extern void eom_emsappl_hid_userdef_on_exit_RUN(EOMtheEMSappl* p)
{
// EOtheCANservice: set straigth mode and force parsing of all packets in the RX queues.
eo_canserv_SetMode(eo_canserv_GetHandle(), eocanserv_mode_straight);
eo_canserv_ParseAll(eo_canserv_GetHandle());
// stop services
// motion-control
eo_motioncontrol_Stop(eo_motioncontrol_GetHandle());
eo_motioncontrol_Deactivate(eo_motioncontrol_GetHandle());
// stop tx activity of services that may have been started by callback function
// strain... no strain in here
// eo_strain_Stop(eo_strain_GetHandle());
// eo_strain_Deactivate(eo_strain_GetHandle());
// skin
eo_skin_Stop(eo_skin_GetHandle());
eo_skin_Deactivate(eo_skin_GetHandle());
// mais
eo_mais_Stop(eo_mais_GetHandle());
eo_mais_Deactivate(eo_mais_GetHandle());
// inertials
eo_inertials2_Stop(eo_inertials2_GetHandle());
eo_inertials2_Deactivate(eo_inertials2_GetHandle());
}
extern eOresult_t eo_skin_Activate(EOtheSKIN *p, const eOmn_serv_configuration_t * servcfg)
{
if((NULL == p) || (NULL == servcfg))
{
return(eores_NOK_nullpointer);
}
if(eomn_serv_SK_skin != servcfg->type)
{
return(eores_NOK_generic);
}
if(eobool_true == p->service.active)
{
eo_skin_Deactivate(p);
}
eo_entities_SetNumOfSkins(eo_entities_GetHandle(), servcfg->data.sk.skin.numofpatches);
if(0 == eo_entities_NumOfSkins(eo_entities_GetHandle()))
{
p->service.active = eobool_false;
return(eores_NOK_generic);
}
else
{
memcpy(&p->service.servconfig, servcfg, sizeof(eOmn_serv_configuration_t));
p->numofskinpatches = servcfg->data.sk.skin.numofpatches;
uint8_t i = 0;
for(i=0; i<p->numofskinpatches; i++)
{
p->skinpatches[i] = eo_entities_GetSkin(eo_entities_GetHandle(), i);
}
// now i must add all the mtb boards. i iterate per patch and then per canbus
eObrd_canproperties_t prop =
{
.type = eobrd_cantype_mtb,
.location = { .port = 0, .addr = 0, .insideindex = eobrd_caninsideindex_none },
.requiredprotocol = { .major = servcfg->data.sk.skin.version.protocol.major, .minor = servcfg->data.sk.skin.version.protocol.minor }
};
eOcanmap_entitydescriptor_t des =
{
.location = { .port = 0, .addr = 0, .insideindex = eobrd_caninsideindex_none },
.index = entindexNONE
};
extern void eom_emsappl_hid_userdef_on_entry_ERR(EOMtheEMSappl* p)
{
// pulse led3 forever at 4 hz.
eo_ledpulser_Start(eo_ledpulser_GetHandle(), eo_ledpulser_led_three, EOK_reltime1sec/4, 0);
// EOtheCANservice: set straight mode and force parsing of all packets in the RX queues.
eo_canserv_SetMode(eo_canserv_GetHandle(), eocanserv_mode_straight);
eo_canserv_ParseAll(eo_canserv_GetHandle());
// stop services which may have been started
// motion-control
eo_motioncontrol_Stop(eo_motioncontrol_GetHandle());
eo_motioncontrol_Deactivate(eo_motioncontrol_GetHandle());
// stop tx activity of services that may have been started by callback function
// strain... no strain in here
// eo_strain_Stop(eo_strain_GetHandle());
// eo_strain_Deactivate(eo_strain_GetHandle());
// skin
eo_skin_Stop(eo_skin_GetHandle());
eo_skin_Deactivate(eo_skin_GetHandle());
// mais
eo_mais_Stop(eo_mais_GetHandle());
eo_mais_Deactivate(eo_mais_GetHandle());
// inertials
eo_inertials2_Stop(eo_inertials2_GetHandle());
eo_inertials2_Deactivate(eo_inertials2_GetHandle());
// inertials3
eo_inertials3_Stop(eo_inertials3_GetHandle());
eo_inertials3_Deactivate(eo_inertials3_GetHandle());
// temperatures
eo_temperatures_Stop(eo_temperatures_GetHandle());
eo_temperatures_Deactivate(eo_temperatures_GetHandle());
}
extern eOresult_t eo_skin_Verify(EOtheSKIN *p, const eOmn_serv_configuration_t * servcfg, eOservice_onendofoperation_fun_t onverify, eObool_t activateafterverify)
{
if((NULL == p) || (NULL == servcfg))
{
s_eo_theskin.service.state = eomn_serv_state_failureofverify;
