bool QCAN::init()
{
s_BOARD Board = {(char*)port, (char*)"125K"};
/* Define callback functions */
mData->classObject = this;
mData->initialisation = &QCAN::initialisation;
mData->preOperational = &QCAN::preOperational;
mData->operational = &QCAN::operational;
mData->stopped = &QCAN::stopped;
mData->post_sync = &QCAN::post_sync;
mData->post_TPDO = &QCAN::post_TPDO;
mData->post_SlaveBootup = &QCAN::post_SlaveBootup;
mPort = canOpen(&Board, mData);
if(!mPort)
return false;
// Defining the node Id
setNodeId(mData, mNodeID);
setState(mData, Initialisation);
// masterSendNMTstateChange(mData, mNodeID, NMT_Reset_Node);
return true;
}
void CANUi::on_pushButton_Open_clicked()
{
if(m_CANState){
ui->textBrowser->append("already opened !");
return;
}
if(!canOpen(m_masterBoard, &master_Data)){
ui->textBrowser->append("open failed !");
return;
}
m_CANState = true;
ui->textBrowser->append("open success !");
connect(m_canThread, SIGNAL(message(QString)),
this, SLOT(messageShow(QString)));
connect(m_canThread, SIGNAL(message(QCanBusFrame)),
this, SLOT(messageShow(QCanBusFrame)));
m_canThread->mStart(false);//open canport and close canopen
ui->textBrowser->append(tr("ObjdictSize: %1").arg(*master_Data.ObjdictSize));
ui->pushButton_Open->setEnabled(false);
ui->pushButton_Close->setEnabled(true);
ui->Checkb_CANopen->setEnabled(true);//canopen open
ui->pushButton_Send->setEnabled(true);
}
int NodeInit(int NodeID, int NodeType)
{
if(NodeType)
CANOpenShellOD_Data = &CANOpenShellMasterOD_Data;
else
CANOpenShellOD_Data = &CANOpenShellSlaveOD_Data;
/* Load can library */
LoadCanDriver(LibraryPath);
/* Define callback functions */
CANOpenShellOD_Data->initialisation = CANOpenShellOD_initialisation;
CANOpenShellOD_Data->preOperational = CANOpenShellOD_preOperational;
CANOpenShellOD_Data->operational = CANOpenShellOD_operational;
CANOpenShellOD_Data->stopped = CANOpenShellOD_stopped;
CANOpenShellOD_Data->post_sync = CANOpenShellOD_post_sync;
CANOpenShellOD_Data->post_TPDO = CANOpenShellOD_post_TPDO;
CANOpenShellOD_Data->post_SlaveBootup=CANOpenShellOD_post_SlaveBootup;
/* Open the Peak CANOpen device */
if(!canOpen(&Board,CANOpenShellOD_Data)) return INIT_ERR;
/* Defining the node Id */
setNodeId(CANOpenShellOD_Data, NodeID);
/* Start Timer thread */
StartTimerLoop(&Init);
return 0;
}
void ShiptoEdit::sNew()
{
if (canOpen())
{
if (!_x_privileges->check(_newPriv))
return;
ParameterList params;
params.append("mode", "new");
params.append("cust_id", _custid);
QWidget* w = 0;
if (parentWidget()->window())
{
if (parentWidget()->window()->isModal())
w = _guiClientInterface->openWindow(_uiName, params, parentWidget()->window() , Qt::WindowModal, Qt::Dialog);
else
w = _guiClientInterface->openWindow(_uiName, params, parentWidget()->window() , Qt::NonModal, Qt::Window);
}
if (w->inherits("QDialog"))
{
QDialog* newdlg = qobject_cast<QDialog*>(w);
int id = newdlg->exec();
if (id != QDialog::Rejected)
{
silentSetId(id);
emit newId(_id);
emit valid(_id != -1);
}
}
}
}
void VirtualClusterLineEdit::sUpdateMenu()
{
if (! _x_privileges)
return;
_listAct->setEnabled(isEnabled());
_searchAct->setEnabled(isEnabled());
_aliasAct->setEnabled(isEnabled());
_infoAct->setEnabled(_id != -1);
_openAct->setEnabled((_x_privileges->check(_editPriv) ||
_x_privileges->check(_viewPriv)) &&
_id != -1);
_newAct->setEnabled(_x_privileges->check(_newPriv) &&
isEnabled());
if (canOpen())
{
if (!menu()->actions().contains(_openAct))
menu()->addAction(_openAct);
if (!menu()->actions().contains(_newAct) &&
!_newPriv.isEmpty())
menu()->addAction(_newAct);
}
else
{
if (menu()->actions().contains(_openAct))
menu()->removeAction(_openAct);
if (menu()->actions().contains(_newAct))
menu()->removeAction(_newAct);
}
}
Molecule * OpenbabelWrapper::openFile(const QString &fileName,
const QString &fileType,
const QString &fileOptions)
{
// Check that the file can be read from disk
if (!canOpen(fileName, QFile::ReadOnly | QFile::Text))
return 0;
// Construct the OpenBabel objects, set the file type
OBConversion conv;
OBFormat *inFormat;
if (!fileType.isEmpty() && !conv.SetInFormat(fileType.toAscii().data()))
// Input format not supported
return 0;
else {
inFormat = conv.FormatFromExt(fileName.toAscii().data());
if (!conv.SetInFormat(inFormat))
// Input format not supported
return 0;
}
// set any options
if (!fileOptions.isEmpty()) {
foreach(const QString &option,
fileOptions.split('\n', QString::SkipEmptyParts)) {
conv.AddOption(option.toAscii().data(), OBConversion::INOPTIONS);
}
}
void ContactClusterLineEdit::sNew()
{
if (canOpen())
{
// virtualCluster performs priv checking??
