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118 lines
3.9 KiB
C++
118 lines
3.9 KiB
C++
/*****************************************************************************
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*
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* $Id$
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*
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****************************************************************************/
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#include "SdoCommand.h"
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/*****************************************************************************/
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SdoCommand::SdoCommand(const string &name, const string &briefDesc):
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Command(name, briefDesc)
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{
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}
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/****************************************************************************/
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const SdoCommand::DataType *SdoCommand::findDataType(const string &str)
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{
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const DataType *d;
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for (d = dataTypes; d->name; d++)
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if (str == d->name)
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return d;
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return NULL;
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}
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/****************************************************************************/
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const SdoCommand::DataType *SdoCommand::findDataType(uint16_t code)
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{
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const DataType *d;
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for (d = dataTypes; d->name; d++)
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if (code == d->coeCode)
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return d;
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return NULL;
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}
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/****************************************************************************/
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const char *SdoCommand::abortText(uint32_t abortCode)
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{
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const AbortMessage *abortMsg;
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for (abortMsg = abortMessages; abortMsg->code; abortMsg++) {
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if (abortMsg->code == abortCode) {
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return abortMsg->message;
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}
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}
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return "???";
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}
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/****************************************************************************/
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const SdoCommand::DataType SdoCommand::dataTypes[] = {
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{"int8", 0x0002, 1},
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{"int16", 0x0003, 2},
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{"int32", 0x0004, 4},
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{"uint8", 0x0005, 1},
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{"uint16", 0x0006, 2},
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{"uint32", 0x0007, 4},
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{"string", 0x0009, 0},
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{"octet_string", 0x000a, 0},
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{"raw", 0xffff, 0},
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{}
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};
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/*****************************************************************************/
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/** SDO abort messages.
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*
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* The "Abort SDO transfer request" supplies an abort code, which can be
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* translated to clear text. This table does the mapping of the codes and
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* messages.
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*/
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const SdoCommand::AbortMessage SdoCommand::abortMessages[] = {
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{0x05030000, "Toggle bit not changed"},
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{0x05040000, "SDO protocol timeout"},
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{0x05040001, "Client/Server command specifier not valid or unknown"},
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{0x05040005, "Out of memory"},
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{0x06010000, "Unsupported access to an object"},
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{0x06010001, "Attempt to read a write-only object"},
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{0x06010002, "Attempt to write a read-only object"},
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{0x06020000, "This object does not exist in the object directory"},
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{0x06040041, "The object cannot be mapped into the PDO"},
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{0x06040042, "The number and length of the objects to be mapped would"
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" exceed the PDO length"},
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{0x06040043, "General parameter incompatibility reason"},
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{0x06040047, "Gerneral internal incompatibility in device"},
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{0x06060000, "Access failure due to a hardware error"},
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{0x06070010, "Data type does not match, length of service parameter does"
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" not match"},
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{0x06070012, "Data type does not match, length of service parameter too"
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" high"},
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{0x06070013, "Data type does not match, length of service parameter too"
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" low"},
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{0x06090011, "Subindex does not exist"},
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{0x06090030, "Value range of parameter exceeded"},
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{0x06090031, "Value of parameter written too high"},
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{0x06090032, "Value of parameter written too low"},
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{0x06090036, "Maximum value is less than minimum value"},
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{0x08000000, "General error"},
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{0x08000020, "Data cannot be transferred or stored to the application"},
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{0x08000021, "Data cannot be transferred or stored to the application"
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" because of local control"},
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{0x08000022, "Data cannot be transferred or stored to the application"
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" because of the present device state"},
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{0x08000023, "Object dictionary dynamic generation fails or no object"
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" dictionary is present"},
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{}
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};
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/****************************************************************************/
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