INTEGER16 CO_SDOclient_init(
CO_SDOclient_t **ppSDOclient,
CO_SDO_t *SDO,
OD_SDOClientParameter_t *ObjDict_SDOClientParameter,
CO_CANmodule_t *CANdevRx, UNSIGNED16 CANdevRxIdx,
CO_CANmodule_t *CANdevTx, UNSIGNED16 CANdevTxIdx)
{
CO_SDOclient_t *SDO_C;
//verify parameters
if(ObjDict_SDOClientParameter->maxSubIndex!=3) return CO_ERROR_ILLEGAL_ARGUMENT;
//allocate memory if not already allocated
if((*ppSDOclient) == NULL) {
if(((*ppSDOclient) = (CO_SDOclient_t*) malloc(sizeof(CO_SDOclient_t))) == NULL) {
return CO_ERROR_OUT_OF_MEMORY;
}
}
SDO_C = *ppSDOclient; //pointer to (newly created) object
//Configure object variables
SDO_C->state = 0;
SDO_C->SDO = SDO;
SDO_C->ObjDict_SDOClientParameter = ObjDict_SDOClientParameter;
SDO_C->CANdevRx = CANdevRx;
SDO_C->CANdevRxIdx = CANdevRxIdx;
SDO_C->CANdevTx = CANdevTx;
SDO_C->CANdevTxIdx = CANdevTxIdx;
CO_SDOclient_setup(SDO_C, 0, 0, 0);
return CO_ERROR_NO;
}
static void huge _pascal CgiCliFunction(rpCgiPtr CgiRequest){
/* Buffers for building the page */
extern CgiCli_t *CgiCli;
extern CO_t *CO;
CO_SDOclient_t *SDO_C = CO->SDOclient;
uint32_t bufLen = 0; /* current length of the buffer */
uint32_t timeouts = 0;
const uint32_t maxTimeouts = 5;
/* Prepare function, which will wake this task after CAN SDO response is */
/* received (inside CAN receive interrupt). */
SDO_C->pFunctSignal = CgiCli_signal; /* will wake from RTX_Sleep_Time() */
SDO_C->functArg = RTX_Get_TaskID(); /* id of this task */
/* Construct HTML page */
if(strlen(CgiRequest->fArgumentBufferPtr)){
char_t *buf = CgiCli->buf; /* buffer for CGI message */
char_t far *name = NULL;
char_t far *val = NULL;
while(CGI_GetArgument(&name, &val, CgiRequest) == 0){
/* decode and verify name */
char_t rw = name[0];
uint32_t nodeId, idx, sidx, len;
char_t err = 0;
uint8_t *data = CgiCli->SDOBuf; /* data sent or received on CANopen */
uint32_t dataLen = 0;
if(!name) err++;
len = strlen(name);
if (rw == 'r' || rw == 'R'){
rw = 'r';
if(len < 9 || len > 17) err++;
}
else if(rw == 'w' || rw == 'W'){
rw = 'w';
if(len < 10 || len > 17) err++;
}
else{
err++;
}
err += hex2dec(&name[1], 2, &nodeId);
if(nodeId > 127) err++;
err += hex2dec(&name[3], 4, &idx);
err += hex2dec(&name[7], 2, &sidx);
if(rw == 'w'){
err += hex2dec(&name[9], len-9, &len);
/* decode value */
int32_t i;
int32_t valLen;
if(val) valLen = strlen(val);
else valLen = 0;
for(i=0; i<valLen; i=i+2){
uint32_t dc;
err += hex2dec(&val[i], 2, &dc);
data[dataLen] = dc;
if(++dataLen >= CgiCli->SDOBufSize) break;
}
/* verify value length */
if(dataLen != len || dataLen == 0) err++;
}
/* SDO clinet access */
uint32_t SDOabortCode = 0;
if(err){
buf += sprintf(buf, "Error in argument: %s=%s\n", name, val);
}
/* read object dictionary */
else if(rw == 'r'){
CO_SDOclient_return_t ret;
