void Slave::OpenNewNode(IKernel * kernel, s32 nodeType, s32 nodeId, const OArgs & args) {
s32 newNodeType = args.GetDataInt32(0);
s32 newNodeId = args.GetDataInt32(1);
OASSERT(_executes.find(newNodeType) != _executes.end(), "unknown nodeType %d", newNodeType);
s64 node = (((s64)newNodeType) << 32) | newNodeId;
auto itr = _cmds.find(node);
if (itr != _cmds.end())
StartNode(kernel, itr->second.cmd);
else
StartNewNode(kernel, _executes[newNodeType].name, _executes[newNodeType].cmd, newNodeType, newNodeId);
}
int ProcessFocusedCommand(char* command)
{
int ret = 0;
int sec = 0;
int NodeID;
int NodeType;
UNS32 data = 0;
char buf[50];
int size;
int index;
int subindex = 0;
int datatype = 0;
EnterMutex();
switch(command[0])
{
case 's' : /* Slave Start*/
StartNode(CurrentNode);
break;
case 't' : /* slave stop */
StopNode(CurrentNode);
break;
case 'x' : /* slave reset */
ResetNode(CurrentNode);
break;
case 'r' : /* Read device entry */
ret = sscanf(command, "r%4x,%2x", &index, &subindex);
if (ret)
ReadSDOEntry(CurrentNode,index,subindex);
break;
case 'w' : /* Write device entry */
ret = sscanf(command, "w%4x,%2x,%2x,%x", &index, &subindex, &size, &data);
if (ret)
WriteSDOEntry(CurrentNode,index,subindex,size,data);
break;
case '?' : /* Read device entry */
ReadSDOEntry(CurrentNode,0x6041,0);
break;
case 'c' : /* Write device entry */
ret = sscanf(command, "w%x", &data);
if (ret)
WriteSDOEntry(CurrentNode,0x6040,0,0x2,data);
break;
default :
help_menu();
}
LeaveMutex();
return 0;
}
void Slave::StartNewNode(IKernel * kernel, const char * name, const char * cmd, const s32 nodeType, const s32 nodeId) {
std::string tmp(cmd);
std::string::size_type pos = tmp.find(EXECUTE_CMD_PORT);
while (pos != std::string::npos) {
OASSERT(_startPort < _endPort, "port is not enough");
char portStr[64];
SafeSprintf(portStr, sizeof(portStr), "%d", _startPort++);
tmp.replace(pos, EXECUTE_CMD_PORT_SIZE, portStr);
pos = tmp.find(EXECUTE_CMD_PORT);
}
pos = tmp.find(EXECUTE_CMD_OUT_PORT);
while (pos != std::string::npos) {
OASSERT(_startOutPort < _endOutPort, "out port is not enough");
char portStr[64];
SafeSprintf(portStr, sizeof(portStr), "%d", _startOutPort++);
tmp.replace(pos, EXECUTE_CMD_OUT_PORT_SIZE, portStr);
pos = tmp.find(EXECUTE_CMD_OUT_PORT);
}
pos = tmp.find(EXECUTE_CMD_ID);
if (pos != std::string::npos) {
char idStr[64];
SafeSprintf(idStr, sizeof(idStr), "%d", nodeId);
tmp.replace(pos, EXECUTE_CMD_ID_SIZE, idStr);
}
s64 node = (((s64)nodeType) << 32) | nodeId;
SafeSprintf(_cmds[node].cmd, MAX_CMD_LEN, tmp.c_str());
StartNode(kernel, _cmds[node].cmd);
}
int ProcessCommand(char* command)
{
int ret = 0;
int sec = 0;
int NodeID;
int NodeType;
EnterMutex();
switch(cst_str4(command[0], command[1], command[2], command[3]))
{
case cst_str4('h', 'e', 'l', 'p') : /* Display Help*/
help_menu();
break;
case cst_str4('s', 's', 't', 'a') : /* Slave Start*/
StartNode(ExtractNodeId(command + 5));
break;
case cst_str4('s', 's', 't', 'o') : /* Slave Stop */
StopNode(ExtractNodeId(command + 5));
break;
case cst_str4('s', 'r', 's', 't') : /* Slave Reset */
ResetNode(ExtractNodeId(command + 5));
break;
case cst_str4('i', 'n', 'f', 'o') : /* Retrieve node informations */
GetSlaveNodeInfo(ExtractNodeId(command + 5));
break;
case cst_str4('r', 's', 'd', 'o') : /* Read device entry */
ReadDeviceEntry(command);
break;
case cst_str4('w', 's', 'd', 'o') : /* Write device entry */