//if (!_x_privileges->check(_editPriv))
// return;
ParameterList params;
params.append("mode", "new");
if (_searchAcctId != -1)
params.append("crmacct_id", _searchAcctId);
if (_newAddr.count())
{
params.append("addr_line1", _newAddr.at(0));
params.append("addr_line2", _newAddr.at(1));
params.append("addr_line3", _newAddr.at(2));
params.append("addr_city", _newAddr.at(3));
params.append("addr_state", _newAddr.at(4));
params.append("addr_postalcode", _newAddr.at(5));
params.append("addr_country", _newAddr.at(6));
}
QDialog* newdlg = (QDialog*)_guiClientInterface->openWindow(_uiName, params, parentWidget(),Qt::WindowModal);
int id = newdlg->exec();
if (id != QDialog::Rejected)
setId(id);
return;
}
}
bool CCWorldCompletionGate::openInner() {
if (canOpen()) {
forceOpen(true);
return true;
}
return false;
}
int TestMasterSlave_start (void)
{
TimerInit();
if(strcmp(SlaveBoard.baudrate, "none")){
TestSlave_Data.heartbeatError = TestSlave_heartbeatError;
TestSlave_Data.initialisation = TestSlave_initialisation;
TestSlave_Data.preOperational = TestSlave_preOperational;
TestSlave_Data.operational = TestSlave_operational;
TestSlave_Data.stopped = TestSlave_stopped;
TestSlave_Data.post_sync = TestSlave_post_sync;
TestSlave_Data.post_TPDO = TestSlave_post_TPDO;
TestSlave_Data.storeODSubIndex = TestSlave_storeODSubIndex;
TestSlave_Data.post_emcy = TestSlave_post_emcy;
if(!canOpen(&SlaveBoard,&TestSlave_Data)){
eprintf("Cannot open Slave Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate);
return 1;
}
}
if(strcmp(MasterBoard.baudrate, "none")){
TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
TestMaster_Data.initialisation = TestMaster_initialisation;
TestMaster_Data.preOperational = TestMaster_preOperational;
TestMaster_Data.operational = TestMaster_operational;
TestMaster_Data.stopped = TestMaster_stopped;
TestMaster_Data.post_sync = TestMaster_post_sync;
TestMaster_Data.post_TPDO = TestMaster_post_TPDO;
TestMaster_Data.post_emcy = TestMaster_post_emcy;
TestMaster_Data.post_SlaveBootup=TestMaster_post_SlaveBootup;
if(!canOpen(&MasterBoard,&TestMaster_Data)){
eprintf("Cannot open Master Board (%s,%s)\n",MasterBoard.busname, MasterBoard.baudrate);
if(strcmp(MasterBoard.baudrate, "none")) canClose(&TestMaster_Data);
return 1;
}
}
// Start timer thread
StartTimerLoop(&InitNodes);
return 0;
}
bool CCRecordGate::openInner() {
if (canOpen()) {
// There's nothing to do here... If the DesiredRecord was reached then the gate is just open.
forceOpen(true);
return true;
}
return false;
}
bool CCSocialLikeGate::openInner() {
if (canOpen()) {
CCSoomlaProfile::getInstance()->like(getProvider(), getPageName()->getCString(), NULL, NULL);
return true;
}
return false;
}
/** @return List of {@link CaptureDeviceInfo} */
void V4LCaptureSystem::getCaptureDeviceInfoList(list<CaptureDeviceInfo> &result) /*throws CaptureException*/
{
// TODO: if one of the devices is busy, it won't open and won't be in the list, even if it is valid.
for (int i = 0; i < NUM_VIDEO_DEVICE_PATHS; ++i)
{
const char *path = wchar_t_to_char_array_alloc(videoDevicePaths[i]);
const int openResult = canOpen(path);
delete path;
if (openResult)
result.push_back(CaptureDeviceInfo(videoDevicePaths[i], videoDevicePaths[i])); // TODO: deal with memory allocation issues.
}
}
int32_t initNTCAN(uint32_t baud, uint32_t flags,
int32_t ID[], int32_t net,
int32_t rxSize, int32_t rxTime,
int32_t txSize, int32_t txTime)
{
NTCAN_HANDLE handle; //
NTCAN_RESULT result; // Used for checking for error
int32_t i; // Index for multiple objects
int32_t timeout=0; // Current number of timeouts
/* Open can */
result = canOpen(net,flags,txSize,rxSize, // Opens device
txTime,rxTime,&handle);
if(errorCheck(CAN_OPEN,result) != 0) // Error check
{
return 0xFFFF; // returns 1 if error
}
// printf("canOpen() success\n");
/* Setting baudrate */
result = canSetBaudrate(handle,baud); // sets baudrate
if(errorCheck(CAN_SET_BAUDRATE,result) != 0) // Error check
{
return 0xFFFF; // returns 1 if error
}
result = canGetBaudrate(handle,&baud); // Reads buadrate
// printf("canSetBaudrate() success. Baudrate is %d\n",baud);
/* Adding an ID */
for(i=1; i<ID[0]; i++) {
do {
result = canIdAdd(handle,ID[i]); // Adds ID to handle
timeout++; // reapeat if Timeout
if(timeout>MAX_TIMEOUT) {
printf("Max timeout out reached, Aborting addID\n");
return 0xFFFF;
} // return if repeated error
} while( errorCheck(CAN_ID_ADD,result) == 2);
if(errorCheck(CAN_ID_ADD,result) != 0) // error check
{
return 0xFFFF;
}
// printf("canIdAdd() successful\n");
}
printf("Initializing sucessfull\n");
/* Flushing FIFO buffer */
result = canIoctl(handle,NTCAN_IOCTL_FLUSH_RX_FIFO,NULL);
if(errorCheck(CAN_IO_CTL,result) != 0) // flushing FIFO
{
return 0xFFFF; // error check
}
// printf("System flushed, device ready to use\n");
return handle; // returns handle for NTCAN device
}
//-----------------------------------------------
CanESD::CanESD(int iIniBaudRate, int iNrNet)
{
//initial values
int net=1; /* logical net number (here: 0) */
uint32_t mode=0; /* mode used for canOpen() */
int32_t txqueuesize=100; /* size of transmit queue */
int32_t rxqueuesize=100; /* size of receive queue */
int32_t txtimeout=0; /* timeout for transmit operations in ms */
int32_t rxtimeout=0; /* timeout for receive operations in ms */
NTCAN_RESULT retvalue; /* return values of NTCAN API calls */
//uint32_t baud=2; /* configured CAN baudrate (here: 500 kBit/s.) */
CMSG cmsg[8]; /* can message buffer */