eo_service_hid_SynchServiceState(eo_services_GetHandle(), eomn_serv_category_skin, s_eo_theskin.service.state);
if(NULL != onverify)
{
onverify(p, eobool_false);
}
return(eores_NOK_nullpointer);
}
if(eomn_serv_SK_skin != servcfg->type)
{
p->service.state = eomn_serv_state_failureofverify;
eo_service_hid_SynchServiceState(eo_services_GetHandle(), eomn_serv_category_skin, p->service.state);
if(NULL != onverify)
{
onverify(p, eobool_false);
}
return(eores_NOK_generic);
}
if(eobool_true == p->service.active)
{
eo_skin_Deactivate(p);
}
p->service.state = eomn_serv_state_verifying;
eo_service_hid_SynchServiceState(eo_services_GetHandle(), eomn_serv_category_skin, p->service.state);
// make sure the timer is not running
eo_timer_Stop(p->diagnostics.reportTimer);
p->service.onverify = onverify;
p->service.activateafterverify = activateafterverify;
p->sharedcan.discoverytarget.info.type = eobrd_cantype_mtb;
p->sharedcan.discoverytarget.info.protocol.major = servcfg->data.sk.skin.version.protocol.major;
p->sharedcan.discoverytarget.info.protocol.minor = servcfg->data.sk.skin.version.protocol.minor;
p->sharedcan.discoverytarget.info.firmware.major = servcfg->data.sk.skin.version.firmware.major;
p->sharedcan.discoverytarget.info.firmware.minor = servcfg->data.sk.skin.version.firmware.minor;
p->sharedcan.discoverytarget.info.firmware.build = servcfg->data.sk.skin.version.firmware.build;
// now i must do discovery of the patches. all patches can be at most on the two can buses ...
// moreover, we cannot have more than .... eo_skin_maxnumberofMTBboards boards
p->sharedcan.discoverytarget.canmap[eOcanport1] = p->sharedcan.discoverytarget.canmap[eOcanport2] = 0x0000;
uint8_t i=0;
for(i=0; i<servcfg->data.sk.skin.numofpatches; i++)
{
p->sharedcan.discoverytarget.canmap[eOcanport1] |= servcfg->data.sk.skin.canmapskin[i][eOcanport1];
p->sharedcan.discoverytarget.canmap[eOcanport2] |= servcfg->data.sk.skin.canmapskin[i][eOcanport2];
}
uint8_t numofboards = eo_common_hlfword_bitsetcount(p->sharedcan.discoverytarget.canmap[eOcanport1]) +
eo_common_hlfword_bitsetcount(p->sharedcan.discoverytarget.canmap[eOcanport2]);
if(numofboards > eo_skin_maxnumberofMTBboards)
{
p->diagnostics.errorDescriptor.sourcedevice = eo_errman_sourcedevice_localboard;
p->diagnostics.errorDescriptor.sourceaddress = 0;
p->diagnostics.errorDescriptor.par16 = (numofboards << 8) | (eo_skin_maxnumberofMTBboards & 0x00ff);
p->diagnostics.errorDescriptor.par64 = (p->sharedcan.discoverytarget.canmap[eOcanport2] << 16) | (p->sharedcan.discoverytarget.canmap[eOcanport1]);
EOaction_strg astrg = {0};
EOaction *act = (EOaction*)&astrg;
eo_action_SetCallback(act, s_eo_skin_send_periodic_error_report, p, eov_callbackman_GetTask(eov_callbackman_GetHandle()));
p->diagnostics.errorDescriptor.code = eoerror_code_get(eoerror_category_Config, eoerror_value_CFG_skin_failed_toomanyboards);
p->diagnostics.errorType = eo_errortype_error;
eo_errman_Error(eo_errman_GetHandle(), p->diagnostics.errorType, NULL, s_eobj_ownname, &p->diagnostics.errorDescriptor);
if(0 != p->diagnostics.reportPeriod)
{
p->diagnostics.errorCallbackCount = EOK_int08dummy;
eo_timer_Start(p->diagnostics.reportTimer, eok_abstimeNOW, p->diagnostics.reportPeriod, eo_tmrmode_FOREVER, act);
}
p->service.state = eomn_serv_state_failureofverify;
eo_service_hid_SynchServiceState(eo_services_GetHandle(), eomn_serv_category_skin, p->service.state);
if(NULL != onverify)
{
onverify(p, eobool_false);
}
return(eores_NOK_generic);
}
p->sharedcan.ondiscoverystop.function = s_eo_skin_onstop_search4mtbs;
p->sharedcan.ondiscoverystop.parameter = (void*)servcfg;
// start discovery
eo_candiscovery2_Start(eo_candiscovery2_GetHandle(), &p->sharedcan.discoverytarget, &p->sharedcan.ondiscoverystop);
return(eores_OK);
}