CO_SDOclient_setup(SDO_C, 0, 0, nodeId);
CO_SDOclientUploadInitiate(SDO_C, idx, sidx, data, CgiCli->SDOBufSize, 1);
do{
uint16_t dt = 50;
ret = CO_SDOclientUpload(SDO_C, dt, 500, &dataLen, &SDOabortCode);
RTX_Sleep_Time(dt);
}while(ret > 0);
CO_SDOclientClose(SDO_C);
if(ret == CO_SDOcli_endedWithTimeout) {
timeouts++;
}
else {
timeouts = 0;
}
if(SDOabortCode){
buf += sprintf(buf, "R %02X%04X%02X%X AB: %08X\n",
(unsigned int)nodeId,
(unsigned int)idx,
(unsigned int)sidx,
(unsigned int)dataLen,
(unsigned int)SDOabortCode);
}
else{
uint32_t i;
buf += sprintf(buf, "R %02X%04X%02X%X OK:",
(unsigned int)nodeId,
(unsigned int)idx,
(unsigned int)sidx,
(unsigned int)dataLen);
for(i=0; i<dataLen; i++) buf += sprintf(buf, " %02X", data[i]);
buf += sprintf(buf, "\n");
}
}
/* write into object dictionary */
else if(rw == 'w'){
CO_SDOclient_return_t ret;
CO_SDOclient_setup(SDO_C, 0, 0, nodeId);
CO_SDOclientDownloadInitiate(SDO_C, idx, sidx, data, dataLen, 1);
do{
uint16_t dt = 2;
ret = CO_SDOclientDownload(SDO_C, dt, 500, &SDOabortCode);
if(ret == CO_SDOcli_waitingServerResponse) {
dt = 50;
}
RTX_Sleep_Time(dt);
}while(ret > 0);
CO_SDOclientClose(SDO_C);
if(ret == CO_SDOcli_endedWithTimeout) {
timeouts++;
}
else {
timeouts = 0;
}
if(SDOabortCode){
buf += sprintf(buf, "W %02X%04X%02X%X AB: %08X\n",
(unsigned int)nodeId,
(unsigned int)idx,
(unsigned int)sidx,
(unsigned int)dataLen,
(unsigned int)SDOabortCode);
}
else{
uint32_t i;
buf += sprintf(buf, "W %02X%04X%02X%X OK:",
(unsigned int)nodeId,
(unsigned int)idx,
(unsigned int)sidx,
(unsigned int)dataLen);
for(i=0; i<dataLen; i++) buf += sprintf(buf, " %02X", data[i]);
buf += sprintf(buf, "\n");
}
}
/* calculate buffer length, if not enough space for next object, break */
bufLen = (uint32_t)(buf - CgiCli->buf);
if((bufLen+1000) > CgiCli->bufSize){
break;
}
/* if no response from remote node for multiple times, break the loop */
if(timeouts > maxTimeouts){
break;
}
}
}
else{
sprintf(CgiCli->buf,
"CGI function provides access to object dictionary on any device on the CANopen network.\n\n"
"Usage with POST method:\n"
" odcli?wnniiiissll=xxxx[&rnniiiissll=]\n"
" w - 'w'rite or 'r'ead.\n"
" nn - node ID in hex format.\n"
" iiii - Object dictionary index in hex format.\n"
" ss - Object dictionary subindex in hex format.\n"
" ll - length of variable (1 to FFFFFFFF) in hex format. If reading, this value is ignored.\n"
" xxxx - Value to be written in hex and little endian format. If reading, this value is ignored.\n");
bufLen = strlen(CgiCli->buf);
}
/* disable SDO client */
CO_SDOclient_setup(SDO_C, 0, 0, 0);
/* Give page to the web server */
CgiRequest->fHttpResponse = CgiHttpOk;
CgiRequest->fDataType = CGIDataTypeText;
CgiRequest->fResponseBufferPtr = CgiCli->buf;
CgiRequest->fResponseBufferLength = bufLen;
}