int rtr=0; /* rtr bit */
int32_t len; /* # of CAN messages */
retvalue = canOpen(iNrNet, mode, txqueuesize, rxqueuesize, txtimeout, rxtimeout, &m_Handle);
if (retvalue != NTCAN_SUCCESS)
{
LOGINFO("canOpen() failed: " << getErrorMessage(retvalue));
}
Sleep(300);
retvalue = canSetBaudrate(m_Handle, getBaudRate(iIniBaudRate));
if (retvalue != 0)
{
LOGINFO("canSetBaudrate() failed: " << getErrorMessage(retvalue));
canClose(m_Handle);
}
else
{
LOGINFO("Baudrate set to " << getBaudRate(iIniBaudRate));
}
Sleep(300);
//set Amtek Arm IDs
int i;
for(i=1; i < 2048; i++)
{
retvalue = canIdAdd(m_Handle, i);
if (retvalue != NTCAN_SUCCESS)
{
LOGERROR("canIdAdd() failed: " << getErrorMessage(retvalue));
}
}
Sleep(300);
m_LastID = -1;
}
void CrmClusterLineEdit::sUpdateMenu()
{
if (! _x_privileges)
return;
_listAct->setEnabled(isEnabled());
_searchAct->setEnabled(isEnabled());
_aliasAct->setEnabled(isEnabled());
_infoAct->setEnabled(_id != -1);
_openAct->setEnabled((_x_privileges->check(_editPriv) ||
_x_privileges->check(_viewPriv) ||
(_x_privileges->check(_editOwnPriv) && (_owner == _x_username || _assignto == _x_username)) ||
(_x_privileges->check(_viewOwnPriv) && (_owner == _x_username || _assignto == _x_username))) &&
_id != -1);
_copyAct->setEnabled((_x_privileges->check(_editPriv) ||
_x_privileges->check(_viewPriv) ||
(_x_privileges->check(_editOwnPriv) && (_owner == _x_username || _assignto == _x_username)) ||
(_x_privileges->check(_viewOwnPriv) && (_owner == _x_username || _assignto == _x_username))) &&
_id != -1 && isEnabled() && _uiName == "project");
_newAct->setEnabled((_x_privileges->check(_newPriv) || _x_privileges->check(_editOwnPriv)) &&
isEnabled());
if (canOpen())
{
if (!menu()->actions().contains(_openAct))
menu()->addAction(_openAct);
if (!menu()->actions().contains(_copyAct))
menu()->addAction(_copyAct);
if (!menu()->actions().contains(_newAct) &&
!_newPriv.isEmpty())
menu()->addAction(_newAct);
}
else
{
if (menu()->actions().contains(_openAct))
menu()->removeAction(_openAct);
if (menu()->actions().contains(_copyAct))
menu()->removeAction(_copyAct);
if (menu()->actions().contains(_newAct))
menu()->removeAction(_newAct);
}
}
bool QCan::init()
{
if (!LoadCanDriver("/usr/local/lib/libcanfestival_can_vscom.so"))
return false;
TimerInit();
StartTimerLoop(Init);
s_BOARD Board = {(char*)"/dev/ttyUSB0", (char*)"125K"};
mPort = canOpen(&Board, mData);
if(!mPort)
return false;
setState(mData, Initialisation);
masterSendNMTstateChange(mData, 0, NMT_Reset_Node);
return true;
}
INTEGER8 InitCANdevice( UNS8 bus, UNS32 baudrate, UNS8 node )
{
char busName[2];
char baudRate[7];
s_BOARD board;
sprintf(busName, "%u", bus);
sprintf(baudRate, "%u", baudrate);
board.busname = busName;
board.baudrate = baudRate;
slaveNode = node;
SillySlave_Data.heartbeatError = SillySlave_heartbeatError;
SillySlave_Data.initialisation = SillySlave_initialisation;
SillySlave_Data.preOperational = SillySlave_preOperational;
SillySlave_Data.operational = SillySlave_operational;
SillySlave_Data.stopped = SillySlave_stopped;
SillySlave_Data.post_sync = SillySlave_post_sync;
SillySlave_Data.post_TPDO = SillySlave_post_TPDO;
SillySlave_Data.storeODSubIndex = SillySlave_storeODSubIndex;
SillySlave_Data.post_emcy = SillySlave_post_emcy;
if(!canOpen(&board, &SillySlave_Data))
{
printf("\n\aInitCANdevice() CAN bus %s opening error, baudrate=%s\n",board.busname, board.baudrate);
return -1;
}
printf("\nInitCANdevice(), canOpen() OK, starting timer loop...\n");
/* Start timer thread */
StartTimerLoop(&InitNode);
/* wait Ctrl-C */
pause();
printf("\nFinishing.\n");
/* Stop timer thread */
StopTimerLoop(&Exit);
return 0;
}
void ContactClusterLineEdit::sNew()
{
if (canOpen())
{
if (!_x_privileges->check(_editPriv))
return;
ParameterList params;
params.append("mode", "new");
if (_searchAcctId != -1)
params.append("crmacct_id", _searchAcctId);
QDialog* newdlg = (QDialog*)_guiClientInterface->openDialog(_uiName, params, parentWidget(),Qt::WindowModal);
int id = newdlg->exec();
if (id != QDialog::Rejected)
setId(id);
return;
}
}
void openAllCAN(int vCan) {
for ( size_t i = 0; i < 2; i ++ ) {
int r = canOpen( i, //net
0, // flags
10, //txqueue
10, //rxqueue
100, //txtimeout
100, //rxtimeout
&hubo_socket[i] //handle
);
if( NTCAN_SUCCESS != r ) {
fprintf(stderr, "Unable to open CAN %d: %s\n", i, canResultString(r));
exit( EXIT_FAILURE );
}
r = canSetBaudrate( hubo_socket[i], NTCAN_BAUD_1000 );
if( NTCAN_SUCCESS != r ) {
fprintf(stderr, "Unable to set CAN %d baud: %s\n", i, canResultString(r));
exit( EXIT_FAILURE );
}
}
}
//****************************************************************************
//*************************** MAIN *****************************************
//****************************************************************************
int
main_can (s_BOARD SlaveBoard, char *LibraryPath)
{
#if !defined(WIN32) && !defined(__CYGWIN__)
//TimerInit();
#endif
TimerInit();
printf ("Bus name: %s Freq: %s Driver: %s\n",
SlaveBoard.busname, SlaveBoard.baudrate, LibraryPath);
#ifndef NOT_USE_DYNAMIC_LOADING
if (LoadCanDriver (LibraryPath) == NULL)
*textLog << wxT ("Unable to load library\n");
#endif
// Open CAN devices
ObjDict_Data.heartbeatError = Call_heartbeatError;
ObjDict_Data.initialisation = Call_initialisation;
ObjDict_Data.preOperational = Call_preOperational;
ObjDict_Data.operational = Call_operational;
ObjDict_Data.stopped = Call_stopped;
ObjDict_Data.post_sync = Call_post_sync;
