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https://gitlab.com/etherlab.org/ethercat.git
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263 lines
8.9 KiB
C++
263 lines
8.9 KiB
C++
/*****************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License version 2, as
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* published by the Free Software Foundation.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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* Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* ---
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*
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* The license mentioned above concerns the source code only. Using the
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* EtherCAT technology and brand is only permitted in compliance with the
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* industrial property and similar rights of Beckhoff Automation GmbH.
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*
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****************************************************************************/
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#include <iostream>
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#include <iomanip>
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#include <fstream>
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using namespace std;
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#include "CommandRegWrite.h"
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#include "sii_crc.h"
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#include "MasterDevice.h"
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/*****************************************************************************/
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CommandRegWrite::CommandRegWrite():
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CommandReg("reg_write", "Write data to a slave's registers.")
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{
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}
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/*****************************************************************************/
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string CommandRegWrite::helpString() const
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{
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stringstream str;
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str << getName() << " [OPTIONS] <OFFSET> <DATA>" << endl
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<< endl
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<< getBriefDescription() << endl
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<< endl
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<< "This command requires a single slave to be selected." << endl
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<< endl
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<< "Arguments:" << endl
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<< " OFFSET is the register address to write to." << endl
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<< " DATA depends on whether a datatype was specified" << endl
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<< " with the --type option: If not, DATA must be" << endl
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<< " either a path to a file with data to write," << endl
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<< " or '-', which means, that data are read from" << endl
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<< " stdin. If a datatype was specified, VALUE is" << endl
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<< " interpreted respective to the given type." << endl
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<< endl
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<< "These are the valid data types:" << endl
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<< " int8, int16, int32, int64, uint8, uint16, uint32," << endl
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<< " uint64, string." << endl
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<< endl
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<< "Command-specific options:" << endl
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<< " --alias -a <alias>" << endl
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<< " --position -p <pos> Slave selection. See the help of" << endl
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<< " the 'slaves' command." << endl
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<< " --type -t <type> Data type (see above)." << endl
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<< endl
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<< numericInfo();
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return str.str();
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}
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/****************************************************************************/
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void CommandRegWrite::execute(const StringVector &args)
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{
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stringstream strOffset, err;
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ec_ioctl_slave_reg_t data;
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ifstream file;
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SlaveList slaves;
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if (args.size() != 2) {
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err << "'" << getName() << "' takes exactly two arguments!";
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throwInvalidUsageException(err);
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}
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strOffset << args[0];
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strOffset
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>> resetiosflags(ios::basefield) // guess base from prefix
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>> data.offset;
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if (strOffset.fail()) {
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err << "Invalid offset '" << args[0] << "'!";
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throwInvalidUsageException(err);
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}
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if (getMasterIndices().size() != 1) {
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err << getName() << " requires to select a single master!";
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throwInvalidUsageException(err);
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}
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MasterDevice m(getMasterIndices().front());
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if (getDataType().empty()) {
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if (args[1] == "-") {
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loadRegData(&data, cin);
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} else {
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file.open(args[1].c_str(), ifstream::in | ifstream::binary);
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if (file.fail()) {
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err << "Failed to open '" << args[1] << "'!";
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throwCommandException(err);
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}
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loadRegData(&data, file);
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file.close();
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}
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} else {
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stringstream strValue;
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const DataType *dataType = findDataType(getDataType());
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if (!dataType) {
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err << "Invalid data type '" << getDataType() << "'!";
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throwInvalidUsageException(err);
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}
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if (dataType->byteSize) {
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data.length = dataType->byteSize;
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data.data = new uint8_t[data.length];
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}
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strValue << args[1];
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strValue >> resetiosflags(ios::basefield); // guess base from prefix
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strValue.exceptions(ios::failbit);
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try {
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if (string(dataType->name) == "int8") {
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int16_t val; // uint8_t is interpreted as char
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strValue >> val;
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if (val > 127 || val < -128)
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throw ios::failure("Value out of range");
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*data.data = (int8_t) val;
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} else if (string(dataType->name) == "int16") {
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int16_t val;
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strValue >> val;
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*(int16_t *) data.data = cpu_to_le16(val);
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} else if (string(dataType->name) == "int32") {
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int32_t val;
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strValue >> val;
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*(int32_t *) data.data = cpu_to_le32(val);
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} else if (string(dataType->name) == "int64") {
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int64_t val;
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strValue >> val;
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*(int64_t *) data.data = cpu_to_le64(val);
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} else if (string(dataType->name) == "uint8") {
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uint16_t val; // uint8_t is interpreted as char
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strValue >> val;
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if (val > 0xff)
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throw ios::failure("Value out of range");
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*data.data = (uint8_t) val;
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} else if (string(dataType->name) == "uint16") {
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uint16_t val;
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strValue >> val;
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*(uint16_t *) data.data = cpu_to_le16(val);
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} else if (string(dataType->name) == "uint32") {
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uint32_t val;
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strValue >> val;
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*(uint32_t *) data.data = cpu_to_le32(val);
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} else if (string(dataType->name) == "uint64") {
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uint64_t val;
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strValue >> val;
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*(uint64_t *) data.data = cpu_to_le64(val);
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} else if (string(dataType->name) == "string" ||
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string(dataType->name) == "octet_string") {
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data.length = strValue.str().size();
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if (!data.length) {
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err << "Zero-size string now allowed!";
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throwCommandException(err);
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}
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data.data = new uint8_t[data.length];
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strValue >> (char *) data.data;
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} else {
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err << "Invalid data type " << dataType->name;
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throwCommandException(err);
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}
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} catch (ios::failure &e) {
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delete [] data.data;
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err << "Invalid value argument '" << args[1]
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<< "' for type '" << dataType->name << "'!";
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throwInvalidUsageException(err);
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}
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}
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if ((uint32_t) data.offset + data.length > 0xffff) {
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err << "Offset and length exceeding 64k!";
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delete [] data.data;
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throwInvalidUsageException(err);
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}
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try {
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m.open(MasterDevice::ReadWrite);
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} catch (MasterDeviceException &e) {
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delete [] data.data;
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throw e;
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}
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slaves = selectedSlaves(m);
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if (slaves.size() != 1) {
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delete [] data.data;
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throwSingleSlaveRequired(slaves.size());
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}
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data.slave_position = slaves.front().position;
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// send data to master
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try {
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m.writeReg(&data);
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} catch (MasterDeviceException &e) {
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delete [] data.data;
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throw e;
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}
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if (getVerbosity() == Verbose) {
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cerr << "Register writing finished." << endl;
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}
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delete [] data.data;
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}
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/*****************************************************************************/
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void CommandRegWrite::loadRegData(
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ec_ioctl_slave_reg_t *data,
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const istream &in
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)
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{
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stringstream err;
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ostringstream tmp;
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tmp << in.rdbuf();
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string const &contents = tmp.str();
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if (getVerbosity() == Verbose) {
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cerr << "Read " << contents.size() << " bytes of data." << endl;
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}
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if (contents.size() > 0xffff) {
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err << "Invalid data size " << contents.size() << "!";
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throwInvalidUsageException(err);
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}
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data->length = contents.size();
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// allocate buffer and read file into buffer
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data->data = new uint8_t[data->length];
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contents.copy((char *) data->data, contents.size());
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}
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/*****************************************************************************/
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