterDevice::getEoeHandler(
 
 /****************************************************************************/
 
-void MasterDevice::readSoe(ec_ioctl_slave_soe_t *data)
+void MasterDevice::readSoe(ec_ioctl_slave_soe_read_t *data)
 {
     if (ioctl(fd, EC_IOCTL_SLAVE_SOE_READ, data) < 0) {
         if (errno == EIO && data->error_code) {
@@ -541,4 +541,19 @@ void MasterDevice::readSoe(ec_ioctl_slave_soe_t *data)
     }
 }
 
+/****************************************************************************/
+
+void MasterDevice::writeSoe(ec_ioctl_slave_soe_write_t *data)
+{
+    if (ioctl(fd, EC_IOCTL_SLAVE_SOE_WRITE, data) < 0) {
+        if (errno == EIO && data->error_code) {
+            throw MasterDeviceSoeException(data->error_code);
+        } else {
+            stringstream err;
+            err << "Failed to write IDN: " << strerror(errno);
+            throw MasterDeviceException(err);
+        }
+    }
+}
+
 /*****************************************************************************/

tool/MasterDevice.h

@@ -140,7 +140,8 @@ class MasterDevice
 #ifdef EC_EOE
         void getEoeHandler(ec_ioctl_eoe_handler_t *, uint16_t);
 #endif
-        void readSoe(ec_ioctl_slave_soe_t *);
+        void readSoe(ec_ioctl_slave_soe_read_t *);
+        void writeSoe(ec_ioctl_slave_soe_write_t *);
 
         unsigned int getMasterCount() const {return masterCount;}
 

tool/main.cpp

@@ -57,6 +57,7 @@ using namespace std;
 #include "CommandSiiWrite.h"
 #include "CommandSlaves.h"
 #include "CommandSoeRead.h"
+#include "CommandSoeWrite.h"
 #include "CommandStates.h"
 #include "CommandUpload.h"
 #include "CommandVersion.h"
@@ -337,6 +338,7 @@ int main(int argc, char **argv)
     commandList.push_back(new CommandSiiWrite());
     commandList.push_back(new CommandSlaves());
     commandList.push_back(new CommandSoeRead());
+    commandList.push_back(new CommandSoeWrite());
     commandList.push_back(new CommandStates());
     commandList.push_back(new CommandUpload());
     commandList.push_back(new CommandVersion());