ObjDict_Data.post_TPDO = Call_post_TPDO;
ObjDict_Data.storeODSubIndex = Call_storeODSubIndex;
if (!canOpen (&SlaveBoard, &ObjDict_Data))
{
printf ("Cannot open Slave Board (%s,%s)\n", SlaveBoard.busname,
SlaveBoard.baudrate);
return (1);
}
StartTimerLoop (&InitNodes);
return 0;
}
int PBGameInfo::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QObject::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
#ifndef QT_NO_PROPERTIES
if (_c == QMetaObject::ReadProperty) {
void *_v = _a[0];
switch (_id) {
case 0: *reinterpret_cast< QString*>(_v) = gameId(); break;
case 1: *reinterpret_cast< QString*>(_v) = tableId(); break;
case 2: *reinterpret_cast< QString*>(_v) = tourneyTableId(); break;
case 3: *reinterpret_cast< QString*>(_v) = siteId(); break;
case 4: *reinterpret_cast< int*>(_v) = canJoin(); break;
case 5: *reinterpret_cast< QString*>(_v) = gameFamily(); break;
case 6: *reinterpret_cast< double*>(_v) = smallBlind(); break;
case 7: *reinterpret_cast< double*>(_v) = bigBlind(); break;
case 8: *reinterpret_cast< int*>(_v) = maxSeats(); break;
case 9: *reinterpret_cast< QString*>(_v) = driver(); break;
case 10: *reinterpret_cast< int*>(_v) = canOpen(); break;
case 11: *reinterpret_cast< int*>(_v) = openedTablesCount(); break;
case 12: *reinterpret_cast< int*>(_v) = tablesMax(); break;
case 13: *reinterpret_cast< int*>(_v) = tableOpened(); break;
case 14: *reinterpret_cast< int*>(_v) = tourneyOpened(); break;
case 15: *reinterpret_cast< int*>(_v) = gameComplete(); break;
}
_id -= 16;
} else if (_c == QMetaObject::WriteProperty) {
void *_v = _a[0];
switch (_id) {
case 0: setGameId(*reinterpret_cast< QString*>(_v)); break;
case 1: setTableId(*reinterpret_cast< QString*>(_v)); break;
case 2: setTourneyTableId(*reinterpret_cast< QString*>(_v)); break;
case 3: setSiteId(*reinterpret_cast< QString*>(_v)); break;
case 4: setCanJoin(*reinterpret_cast< int*>(_v)); break;
case 5: setGameFamily(*reinterpret_cast< QString*>(_v)); break;
case 6: setSmallBlind(*reinterpret_cast< double*>(_v)); break;
case 7: setBigBlind(*reinterpret_cast< double*>(_v)); break;
case 8: setMaxSeats(*reinterpret_cast< int*>(_v)); break;
case 9: setDriver(*reinterpret_cast< QString*>(_v)); break;
case 10: setCanOpen(*reinterpret_cast< int*>(_v)); break;
case 11: setOpenedTablesCount(*reinterpret_cast< int*>(_v)); break;
case 12: setTablesMax(*reinterpret_cast< int*>(_v)); break;
case 13: setTableOpened(*reinterpret_cast< int*>(_v)); break;
case 14: setTourneyOpened(*reinterpret_cast< int*>(_v)); break;
case 15: setGameComplete(*reinterpret_cast< int*>(_v)); break;
}
_id -= 16;
} else if (_c == QMetaObject::ResetProperty) {
_id -= 16;
} else if (_c == QMetaObject::QueryPropertyDesignable) {
_id -= 16;
} else if (_c == QMetaObject::QueryPropertyScriptable) {
_id -= 16;
} else if (_c == QMetaObject::QueryPropertyStored) {
_id -= 16;
} else if (_c == QMetaObject::QueryPropertyEditable) {
_id -= 16;
} else if (_c == QMetaObject::QueryPropertyUser) {
_id -= 16;
}
#endif // QT_NO_PROPERTIES
return _id;
}
void TraceProcess::traceMe() {
struct user_regs_struct regs;
DLOG(INFO) << pid << " trace_me\n";
//the waitpid function will be interuppted by the SIGCHLD signal
int wret;
#ifdef HAVE_WAIT4
while((wret = wait4(this->pid, &status, 0, &process_usage)) > 0) {
getusage = true;
#else
while((wret = waitpid(this->pid, &status, 0)) > 0) {
#endif
//DLOG(INFO) << pid << " waitpid return " << wret << "\n";
if(WIFSIGNALED(status)) {
DLOG(INFO) << "TraceProcess()::traceMe(): child was killed by signal\n";
_exit = true;
if(WTERMSIG(status) == SIGKILL && this->_result == -1) {
this->_result = RUNTIME_ERROR;
}
break;
}
if(!WIFSTOPPED(status)) {
//if(WEXITSTATUS(status)) {
// this->_result = RUNTIME_ERROR;
//}
_exit = true;
break;
}
int sig = WSTOPSIG(status);
if(sig != SIGTRAP) {
DLOG(INFO) << "TraceProcess()::traceMe(): caught a signal " << sig << "\n";
getRunningTime();
getRunningMemory();
switch(sig) {
case SIGFPE:
DLOG(INFO) << "TraceProcess()::traceMe(): SIGFPE\n";
this->_result = FLOATING_POINT_ERROR;
break;
case SIGXCPU:
DLOG(INFO) << "TraceProcess()::traceMe(): SIGXCPU\n";
this->_result = TIME_LIMIT_EXCEEDED;
break;
case SIGBUS:
case SIGSEGV:
DLOG(INFO) << "TraceProcess()::traceMe(): SIGSEGV\n";
this->_result = SEGMENTATION_FAULT;
break;
case SIGXFSZ:
DLOG(INFO) << "TraceProcess()::traceMe(): SIGXFSZ\n";
this->_result = OUTPUT_LIMIT_EXCEEDED;
break;
case SIGILL:
case SIGKILL:
DLOG(INFO) << "TraceProcess()::traceMe(): SIGKILL\n";
if(this->_result == -1) {
this->_result = RUNTIME_ERROR;
}
break;
case SIGALRM:
;
}
ptrace(PTRACE_SYSCALL, this->pid, NULL, sig);
continue;
}
ptrace(PTRACE_GETREGS, this->pid, 0, ®s);
switch(regs.ORIG_EAX) {
case SYS_exit:
case SYS_exit_group:
DLOG(INFO) << "TraceProcess()::traceMe(): child sys_exit\n";
getRunningTime();
getRunningMemory();
break;
case SYS_execve:
if(!first_exec) {
first_exec = true;
DLOG(INFO) << pid << " execve, ptrace it\n";
ptrace(PTRACE_SYSCALL, this->pid, NULL, NULL);
continue;
}
break;
case SYS_brk:
if(!insyscall) {
brk = (unsigned long)regs.EBX;
insyscall = true;
}else{
if(((unsigned long)regs.EAX) < brk) {
DLOG(INFO) << "TraceProcess()::traceMe(): brk request " << brk << " return " << regs.EAX << "\n";
this->_result = MEMORY_LIMIT_EXCEEDED;
ptrace(PTRACE_KILL, this->pid, 0, 0);
continue;
}
insyscall = false;
}
break;
case SYS_open:
if(!insyscall) {
char path[FILENAME_MAX + 1];
insyscall = true;
getdata(regs.EBX, path, sizeof(path));
DLOG(INFO) << "open file:" << path << "\n";
