**
** @return
**/
+#ifdef DEBUG_WAR_CONSOLE_ON
UNS8 accessDictionaryError(UNS16 index, UNS8 subIndex,
- UNS8 sizeDataDict, UNS8 sizeDataGiven, UNS32 code)
+ UNS32 sizeDataDict, UNS32 sizeDataGiven, UNS32 code)
{
-#ifdef DEBUG_WAR_CONSOLE_ON
MSG_WAR(0x2B09,"Dictionary index : ", index);
MSG_WAR(0X2B10," subindex : ", subIndex);
switch (code) {
default :
MSG_WAR(0x2B20, "Unknown error code : ", code);
}
-#endif
return 0;
}
+#else
+#define accessDictionaryError(index, subIndex, sizeDataDict, sizeDataGiven, code)
+#endif
/*!
**
UNS16 wIndex,
UNS8 bSubindex,
void * pDestData,
- UNS8 * pExpectedSize,
+ UNS32 * pExpectedSize,
UNS8 * pDataType,
UNS8 checkAccess,
UNS8 endianize)
{ /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite
loop if it fails. */
UNS32 errorCode;
- UNS8 szData;
+ UNS32 szData;
const indextable *ptrTable;
ODCallback_t *Callback;
if (checkAccess && (ptrTable->pSubindex[bSubindex].bAccessType & WO)) {
MSG_WAR(0x2B30, "Access Type : ", ptrTable->pSubindex[bSubindex].bAccessType);
- accessDictionaryError(wIndex, bSubindex, 0, 0, OD_WRITE_NOT_ALLOWED);
+ accessDictionaryError(wIndex, bSubindex, 0, 0, OD_READ_NOT_ALLOWED);
return OD_READ_NOT_ALLOWED;
}
if(*pExpectedSize == 0 ||
*pExpectedSize == szData ||
- (*pDataType == visible_string && *pExpectedSize < szData)) {
- /* We
- allow to fetch a shorter string than expected */
+ /* allow to fetch a shorter string than expected */
+ (*pDataType >= visible_string && *pExpectedSize < szData)) {
# ifdef CANOPEN_BIG_ENDIAN
- if(endianize && *pDataType > boolean && *pDataType < visible_string) {
+ if(endianize && *pDataType > boolean && !(
+ *pDataType >= visible_string &&
+ *pDataType <= domain)) {
/* data must be transmited with low byte first */
UNS8 i, j = 0;
MSG_WAR(boolean, "data type ", *pDataType);
((UNS8*)pDestData)[j++] =
((UNS8*)ptrTable->pSubindex[bSubindex].pObject)[i-1];
}
+ *pExpectedSize = szData;
}
- else /* It it is a visible string no endianisation to perform */
- memcpy(pDestData, ptrTable->pSubindex[bSubindex].pObject,szData);
-# else
- memcpy(pDestData, ptrTable->pSubindex[bSubindex].pObject,szData);
+ else /* no endianisation change */
# endif
-
- *pExpectedSize = szData;
+ if(*pDataType != visible_string) {
+ memcpy(pDestData, ptrTable->pSubindex[bSubindex].pObject,szData);
+ *pExpectedSize = szData;
+ }else{
+ /* TODO : CONFORM TO DS-301 :
+ * - stop using NULL terminated strings
+ * - store string size in td_subindex
+ * */
+ /* Copy null terminated string to user, and return discovered size */
+ UNS8 *ptr = (UNS8*)ptrTable->pSubindex[bSubindex].pObject;
+ UNS8 *ptr_start = ptr;
+ /* *pExpectedSize IS < szData . if null, use szData */
+ UNS8 *ptr_end = ptr + (*pExpectedSize ? *pExpectedSize : szData) ;
+ UNS8 *ptr_dest = (UNS8*)pDestData;
+ while( *ptr && ptr < ptr_end){
+ *(ptr_dest++) = *(ptr++);
+ }
+
+ *pExpectedSize = ptr - ptr_start;
+ /* terminate string if not maximum length */
+ if (*pExpectedSize < szData)
+ *(ptr) = 0;
+ }
return OD_SUCCESSFUL;
}
}
}
-/*!
-**
-**
-** @param d
-** @param wIndex
-** @param bSubindex
-** @param pDestData
-** @param pExpectedSize
-** @param pDataType
-** @param checkAccess
-**
-** @return
-**/
-UNS32 getODentry( CO_Data* d,
- UNS16 wIndex,
- UNS8 bSubindex,
- void * pDestData,
- UNS8 * pExpectedSize,
- UNS8 * pDataType,
- UNS8 checkAccess)
-{
- return _getODentry( d,
- wIndex,
- bSubindex,
- pDestData,
- pExpectedSize,
- pDataType,
- checkAccess,
- 1);//endianize
-}
-
-/*!
