//------------------------------------------------------------------------------
static tOplkError processSdoEvent(tOplkApiEventType EventType_p,
tOplkApiEventArg* pEventArg_p,
void* pUserArg_p)
{
tSdoComFinished* pSdo = &pEventArg_p->sdoInfo;
tOplkError ret = kErrorOk;
UNUSED_PARAMETER(EventType_p);
UNUSED_PARAMETER(pUserArg_p);
// SDO transfer finished
if ((ret = oplk_freeSdoChannel(pSdo->sdoAccessType)) != kErrorOk)
{
return ret;
}
if (pSdo->sdoComConState == kSdoComTransferFinished)
{ // continue boot-up of CN with NMT command Reset Configuration
ret = oplk_triggerMnStateChange(pSdo->nodeId, kNmtNodeCommandConfReset);
}
else
{ // indicate configuration error CN
ret = oplk_triggerMnStateChange(pSdo->nodeId, kNmtNodeCommandConfErr);
}
return ret;
}
//------------------------------------------------------------------------------
tOplkError ProcessThread::processNodeEvent(tOplkApiEventType eventType_p,
tOplkApiEventArg* pEventArg_p,
void* pUserArg_p)
{
tOplkApiEventNode* pNode = &pEventArg_p->nodeEvent;
tOplkError ret = kErrorOk;
UNUSED_PARAMETER(eventType_p);
UNUSED_PARAMETER(pUserArg_p);
// printf("AppCbEvent(Node): NodeId=%u Event=0x%02X\n",
// pEventArg_p->nodeEvent.nodeId, pEventArg_p->nodeEvent.nodeEvent);
// check additional argument
switch (pEventArg_p->nodeEvent.nodeEvent)
{
case kNmtNodeEventCheckConf:
#if !defined(CONFIG_INCLUDE_CFM)
// Configuration Manager is not available,
// so configure CycleLen (object 0x1006) on CN
tSdoComConHdl SdoComConHdl;
// update object 0x1006 on CN
ret = oplk_writeObject(&SdoComConHdl, pEventArg_p->nodeEvent.nodeId,
0x1006, 0x00, &cycleLen_g, 4,
kSdoTypeAsnd, NULL);
if (ret == kErrorApiTaskDeferred)
{ // SDO transfer started
ret = kErrorReject;
}
else if (ret == kErrorOk)
{ // local OD access (should not occur)
printf("AppCbEvent(Node) write to local OD\n");
}
else
{ // error occured
ret = oplk_freeSdoChannel(SdoComConHdl);
SdoComConHdl = 0;
ret = oplk_writeObject(&SdoComConHdl, pEventArg_p->nodeEvent.nodeId,
0x1006, 0x00, &cycleLen_g, 4,
kSdoTypeAsnd, NULL);
if (ret == kErrorApiTaskDeferred)
{ // SDO transfer started
ret = kErrorReject;
}
else
{
printf("AppCbEvent(Node): oplk_writeObject() returned 0x%03X", ret);
}
}
#endif
sigPrintLog(QString("Node Event: (Node=%2, CheckConf)")
.arg(pEventArg_p->nodeEvent.nodeId, 0, 10));
break;
case kNmtNodeEventUpdateConf:
sigPrintLog(QString("Node Event: (Node=%1, UpdateConf)")
.arg(pEventArg_p->nodeEvent.nodeId, 0, 10));
break;
case kNmtNodeEventFound:
pProcessThread_g->sigNodeAppeared(pEventArg_p->nodeEvent.nodeId);
break;
case kNmtNodeEventNmtState:
switch (pEventArg_p->nodeEvent.nmtState)
{
case kNmtGsOff:
case kNmtGsInitialising:
case kNmtGsResetApplication:
case kNmtGsResetCommunication:
case kNmtGsResetConfiguration:
case kNmtCsNotActive:
pProcessThread_g->sigNodeDisappeared(pEventArg_p->nodeEvent.nodeId);
break;
case kNmtCsPreOperational1:
case kNmtCsPreOperational2:
case kNmtCsReadyToOperate:
pProcessThread_g->sigNodeAppeared(pEventArg_p->nodeEvent.nodeId);
pProcessThread_g->sigNodeStatus(pEventArg_p->nodeEvent.nodeId, 1);
break;
case kNmtCsOperational:
pProcessThread_g->sigNodeAppeared(pEventArg_p->nodeEvent.nodeId);
pProcessThread_g->sigNodeStatus(pEventArg_p->nodeEvent.nodeId, 2);
break;
case kNmtCsBasicEthernet:
case kNmtCsStopped:
default:
pProcessThread_g->sigNodeStatus(pEventArg_p->nodeEvent.nodeId, -1);
break;
}
break;
case kNmtNodeEventError:
pProcessThread_g->sigNodeStatus(pEventArg_p->nodeEvent.nodeId, -1);
sigPrintLog(QString("AppCbEvent (Node=%1): Error = %2 (0x%3)")
.arg(pEventArg_p->nodeEvent.nodeId, 0, 10)
.arg(debugstr_getEmergErrCodeStr(pEventArg_p->nodeEvent.errorCode))
.arg(pEventArg_p->nodeEvent.errorCode, 4, 16, QLatin1Char('0')));
break;
case kNmtNodeEventAmniReceived:
sigPrintLog(QString("AppCbEvent (Node=%1): received ActiveManagingNodeIndication")
.arg(pEventArg_p->nodeEvent.nodeId, 0, 10));
break;
default:
break;
}
return kErrorOk;
}