if(!canOpen(path, regs.ECX)) {
regs.ORIG_EAX = SYS_exit;
regs.EBX = 1;
ptrace(PTRACE_SETREGS, this->pid, 0, ®s);
this->_result = RUNTIME_ERROR;
break;
}
}else{
insyscall = false;
}
ptrace(PTRACE_SYSCALL, this->pid, 0, 0);
continue;
}
if(regs.ORIG_EAX < sizeof(disabled_syscall) &&
disabled_syscall[regs.ORIG_EAX]) {
DLOG(INFO) << "TraceProcess()::traceMe(): Restricted syscall " << regs.ORIG_EAX << "\n";
this->_result = RESTRICTED_FUNCTION;
getRunningTime();
getRunningMemory();
regs.ORIG_EAX = SYS_exit;
regs.EAX = SYS_exit;
regs.EBX = 1;
ptrace(PTRACE_SETREGS, this->pid, NULL, ®s);
ptrace(PTRACE_KILL, this->pid, 0, 0);
continue;
}else{
ptrace(PTRACE_SYSCALL, this->pid, 0, 0);
}
ptrace(PTRACE_SYSCALL, this->pid, NULL, NULL);
}
}
int main(int argc,char **argv)
{
struct sigaction act;
uint8_t nodeid = 2;
// register handler on SIGINT signal
act.sa_handler=sortie;
sigemptyset(&act.sa_mask);
act.sa_flags=0;
sigaction(SIGINT,&act,0);
// Check that we have the right command line parameters
if(argc != 3){
display_usage(argv[0]);
exit(1);
}
// get command line parameters
nodeid = strtoul(argv[2], NULL, 10);
SlaveBoard0.busname = argv[1];
printf("Starting on %s with node id = %u\n", SlaveBoard0.busname, nodeid);
// register the callbacks we use
RegisterSetODentryCallBack(&slavedic_Data, 0x2001, 0, callback_on_position);
slavedic_Data.initialisation=state_change;
slavedic_Data.preOperational=state_change;
slavedic_Data.operational=state_change;
slavedic_Data.stopped=state_change;
// Init Canfestival
if (LoadCanDriver("./libcanfestival_can_socket.so") == NULL){
printf("Unable to load driver library\n");
printf("please put file libcanfestival_can_socket.so in the current directory\n");
exit(1);
}
if(!canOpen(&SlaveBoard0,&slavedic_Data)){
printf("Cannot open can interface %s\n",SlaveBoard0.busname);
exit(1);
}
TimerInit();
setNodeId(&slavedic_Data, nodeid);
setState(&slavedic_Data, Initialisation);
printf("Canfestival initialisation done\n");
Run = 1;
while(Run)
{
sleep(1);
EnterMutex();
counter += nodeid;
LeaveMutex();
}
// Stop timer thread
StopTimerLoop(&Exit);
// Close CAN devices (and can threads)
canClose(&slavedic_Data);
return 0;
}
int main(int argc, char *argv[])
{
UNS8 node_id = 0;
s_BOARD MasterBoard = {"1", "125K"};
char* dll_file_name;
/* process command line arguments */
if (argc < 2)
{
printf("USAGE: win32test <node_id> [can driver dll filename [baud rate]]\n");
return 1;
}
node_id = atoi(argv[1]);
if (node_id < 2 || node_id > 127)
{
printf("ERROR: node_id shoule be >=2 and <= 127\n");
return 1;
}
if (argc > 2)
dll_file_name = argv[2];
else
dll_file_name = "can_uvccm_win32.dll";
if (argc > 3)
MasterBoard.baudrate = argv[3];
// load can driver
if (!LoadCanDriver(dll_file_name))
{
printf("ERROR: could not load diver %s\n", dll_file_name);
return 1;
}
if (canOpen(&MasterBoard,&win32test_Data))
{
/* Defining the node Id */
setNodeId(&win32test_Data, 0x01);
/* init */
setState(&win32test_Data, Initialisation);
/****************************** START *******************************/
/* Put the master in operational mode */
setState(&win32test_Data, Operational);
/* Ask slave node to go in operational mode */
masterSendNMTstateChange (&win32test_Data, 0, NMT_Start_Node);
printf("\nStarting node %d (%xh) ...\n",(int)node_id,(int)node_id);
/* wait untill mode will switch to operational state*/
if (GetChangeStateResults(node_id, Operational, 3000) != 0xFF)
{
/* modify Client SDO 1 Parameter */
UNS32 COB_ID_Client_to_Server_Transmit_SDO = 0x600 + node_id;
UNS32 COB_ID_Server_to_Client_Receive_SDO = 0x580 + node_id;
UNS32 Node_ID_of_the_SDO_Server = node_id;
UNS8 ExpectedSize = sizeof (UNS32);
if (OD_SUCCESSFUL == writeLocalDict(&win32test_Data, 0x1280, 1, &COB_ID_Client_to_Server_Transmit_SDO, &ExpectedSize, RW)
&& OD_SUCCESSFUL == writeLocalDict(&win32test_Data, 0x1280, 2, &COB_ID_Server_to_Client_Receive_SDO, &ExpectedSize, RW)
&& OD_SUCCESSFUL == writeLocalDict(&win32test_Data, 0x1280, 3, &Node_ID_of_the_SDO_Server, &ExpectedSize, RW))
{
UNS32 dev_type = 0;
char device_name[64]="";
char hw_ver[64]="";
char sw_ver[64]="";
UNS32 vendor_id = 0;
UNS32 prod_code = 0;
UNS32 ser_num = 0;
UNS8 size;
UNS8 res;
printf("\nnode_id: %d (%xh) info\n",(int)node_id,(int)node_id);
printf("********************************************\n");
size = sizeof (dev_type);
res = ReadSDO(node_id, 0x1000, 0, uint32, &dev_type, &size);
printf("device type: %d\n",dev_type & 0xFFFF);
size = sizeof (device_name);
res = ReadSDO(node_id, 0x1008, 0, visible_string, device_name, &size);
printf("device name: %s\n",device_name);
size = sizeof (hw_ver);
res = ReadSDO(node_id, 0x1009, 0, visible_string, hw_ver, &size);
printf("HW version: %s\n",hw_ver);
size = sizeof (sw_ver);
res = ReadSDO(node_id, 0x100A, 0, visible_string, sw_ver, &size);
printf("SW version: %s\n",sw_ver);
size = sizeof (vendor_id);
res = ReadSDO(node_id, 0x1018, 1, uint32, &vendor_id, &size);
printf("vendor id: %d\n",vendor_id);
size = sizeof (prod_code);
res = ReadSDO(node_id, 0x1018, 2, uint32, &prod_code, &size);
printf("product code: %d\n",prod_code);
size = sizeof (ser_num);
res = ReadSDO(node_id, 0x1018, 4, uint32, &ser_num, &size);
printf("serial number: %d\n",ser_num);
printf("********************************************\n");
}
else
{
printf("ERROR: Object dictionary access failed\n");
}
}
else
{
printf("ERROR: node_id %d (%xh) is not responding\n",(int)node_id,(int)node_id);
}
masterSendNMTstateChange (&win32test_Data, 0x02, NMT_Stop_Node);
