template<class T , class S >

int StateMachineDrive< T, S >::SendSdo ( const EventImp &  evt )

inlineprivate

Definition at line 1849 of file drivectrl.cc.

References Error(), EventImp::Get(), and EventImp::GetSize().

Referenced by StateMachineDrive< T, S >::StateMachineDrive().

    {
        if (!CheckEventSize(evt.GetSize(), "SendSdo", 6+8))
            return T::kSM_FatalError;

        const uint16_t node   = evt.Get<uint16_t>();
        const uint16_t index  = evt.Get<uint16_t>(2);
        const uint16_t subidx = evt.Get<uint16_t>(4);
        const uint64_t value  = evt.Get<uint64_t>(6);

        if (node!=1 && node!=3)
        {
            T::Error("Node id must be 1 (az) or 3 (zd).");
            return T::GetCurrentState();
        }

        if (subidx>0xff)
        {
            T::Error("Subindex must not be larger than 255.");
            return T::GetCurrentState();
        }

        fDrive.SendSdo(node, index, subidx, value);

        return T::GetCurrentState();
    }

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