void ConnectionDrive::HandleSdoOk ( const uint8_t &  node, const uint16_t &  idx, const uint8_t &  subidx, const Time &    )

inlineprivate

Definition at line 659 of file drivectrl.cc.

    {
        ostringstream out;
        out << hex;
        out << "SDO-OK[" << int(node) << "] " << idx << "/" << int(subidx) << dec << "   ";

        switch (idx)
        {
        case kSetArmed:
            out << "(Armed state set)";
            break;
            /*
        case 0x1001:
            Out() << inf2 << "- " << GetNodeName() << ": PDOs requested." << endl;
            return;
            */
        case kSetPointVel:
            out << "(Pointing velocity set)";
            break;

        case kSetAcc:
            out << "(Acceleration set)";
            break;

        case kSetRpmMode:
            out << "(RPM mode set)";
            break;

        case kSetLedVoltage:
            out << "(LED Voltage set)";
            Info(out);
            return;
              /*
        case 0x3007:
            //Out() << inf2 << "- Velocity set (" << GetNodeName() << ")" << endl;
            return;

        case 0x4000:
            HandleNodeguard(tv);
            return;

        case 0x6000:
            Out() << inf2 << "- " << GetNodeName() << ": Rotation direction set." << endl;
            return;

        case 0x6002:
            Out() << inf2 << "- " << GetNodeName() << ": Velocity resolution set." << endl;
            return;
            */
        case kSetPosition:
            out << "(Absolute positioning started)";
            break;
              /*
        case 0x6005:
            Out() << inf2 << "- " << GetNodeName() << ": Relative positioning started." << endl;
            fPosActive = kTRUE; // Make sure that the status is set correctly already before the first PDO
            return;*/
        }
        /*
        Out() << warn << setfill('0') << "WARNING - Nodedrv::HandleSDOOK: ";
        Out() << "Node #" << dec << (int)fId << ": Sdo=" << hex << idx  << "/" << (int)subidx << " set.";
        Out() << endl;
        */

        if (fVerbosity>1)
            Out() << out.str() << endl;
    }