setState(&win32test_Data, Stopped);
canClose(&win32test_Data);
}
return 0;
}
int CESDDevice::reinit(unsigned char ucBaudRateId)
{
int i, iRetVal = 0;
m_iErrorState = 0;
if(!m_bInitFlag)
{
warning("device not initialized");
m_iErrorState = ERRID_DEV_NOTINITIALIZED;
return m_iErrorState;
}
switch(ucBaudRateId)
{
case BAUDRATEID_MOD_CAN_125K:
m_iBaudRate = 125;
break;
case BAUDRATEID_MOD_CAN_250K:
m_iBaudRate = 250;
break;
case BAUDRATEID_MOD_CAN_500K:
m_iBaudRate = 500;
break;
case BAUDRATEID_MOD_CAN_1000K:
m_iBaudRate = 1000;
break;
}
iRetVal = canClose(m_hDevice);
if(iRetVal != NTCAN_SUCCESS)
{
warning("can close failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_EXITERROR;
}
iRetVal = canClose(m_hSyncDevice);
if(iRetVal != NTCAN_SUCCESS)
{
warning("can close failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_EXITERROR;
}
m_bInitFlag = false;
iRetVal = canOpen(
m_iDeviceId, // Net
0, // Mode
m_uiQueueSize, // TX Queue
m_uiQueueSize, // RX Queue
20*m_uiTimeOut, // Tx Timeout
m_uiTimeOut, // Rx Timeout
&m_hDevice);
if(iRetVal != NTCAN_SUCCESS)
{
warning("can open failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
/*iRetVal = canOpen(
m_iDeviceId, // Net
0, // Mode
1, // TX Queue
1, // RX Queue
600, // Tx Timeout
100, // Rx Timeout
&m_hSyncDevice);
if(iRetVal != NTCAN_SUCCESS)
{
warning("can open failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}*/
m_iErrorState = setBaudRate();
if(m_iErrorState != 0)
return m_iErrorState;
for(i = 0; i <= m_iModuleCountMax; i++)
{
iRetVal = canIdAdd(m_hDevice, (MSGID_ACK + i));
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
iRetVal = canIdAdd(m_hDevice, (MSGID_STATE + i));
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
}
for(i = 0; i < MAX_MP55; i++ )
{
iRetVal = canIdAdd(m_hDevice, (MSGID_MP55_RECV + i));
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
iRetVal = canIdAdd(m_hDevice, (0x180 + i));
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
}
for(i = 0; i < MAX_SCHUNK; i++ )
{
iRetVal = canIdAdd(m_hDevice, (MSGID_SCHUNK_RECV + i));
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
}
iRetVal = canIdAdd(m_hSyncDevice, MSGID_ALL);
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
m_iErrorState = clearReadQueue();
if(m_iErrorState != 0)
return m_iErrorState;
if(m_iErrorState == 0)
m_bInitFlag = true;
updateModuleIdMap();
return m_iErrorState;
}
int CESDDevice::init(const char* acInitString)
{
InitializeCriticalSection(&m_csDevice);
int i, iRetVal = 0;
int txTimeOut = 0;
char* pcToken;
char acString[128];
if(m_bInitFlag)
{
warning("device already initialized");
m_iErrorState = ERRID_DEV_ISINITIALIZED;
return m_iErrorState;
}
m_iDeviceId = -1;
m_iErrorState = 0;
strncpy(m_acInitString,acInitString,128);
strncpy(acString,acInitString,128);
pcToken = strtok( acString, ":" );
if( !pcToken )
{ m_iErrorState = ERRID_DEV_BADINITSTRING;
return m_iErrorState;
}
if( strcmp( pcToken, "ESD" ) != 0 )
{ m_iErrorState = ERRID_DEV_BADINITSTRING;
return m_iErrorState;
}
pcToken = strtok( NULL, "," );
if( !pcToken )
{ m_iErrorState = ERRID_DEV_BADINITSTRING;
return m_iErrorState;
}
m_iDeviceId = atoi(pcToken);
pcToken = strtok( NULL, "," );
if( !pcToken )
{ m_iErrorState = ERRID_DEV_BADINITSTRING;
return m_iErrorState;
}
m_iBaudRate = atoi(pcToken);
#if defined(__LINUX__)
m_uiTimeOut = 6;
#endif
#if defined (_WIN32)
switch( m_iBaudRate )
{
case 125:
case 250:
m_uiTimeOut = 4;
break;
case 500:
m_uiTimeOut = 3;
break;
case 1000:
m_uiTimeOut = 2;
break;
default:
m_uiTimeOut = 10;
break;
}
#endif
try
{
iRetVal = canOpen(
m_iDeviceId, // Net
0, // Mode
m_uiQueueSize, // TX Queue
m_uiQueueSize, // RX Queue
m_uiTimeOut, // Tx Timeout
m_uiTimeOut, // Rx Timeout
&m_hDevice);
if(iRetVal != NTCAN_SUCCESS)
{
warning("can open failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
iRetVal = canOpen(
m_iDeviceId, // Net
0, // Mode
1, // TX Queue
1, // RX Queue
600, // Tx Timeout
100, // Rx Timeout
&m_hSyncDevice);
if(iRetVal != NTCAN_SUCCESS)
{
warning("can open failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
}
catch(...)
{
warning("init ESD device failed no library found");
m_iErrorState = ERRID_DEV_NOLIBRARY;
return m_iErrorState;
}
for(i = 0; i <= m_iModuleCountMax; i++)
{
iRetVal = canIdAdd(m_hDevice, (MSGID_ACK + i));
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
iRetVal = canIdAdd(m_hDevice, (MSGID_STATE + i));
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
}
for(i = 0; i <= MAX_MP55; i++ )
{
iRetVal = canIdAdd(m_hDevice, (MSGID_MP55_RECV + i));
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
iRetVal = canIdAdd(m_hDevice, (0x180 + i));
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
iRetVal = canIdAdd(m_hDevice, (0x600 + i));
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
}
for(i = 0; i < MAX_SCHUNK; i++ )
{
iRetVal = canIdAdd(m_hDevice, (MSGID_SCHUNK_RECV + i));
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
}
iRetVal = canIdAdd(m_hSyncDevice, MSGID_ALL);
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
m_iErrorState = setBaudRate();
if(m_iErrorState != 0)
return m_iErrorState;
m_iErrorState = clearReadQueue();
if(m_iErrorState != 0)
return m_iErrorState;
if(m_iErrorState == 0)
m_bInitFlag = true;
updateModuleIdMap();
return m_iErrorState;
}
//-----------------------------------------------
void CanESD::initIntern()
{
int ret=0;
/* Does this make any sense as the handle is opened somewhere later?!
