void ConnectionDrive::HandleSdo ( const uint8_t &  node, const uint16_t &  idx, const uint8_t &  subidx, const uint32_t &  val, const Time &  tv  )

inlineprivate

Definition at line 587 of file drivectrl.cc.

References str.

    {
        if (fVerbosity>0)
        {
            ostringstream out;
            out << hex;
            out << "SDO[" << int(node) << "] " << idx << "/" << int(subidx) << ": " << val << dec;
            Out() << out.str() << endl;
        }

        switch (idx)
        {
        case kReqArmed:
            //fArmed = val==1;
            return;

        case kReqErrStat:
            {
                fErrCode[node/2] = (val>>8);
                LogErrorCode(node);
            }
            return;

        case kReqSoftVer:
            //fSoftVersion = val;
            return;

        case kReqKeepAlive:
            // Do not display, this is used for CheckConnection
            fIsInitialized[node/2] = true;
            return;

        case kReqVel:
            //fVel = val;
            return;

        case kReqPos:
            switch (subidx)
            {
            case 0:
                fPdoPos1[node/2] = val;
                fPdoTime1[node/2] = tv;
                fHasChangedPos1[node/2] = true;
                return;
            case 1:
                fPdoPos2[node/2] = val;
                fPdoTime2[node/2] = tv;
                fHasChangedPos2[node/2] = true;
                return;
            }
            break;

        case kReqVelRes:
            fVelRes[node/2] = val;
            return;

        case kReqVelMax:
            fVelMax[node/2] = val;
            return;

        case kReqPosRes:
            fPosRes[node/2] = val;
            return;
        }

        ostringstream str;
        str << "HandleSDO: Idx=0x"<< hex << idx << "/" << (int)subidx;
        str << ", val=0x" << val;
        Warn(str);
    }