//---------------------------------------------------------------------------
//! reads out the configuration of a node from the CanOpenMaster board
void rlCanNode::readConfigurationMessage(RCS_MESSAGETELEGRAM_10& _message)
{
int i;
usIdentNumber = (unsigned short) (_message.d[2]+_message.d[1]*pow(256,1));
usVendorIdent = (unsigned short) (_message.d[4]+_message.d[3]*pow(256,1));
for(i=0;i<32;i++)
{
abVendorName+=_message.d[5+i];
abDeviceName+=_message.d[37+i];
abDescription+=_message.d[69+i];
}
bMasterAddress = _message.d[101];
bSettings = _message.d[102];
pdocount = _message.d[117];
//transmit_pdoList.resize(pdocount);
int startadress=118; // start index of pdos in buffer
int k = 0;
int tpdocounter = 0;
int rpdocounter = 0;
for(i=1;i<=int(pdocount);i++)
{
rlCanPDO *tempPDO = new rlCanPDO;
tempPDO->bPDOSize = _message.d[startadress+k+1];
tempPDO->bDataPosition = _message.d[startadress+k+2];
tempPDO->usPDOAddress = (unsigned short)
(_message.d[startadress+k+3]*pow(256,0)
+ _message.d[startadress+k+4]);
if ((_message.d[startadress+k] & DATA_DIRECTION_MASK) == DIRECTION_INPUT)
{
rlDebugPrintf("\n tranceive pdo found ................\n");
tpdocounter++;
tempPDO->bPDODirection = DIRECTION_TRANSMIT; // => Tranceive PDO
pdoList[DIRECTION_TRANSMIT].resize(pdoList[DIRECTION_TRANSMIT].size()+1);
pdoList[DIRECTION_TRANSMIT].insert(tpdocounter-1,tempPDO);
}
else if(
(_message.d[startadress+k] & DATA_DIRECTION_MASK) == DIRECTION_OUTPUT)
{
rlDebugPrintf("\n receive pdo found ................");
rpdocounter++;
tempPDO->bPDODirection = DIRECTION_RECEIVE; // => receive PDO
pdoList[DIRECTION_RECEIVE].resize(pdoList[DIRECTION_RECEIVE].size()+1);
pdoList[DIRECTION_RECEIVE].insert(rpdocounter-1,tempPDO);
}
k=k+5;
}
}
//---------------------------------------------------------------------------
//! calls destructors of rlinifile obj and objdir
rlCanNode::~rlCanNode(){
rlDebugPrintf("Destructor rlCanNode\n");
if (ini!=0){
delete ini;
}
if (objdir!=0){
delete objdir;
}
}
//! produce an invalid-type-warning to stdout. used by nearly all getter functions
void rlCanOpenTypes::invalidTypeError(int _typenr){
char* curTypeStr;
char* usrTypeStr;
curTypeStr = type2str(typenumber);
usrTypeStr = type2str(_typenr);
rlDebugPrintf("Warning! %s invalid type! current data type is: %s \n"
, usrTypeStr, curTypeStr);
delete curTypeStr;
delete usrTypeStr;
}
//! main constructor builds object directory.
ObjDir::ObjDir(rlIniFile* _ini){
itemcount=0;
ini= _ini;
objstorage.setAutoDelete(true);
int mobj = atoi(_ini->text("MandatoryObjects","SupportedObjects"));
int obobj = atoi(_ini->text("OptionalObjects","SupportedObjects"));
// calculate sum off all objects and subobjects in EDS FILE
int sumobj =
countobj("MandatoryObjects", mobj) + countobj("OptionalObjects", obobj);
objstorage.resize(sumobj);
// extrakt all objects and subobjects from EDS file into objstorage
extraktobj("MandatoryObjects", mobj);
extraktobj("OptionalObjects", obobj);
rlDebugPrintf(" calculated count obj: %d\n", sumobj);
}
//! prints error message to StdOut
void rlCanOpenTypes::rlMsgErrOut(){
char* errOut = rlMsgErrStr();
rlDebugPrintf("ERROR: \"%s\" \n", errOut);
delete errOut;
}
//---------------------------------------------------------------------------
//! initializes a new cannode by means of SyCon-pre-configurated parameters
rlCanNode::rlCanNode
(int boardnr, int nodeid, RCS_MESSAGETELEGRAM_10& _telegramm){
nodeID = nodeid;
boardID = boardnr;
readConfigurationMessage(_telegramm);
rlDebugPrintf("Initialising new node...\n BoardNr. %d NodeId %d Productstr %s ...",
boardnr, nodeid, abDeviceName.ascii());
ini = getEDS(abDeviceName);
if (ini!=0){
rlDebugPrintf(" SUCCESS! \n ");
rlDebugPrintf(" ProductName=%s \n ", ini->text("DeviceInfo","ProductName"));
rlDebugPrintf(" Filename=%s \n ", ini->text("FileInfo","FileName"));
rlDebugPrintf("Lege Objektverzeichnis an: ");
objdir = new ObjDir(ini);
}
else
{
rlDebugPrintf("ERROR!\n NO EDS FILE FOUND FOR \"%s\"!\n", abDeviceName.ascii());
objdir = 0;
}
if (objdir){
// observe the adress for pdo mapping in OV
unsigned int i,adr;
adr = TRANSMIT_PDO_MAPPING_STARTADRESS;
rlDebugPrintf(" PDO Gr�en:transmit PDOs: %d receive PDOs: %d\n",
pdoList[DIRECTION_TRANSMIT].size(),pdoList[DIRECTION_RECEIVE].size());
for (i = 0; i< pdoList[DIRECTION_TRANSMIT].size();i++)
{
while(objdir->OVAdressExists(adr,0) == 0)
{
adr++;
if (adr>TRANSMIT_PDO_MAPPING_MAXADRESS) {
adr=0;
rlDebugPrintf("ERROR IN EDS FILE: errorous number of Mapping entries\n");
break;
}
}
pdoList[DIRECTION_TRANSMIT][i]->mappingOvAdress = adr;
adr++;
}
adr = RECEIVE_PDO_MAPPING_STARTADRESS ;
for (i = 0; i< pdoList[DIRECTION_RECEIVE].size();i++)
{
while(objdir->OVAdressExists(adr,0) == 0)
{
adr++;
if (adr>RECEIVE_PDO_MAPPING_MAXADRESS) {
adr=0;
rlDebugPrintf("ERROR IN EDS FILE: errorous number of Mapping entries\n");
break;
}
}
pdoList[DIRECTION_RECEIVE][i]->mappingOvAdress = adr;
adr++;
}
}
}
//---------------------------------------------------------------------------
rlCanNode::rlCanNode()
{
rlDebugPrintf("\n Constructer clear");
}
//! destructor has nothing to do. QPtrVector Destructor performs memory cleanup
ObjDir::~ObjDir(){
rlDebugPrintf("ObjDir destructor\n");
}
//! empty constructor not yet implemented
ObjDir::ObjDir(){
rlDebugPrintf("YOUR OBJDIR CTOR CODE!!!\n");
objstorage.setAutoDelete(true);
}