//m_Handle = 9;
//m_Mutex.lock();
//ret=canClose(m_Handle);
if(ret == NTCAN_SUCCESS)
{
std::cout << "Can close ok ret = " << ret std::endl;
}
CAN_IF_STATUS *status;
ret=canStatus(m_Handle,status);
if(ret == NTCAN_SUCCESS)
{
std::cout << "Get status from can card ok ret = " << ret << std::endl;
}
*/
ret = 0;
int iCanNet = 1;
//m_IniFile.GetKeyInt( "CanCtrl", "NetESD", &iCanNet, true);
int iBaudrateVal = NTCAN_BAUD_250;
//m_IniFile.GetKeyInt( "CanCtrl", "BaudrateVal", &iBaudrateVal, true);
std::cout << "Initializing CAN network with id =" << iCanNet << ", baudrate=" << iBaudrateVal << std::endl;
int iRet;
if( m_bObjectMode )
//iRet = canOpen(iCanNet, NTCAN_MODE_OBJECT, 10000, 10000, 0, 0, &m_Handle);
iRet = canOpen(iCanNet, NTCAN_MODE_OBJECT, 10000, 10000, 1000, 0, &m_Handle);
else
//iRet = canOpen(iCanNet, 0, 10000, 10000, 0, 0, &m_Handle);
iRet = canOpen(iCanNet, 0, 10000, 10000, 1000, 0, &m_Handle);
sleep(0.3);
if(iRet == NTCAN_SUCCESS)
std::cout << "CanESD::CanESD(), init ok" << std::endl;
else
std::cout << "error in CANESD::receiveMsg: " << GetErrorStr(iRet) << std::endl;
/* ret=canClose(m_Handle);
if(ret == NTCAN_SUCCESS)
{
std::cout << "Can close ok ret = " << ret << std::endl;
if( m_bObjectMode )
iRet = canOpen(iCanNet, NTCAN_MODE_OBJECT, 10000, 10000, 0, 0, &m_Handle);
else
iRet = canOpen(iCanNet, 0, 10000, 10000, 0, 0, &m_Handle);
Sleep(300);
if(iRet == NTCAN_SUCCESS)
std::cout << "CanESD::CanESD(), init ok" << ret << std::endl;
else
std::cout << "error in CANESD::receiveMsg: " << GetErrorStr(iRet) << std::endl;
}
*/
iRet = canSetBaudrate(m_Handle, iBaudrateVal);
if(iRet == NTCAN_SUCCESS)
std::cout << "CanESD::CanESD(), canSetBaudrate ok" << std::endl;
else
std::cout << "error in CANESD::receiveMsg: " << GetErrorStr(iRet) << std::endl;
sleep(0.3);
long lArg;
iRet = canIoctl(m_Handle, NTCAN_IOCTL_FLUSH_RX_FIFO, NULL);
//if( iRet == NTCAN_SUCCESS )
// std::cout << (int)(lArg) << " messages in CAN receive queue" << std::endl;
// MMB/24.02.2006: Add all 11-bit identifiers as there is no loss in performance.
for( int i=0; i<=0x7FF; ++i ) {
iRet = canIdAdd( m_Handle, i );
if(iRet != NTCAN_SUCCESS)
std::cout << "error in CANESD::receiveMsg: " << GetErrorStr(iRet) << std::endl;
}
/*
iRet = canIdAddGroup(m_Handle, 0x98);
// for COB Arm
iRet = canIdAdd(m_Handle, 0x100);
iRet = canIdAdd(m_Handle, 0x101);
iRet = canIdAdd(m_Handle, 0x200);
iRet = canIdAdd(m_Handle, 0x201);
iRet = canIdAdd(m_Handle, 0x300);
iRet = canIdAdd(m_Handle, 0x301);
iRet = canIdAdd(m_Handle, 0x400);
iRet = canIdAdd(m_Handle, 0x401);
iRet = canIdAdd(m_Handle, 0x500);
iRet = canIdAdd(m_Handle, 0x501);
iRet = canIdAdd(m_Handle, 0x600);
iRet = canIdAdd(m_Handle, 0x601);
// for CAN-Open Harmonica
iRet = canIdAdd(m_Handle, 0x283);
iRet = canIdAdd(m_Handle, 0x282);
iRet = canIdAdd(m_Handle, 0x583);
iRet = canIdAdd(m_Handle, 0x582);
iRet = canIdAdd(m_Handle, 0x603);
iRet = canIdAdd(m_Handle, 0x602);
// for CAN-Open Harmonica and Cello Mimro
iRet = canIdAdd(m_Handle, 0x18a);
iRet = canIdAdd(m_Handle, 0x28a);
iRet = canIdAdd(m_Handle, 0x194);
iRet = canIdAdd(m_Handle, 0x294);
iRet = canIdAdd(m_Handle, 0x19e);
iRet = canIdAdd(m_Handle, 0x29e);
// for RCS5000 arm
iRet = canIdAdd(m_Handle, 0x111);
iRet = canIdAdd(m_Handle, 0x112);
iRet = canIdAdd(m_Handle, 0x113);
iRet = canIdAdd(m_Handle, 0x114);
iRet = canIdAdd(m_Handle, 0x115);
iRet = canIdAdd(m_Handle, 0x116);
iRet = canIdAdd(m_Handle, 0x788);
iRet = canIdAdd(m_Handle, 0x789);
iRet = canIdAdd(m_Handle, 0x78A);
iRet = canIdAdd(m_Handle, 0x78B);
iRet = canIdAdd(m_Handle, 0x78C);
iRet = canIdAdd(m_Handle, 0x78D);
iRet = canIdAdd(m_Handle, 0x78E);
iRet = canIdAdd(m_Handle, 0x78F);
iRet = canIdAddGroup(m_Handle, 0x00);
iRet = canIdAddGroup(m_Handle, 0x08);
iRet = canIdAddGroup(m_Handle, 0x10);
iRet = canIdAddGroup(m_Handle, 0x18);
iRet = canIdAddGroup(m_Handle, 0x20);
iRet = canIdAddGroup(m_Handle, 0x28);
iRet = canIdAddGroup(m_Handle, 0x30);
iRet = canIdAddGroup(m_Handle, 0x38);
iRet = canIdAddGroup(m_Handle, 0x40);
iRet = canIdAddGroup(m_Handle, 0x48);
iRet = canIdAddGroup(m_Handle, 0x50);
iRet = canIdAddGroup(m_Handle, 0x58);
iRet = canIdAddGroup(m_Handle, 0x60);
iRet = canIdAddGroup(m_Handle, 0x68);
iRet = canIdAddGroup(m_Handle, 0x98);
// for Mimro drive ctrl
iRet = canIdAdd(m_Handle, 0x123);
*/
/*
for(int i=0; i<2047; i++)
{
if (iRet != NTCAN_SUCCESS)
{
TRACE("canIdAdd: %x Error \n", i);
}
}
*/
sleep(0.3);
m_LastID = -1;
//m_Mutex.unlock();
}
int main(int argc,char **argv)
{
int c;
extern char *optarg;
char* LibraryPath="libcanfestival_can_virtual.so";
char *snodeid;
while ((c = getopt(argc, argv, "-m:s:M:S:l:i:")) != EOF)
{
switch(c)
{
case 'm' :
if (optarg[0] == 0)
{
help();
exit(1);
}
MasterBoard.busname = optarg;
break;
case 'M' :
if (optarg[0] == 0)
{
help();
exit(1);
}
MasterBoard.baudrate = optarg;
break;
case 'l' :
if (optarg[0] == 0)
{
help();
exit(1);
}
LibraryPath = optarg;
break;
case 'i' :
if (optarg[0] == 0)
{
help();
exit(1);
}
snodeid = optarg;
sscanf(snodeid,"%x",&slavenodeid);
break;
default:
help();
exit(1);
}
}