WriteDeviceEntry(command);
break;
case cst_str4('s', 'c', 'a', 'n') : /* Display master node state */
DiscoverNodes();
break;
case cst_str4('w', 'a', 'i', 't') : /* Display master node state */
ret = sscanf(command, "wait#%d", &sec);
if(ret == 1) {
LeaveMutex();
SleepFunction(sec);
return 0;
}
break;
case cst_str4('q', 'u', 'i', 't') : /* Quit application */
LeaveMutex();
return QUIT;
case cst_str4('l', 'o', 'a', 'd') : /* Library Interface*/
ret = sscanf(command, "load#%100[^,],%30[^,],%4[^,],%d,%d",
LibraryPath,
BoardBusName,
BoardBaudRate,
&NodeID,
&NodeType);
if(ret == 5)
{
LeaveMutex();
ret = NodeInit(NodeID, NodeType);
return ret;
}
else
{
printf("Invalid load parameters\n");
}
break;
default :
help_menu();
}
LeaveMutex();
return 0;
}
int ProcessCommand(char* command)
{
int ret = 0;
int sec = 0;
int NodeID;
int NodeType;
UNS32 data = 0;
char buf[50];
EnterMutex();
switch(cst_str4(command[0], command[1], command[2], command[3]))
{
case cst_str4('h', 'e', 'l', 'p') : /* Display Help*/
help_menu();
break;
case cst_str4('c', 'l', 'e', 'a') : /* Display Help*/
system(CLEARSCREEN);
break;
case cst_str4('s', 's', 't', 'a') : /* Slave Start*/
StartNode(ExtractNodeId(command + 5));
break;
case cst_str4('s', 's', 't', 'o') : /* Slave Stop */
StopNode(ExtractNodeId(command + 5));
break;
case cst_str4('s', 'r', 's', 't') : /* Slave Reset */
ResetNode(ExtractNodeId(command + 5));
break;
case cst_str4('i', 'n', 'f', 'o') : /* Retrieve node informations */
GetSlaveNodeInfo(ExtractNodeId(command + 5));
break;
case cst_str4('r', 's', 'd', 'o') : /* Read device entry */
ReadDeviceEntry(command);
break;
case cst_str4('w', 's', 'd', 'o') : /* Write device entry */
WriteDeviceEntry(command);
break;
case cst_str4('n', 'o', 'd', 'e') : /* Write device entry */
ret = sscanf(command, "node %2x", &NodeID);
data = 0;
SDO_write(CANOpenShellOD_Data,NodeID,0x1024,0x00,1, 0, &data, 0);
CurrentNode = NodeID;
break;
case cst_str4('c', 'm', 'd', ' ') : /* Write device entry */
ret = sscanf(command, "cmd %2x,%s", &NodeID, buf );
SDO_write(CANOpenShellOD_Data,NodeID,0x1023,0x01,strlen(buf),visible_string, buf, 0);
SDO_read(CANOpenShellOD_Data,NodeID,0x1023,0x03,visible_string,0);
return 0;
break;
case cst_str4('s', 'y', 'n', '0') : /* Display master node state */
stopSYNC(CANOpenShellOD_Data);
break;
case cst_str4('s', 'y', 'n', '1') : /* Display master node state */
startSYNC(CANOpenShellOD_Data);
break;
case cst_str4('s', 't', 'a', 't') : /* Display master node state */
printf("Status3: %x\n",Status3);
Status3 = 0;
break;
case cst_str4('s', 'c', 'a', 'n') : /* Display master node state */
DiscoverNodes();
break;
case cst_str4('w', 'a', 'i', 't') : /* Display master node state */
ret = sscanf(command, "wait#%d", &sec);
if(ret == 1) {
LeaveMutex();
SleepFunction(sec);
return 0;
}
break;
case cst_str4('g', 'o', 'o', 'o') : /* Quit application */
setState(CANOpenShellOD_Data, Operational);
break;
case cst_str4('q', 'u', 'i', 't') : /* Quit application */
LeaveMutex();
return QUIT;
case cst_str4('l', 'o', 'a', 'd') : /* Library Interface*/
ret = sscanf(command, "load#%100[^,],%30[^,],%4[^,],%d,%d",
LibraryPath,
BoardBusName,
BoardBaudRate,
&NodeID,
&NodeType);
if(ret == 5)
{
LeaveMutex();
ret = NodeInit(NodeID, NodeType);
return ret;
}
else
{
printf("Invalid load parameters\n");
}
break;
default :
help_menu();
}
LeaveMutex();
return 0;
}
