void ConnectionDrive::HandleReceivedData ( const boost::system::error_code &  err, size_t  bytes_received, int    )

inlineprivatevirtual

Reimplemented from Connection.

Definition at line 1020 of file drivectrl.cc.

References data, Error(), and str.

Referenced by StartReadReport().

    {
        // Do not schedule a new read if the connection failed.
        if (bytes_received!=11 || fData[0]!=10 || err)
        {
            if (err==ba::error::eof)
                Warn("Connection closed by remote host (cosy).");

            // 107: Transport endpoint is not connected (bs::error_code(107, bs::system_category))
            // 125: Operation canceled
            if (err && err!=ba::error::eof &&                     // Connection closed by remote host
                err!=ba::error::basic_errors::not_connected &&    // Connection closed by remote host
                err!=ba::error::basic_errors::operation_aborted)  // Connection closed by us
            {
                ostringstream str;
                str << "Reading from " << URL() << ": " << err.message() << " (" << err << ")";// << endl;
                Error(str);
            }
            PostClose(err!=ba::error::basic_errors::operation_aborted);
            return;
        }

        Time now;

        const uint16_t desc  = fData[1]<<8 | fData[2];
        const uint16_t cobid = desc>>5;

        const uint8_t *data  = fData.data()+3;

        const uint16_t fcode = cobid >> 7;
        const uint8_t  node  = cobid & 0x1f;

        switch (fcode)
        {
        case kRxNodeguard:
            Out() << "Received nodeguard" << endl;
            //HandleNodeguard(node, now);
            break;

        case kRxSdo:
            {
                const uint8_t  cmd    = data[0];
                const uint16_t idx    = data[1] | (data[2]<<8);
                const uint8_t  subidx = data[3];
                const uint32_t dat    = data[4] | (data[5]<<8) | (data[6]<<16) | (data[7]<<24);

                const auto it = find(fTimeouts.begin(), fTimeouts.end(), SDO(node, cmd, idx, subidx));
                if (it!=fTimeouts.end())
                {
                    // This will call the handler and in turn remove the object from the list
                    it->cancel();
                }
                else
                {
                    ostringstream str;
                    str << hex;
                    str << "Unexpected SDO (";
                    str << uint32_t(node) << ": ";
                    str << ((cmd&0xf)==kTxSdo?"RX ":"TX ");
                    str << idx << "/" << uint32_t(subidx) << ")";

                    Warn(str);
                }

                switch (cmd)
                {
                case kRxSdo4:       // answer to 0x40 with 4 bytes of data
                    HandleSdo(node, idx, subidx, dat, now);
                    break;

                case kRxSdo2:       // answer to 0x40 with 2 bytes of data
                    HandleSdo(node, idx, subidx, dat&0xffff, now);
                    break;

                case kRxSdo1:       // answer to 0x40 with 1 byte  of data
                    HandleSdo(node, idx, subidx, dat&0xff, now);
                    break;

                case kRxSdoOk:     // answer to a SDO_TX message
                    HandleSdoOk(node, idx, subidx, now);
                    break;

                case kRxSdoErr:   // error message
                    HandleSdoError(node, idx, subidx, now);
                    break;

                default:
                    {
                        ostringstream out;
                        out << "Invalid SDO command code " << hex << cmd << " received.";
                        Error(out);
                        PostClose(false);
                        return;
                    }
                }
            }
            break;

        case kRxPdo1:
            HandlePdo1(node, data, now);
            break;

        case kRxPdo2:
            HandlePdo2(node, data, now);
            break;

        case kRxPdo3:
            HandlePdo3(node, data, now);
            break;

        default:
            {
                ostringstream out;
                out << "Invalid function code " << hex << fcode << " received.";
                Error(out);
                PostClose(false);
                return;
            }
        }

        StartReadReport();
    }

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