#if !defined(WIN32) || defined(__CYGWIN__)
/* install signal handler for manual break */
signal(SIGTERM, catch_signal);
signal(SIGINT, catch_signal);
TimerInit();
#endif
#ifndef NOT_USE_DYNAMIC_LOADING
LoadCanDriver(LibraryPath);
#endif
TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
TestMaster_Data.initialisation = TestMaster_initialisation;
TestMaster_Data.preOperational = TestMaster_preOperational;
TestMaster_Data.operational = TestMaster_operational;
TestMaster_Data.stopped = TestMaster_stopped;
TestMaster_Data.post_sync = TestMaster_post_sync;
TestMaster_Data.post_TPDO = TestMaster_post_TPDO;
if(!canOpen(&MasterBoard,&TestMaster_Data)){
eprintf("Cannot open Master Board\n");
goto fail_master;
}
// Start timer thread
StartTimerLoop(&InitNodes);
// wait Ctrl-C
pause();
eprintf("Finishing.\n");
// Reset the slave node for next use (will stop emitting heartbeat)
masterSendNMTstateChange (&TestMaster_Data, slavenodeid, NMT_Reset_Node);
// Stop master
setState(&TestMaster_Data, Stopped);
// Stop timer thread
StopTimerLoop(&Exit);
fail_master:
if(MasterBoard.baudrate) canClose(&TestMaster_Data);
TimerCleanup();
return 0;
}
static long init_bi(
struct biRecord *prec
) {
static struct {
char *string;
unsigned long mask;
} tipState[] = {
{ "BUS_OFF", PCA_SR_BS },
{ "BUS_ERROR", PCA_SR_ES },
{ "DATA_OVERRUN", PCA_SR_DO },
{ "RECEIVING", PCA_SR_RS },
{ "RECEIVED", PCA_SR_RBS },
{ "SENDING", PCA_SR_TS },
{ "SENT", PCA_SR_TCS },
{ "OK_TO_SEND", PCA_SR_TBS },
{ NULL, 0 }
};
char *canString;
char *name;
char separator;
canBusID_t busID;
int i;
long status;
/* bi.inp must be an INST_IO */
if (prec->inp.type != INST_IO) goto error;
canString = ((struct instio *)&(prec->inp.value))->string;
/* Strip leading whitespace & non-alphanumeric chars */
while (!isalnum(0xff & *canString)) {
if (*canString++ == '\0') goto error;
}
/* First part of string is the bus name */
name = canString;
/* find the end of the busName */
canString = strpbrk(canString, "/:");
if (canString == NULL || *canString == '\0') goto error;
/* Temporarily truncate string after name and look up t810 device */
separator = *canString;
*canString = '\0';
status = canOpen(name, &busID);
*canString++ = separator;
if (status) goto error;
/* After the bus name comes the name of the status bit we're after */
prec->mask=0;
for (i=0; tipState[i].string != NULL; i++)
if (strcmp(canString, tipState[i].string) == 0)
prec->mask = tipState[i].mask;
if (prec->mask) {
prec->dpvt = busID;
return 0;
}
error:
if (canSilenceErrors) {
prec->pact = TRUE;
return 0;
} else {
recGblRecordError(S_db_badField,(void *)prec,
"devBiTip810: Bad INP field type or value");
return S_db_badField;
}
}
int main()
{
LIB_HANDLE driver;
/* handles for additional CO-PCICAN functions */
int (*get_fd_of_port)( CAN_PORT port );
int (*co_pcican_enter_run_mode)( const int fd );
int (*co_pcican_enter_config_mode)( const int fd );
int (*co_pcican_select_channel)( const unsigned char channel, const unsigned int direction );
int (*co_pcican_configure_selected_channel)( const int fd, s_BOARD *board, const unsigned int direction );
s_BOARD bd;
CO_Data myData;
CAN_PORT port;
Message myMessage;
const char busname[] = "/dev/co_pcican-0";
const char baudrate[] = "1M";
int fd;
memset( &myData, 0x00, sizeof(CO_Data) );
myData.CurrentCommunicationState.csSYNC = 1;
myData.post_sync = mySyncHandler;
bd.busname = (char*)busname;
bd.baudrate = (char*)baudrate;
printf( "This example sends three SYNCs from port#%u to port#%u with a CO-PCICAN card\n", CHTX, CHRX );
driver = LoadCanDriver( "/usr/local/lib/libcanfestival_can_copcican_linux.so" );
if( driver == NULL )
{
/* something strange happenend */
return 0;
}
/* dynamic load of additional library functions */
get_fd_of_port = dlsym( driver, "get_fd_of_port" );
co_pcican_enter_run_mode = dlsym( driver, "co_pcican_enter_run_mode" );
co_pcican_enter_config_mode = dlsym( driver, "co_pcican_enter_config_mode" );
co_pcican_select_channel = dlsym( driver, "co_pcican_select_channel" );
co_pcican_configure_selected_channel = dlsym( driver, "co_pcican_configure_selected_channel" );
/* direction: 0=RX, 1=TX */
co_pcican_select_channel( CHRX, 0 );
co_pcican_select_channel( CHTX, 1 );
port = canOpen( &bd, &myData );
if( port == NULL )
{
UnLoadCanDriver( driver );
/* something strange happenend */
return 0;
}
/* get file descriptor to control the opened device */
fd = get_fd_of_port( port );
co_pcican_enter_config_mode( fd );
co_pcican_configure_selected_channel( fd, &bd, 0 );
co_pcican_configure_selected_channel( fd, &bd, 1 );
co_pcican_enter_run_mode( fd );
memset( &myMessage, 0x00, sizeof(Message) );
myMessage.cob_id = 0x80; /* SYNC message */
myMessage.len = 1;
myMessage.data[0] = 0xA5;
/* SEND HERE */
canSend( port, &myMessage );
myMessage.data[0] = 0x5A;
canSend( port, &myMessage );
myMessage.data[0] = 0xA5;
canSend( port, &myMessage );
/* mySyncHandler() is called by the receive thread and shows a received SYNC message on console */
usleep( 1*1000*1000 ); /* 1s */
canClose( &myData );
UnLoadCanDriver( driver );
return 0;
}