-**
-**
-** @param d
-** @param wIndex
-** @param bSubindex
-** @param pDestData
-** @param pExpectedSize
-** @param pDataType
-** @param checkAccess
-**
-** @return
-**/
-UNS32 readLocalDict( CO_Data* d,
- UNS16 wIndex,
- UNS8 bSubindex,
- void * pDestData,
- UNS8 * pExpectedSize,
- UNS8 * pDataType,
- UNS8 checkAccess)
-{
- return _getODentry( d,
- wIndex,
- bSubindex,
- pDestData,
- pExpectedSize,
- pDataType,
- checkAccess,
- 0);//do not endianize
-}
-
/*!
**
**
UNS16 wIndex,
UNS8 bSubindex,
void * pSourceData,
- UNS8 * pExpectedSize,
+ UNS32 * pExpectedSize,
UNS8 checkAccess,
UNS8 endianize)
{
- UNS8 szData;
+ UNS32 szData;
UNS8 dataType;
UNS32 errorCode;
const indextable *ptrTable;
if( *pExpectedSize == 0 ||
*pExpectedSize == szData ||
- (dataType == visible_string && *pExpectedSize < szData)) /* We
- allow to store a shorter string than entry size */
+ /* allow to store a shorter string than entry size */
+ (dataType == visible_string && *pExpectedSize < szData))
{
#ifdef CANOPEN_BIG_ENDIAN
- if(endianize && dataType > boolean && dataType < visible_string)
+ /* re-endianize do not occur for bool, strings time and domains */
+ if(endianize && dataType > boolean && !(
+ dataType >= visible_string &&
+ dataType <= domain))
{
/* we invert the data source directly. This let us do range
testing without */
return errorCode;
}
memcpy(ptrTable->pSubindex[bSubindex].pObject,pSourceData, *pExpectedSize);
+ /* TODO : CONFORM TO DS-301 :
+ * - stop using NULL terminated strings
+ * - store string size in td_subindex
+ * */
+ /* terminate visible_string with '\0' */
+ if(dataType == visible_string && *pExpectedSize < szData)
+ ((UNS8*)ptrTable->pSubindex[bSubindex].pObject)[*pExpectedSize] = 0;
+
*pExpectedSize = szData;
/* Callbacks */
if(Callback && Callback[bSubindex]){
- (*Callback[bSubindex])(d, ptrTable, bSubindex);
- }
+ errorCode = (Callback[bSubindex])(d, ptrTable, bSubindex);
+ if(errorCode != OD_SUCCESSFUL)
+ {
+ return errorCode;
+ }
+ }
/* TODO : Store dans NVRAM */
if (ptrTable->pSubindex[bSubindex].bAccessType & TO_BE_SAVE){
}
}
-/*!
-**
-**
-** @param d
-** @param wIndex
-** @param bSubindex
-** @param pSourceData
-** @param pExpectedSize
-** @param checkAccess
-**
-** @return
-**/
-UNS32 setODentry( CO_Data* d,
- UNS16 wIndex,
- UNS8 bSubindex,
- void * pSourceData,
- UNS8 * pExpectedSize,
- UNS8 checkAccess)
-{
- return _setODentry( d,
- wIndex,
- bSubindex,
- pSourceData,
- pExpectedSize,
- checkAccess,
- 1);//endianize
-}
-
-/*!
-**
-**
-** @param d
-** @param wIndex
-** @param bSubindex
-** @param pSourceData
-** @param pExpectedSize
-** @param checkAccess
-**
-** @return
-**/
-UNS32 writeLocalDict( CO_Data* d,
- UNS16 wIndex,
- UNS8 bSubindex,
- void * pSourceData,
- UNS8 * pExpectedSize,
- UNS8 checkAccess)
-{
- return _setODentry( d,
- wIndex,
- bSubindex,
- pSourceData,
- pExpectedSize,
- checkAccess,
- 0);//do not endianize
-}
-
/*!
**
**
**/
UNS32 RegisterSetODentryCallBack(CO_Data* d, UNS16 wIndex, UNS8 bSubindex, ODCallback_t Callback)
{
- UNS32 errorCode;
- ODCallback_t *CallbackList;
+UNS32 errorCode;
+ODCallback_t *CallbackList;
+const indextable *odentry;
- scanIndexOD (d, wIndex, &errorCode, &CallbackList);
- if(errorCode == OD_SUCCESSFUL && CallbackList)
+ odentry = scanIndexOD (d, wIndex, &errorCode, &CallbackList);
+ if(errorCode == OD_SUCCESSFUL && CallbackList && bSubindex < odentry->bSubCount)
CallbackList[bSubindex] = Callback;
return errorCode;
}
projects / CanFestival-3.git / blobdiff