pwr_tStatus xtt_pb_dp_slave_create_ctx( pwr_tAttrRef aref, void *editor_ctx,
xtt_slave_sCtx **ctxp)
{
pwr_tAName name;
pwr_tString80 gsdfile;
int sts;
pwr_tFileName fname;
pwr_tCid cid;
pwr_tOid oid;
int found;
int mc_cnt;
int module_cnt;
pwr_tAttrRef aaref;
sts = gdh_ObjidToName( aref.Objid,
name, sizeof(name), cdh_mName_volumeStrict);
if ( EVEN(sts)) return sts;
sts = gdh_ArefANameToAref( &aref, "GSDFile", &aaref);
if ( EVEN(sts)) return sts;
sts = gdh_GetObjectInfoAttrref( &aaref, gsdfile, sizeof(gsdfile));
if ( EVEN(sts)) return sts;
if ( strcmp( gsdfile, "") == 0) {
return PB__GSDATTR;
}
xtt_slave_sCtx *ctx = (xtt_slave_sCtx *) calloc( 1, sizeof(xtt_slave_sCtx));
ctx->aref = aref;
// Count modules
module_cnt = 0;
for ( sts = gdh_GetChild( aref.Objid, &oid);
ODD(sts);
sts = gdh_GetNextSibling( oid, &oid)) {
module_cnt++;
}
ctx->mc = (gsd_sModuleClass *) calloc( module_cnt + 2, sizeof(gsd_sModuleClass));
mc_cnt = 0;
ctx->editor_ctx = editor_ctx;
ctx->mc[0].cid = pwr_cClass_Pb_Module;
sts = gdh_ObjidToName( cdh_ClassIdToObjid(ctx->mc[0].cid),
ctx->mc[0].name, sizeof(ctx->mc[0].name), cdh_mName_object);
if ( EVEN(sts)) return sts;
mc_cnt++;
for ( sts = gdh_GetChild( aref.Objid, &oid);
ODD(sts);
sts = gdh_GetNextSibling( oid, &oid)) {
sts = gdh_GetObjectClass( oid, &cid);
if ( EVEN(sts)) return sts;
found = 0;
for ( int i = 0; i < mc_cnt; i++) {
if ( ctx->mc[i].cid == cid) {
found = 1;
break;
}
}
if ( found)
continue;
ctx->mc[mc_cnt].cid = cid;
sts = gdh_ObjidToName( cdh_ClassIdToObjid(cid),
ctx->mc[mc_cnt].name, sizeof(ctx->mc[0].name), cdh_mName_object);
if ( EVEN(sts)) return sts;
mc_cnt++;
}
if ( strchr( gsdfile, '/') == 0) {
strcpy( fname, "$pwrp_exe/");
strcat( fname, gsdfile);
}
else
strcpy( fname, gsdfile);
ctx->gsd = new pb_gsd();
sts = ctx->gsd->read( fname);
if ( EVEN(sts))
return sts;
ctx->gsd->set_classes( ctx->mc);
sts = xtt_pb_dp_slave_load_modules( ctx);
if ( EVEN(sts)) return sts;
*ctxp = ctx;
return 1;
}
static pwr_tStatus xtt_pb_dp_slave_load_modules( xtt_slave_sCtx *ctx)
{
pwr_tOid oid;
pwr_tCid cid;
int found;
pwr_tObjName name;
pwr_tString40 module_name;
int sts;
pwr_tAttrRef maref, aaref;
for ( sts = gdh_GetChild( ctx->aref.Objid, &oid);
ODD(sts);
sts = gdh_GetNextSibling( oid, &oid)) {
// Check that this is a module
sts = gdh_GetObjectClass( oid, &cid);
if ( EVEN(sts)) return sts;
found = 0;
for ( int i = 0; ; i++) {
if ( ctx->gsd->module_classlist[i].cid == 0)
break;
if ( ctx->gsd->module_classlist[i].cid == cid) {
found = 1;
break;
}
}
if ( !found)
// This is not a known module object
continue;
// Get name
sts = gdh_ObjidToName( oid, name, sizeof(name), cdh_mName_object);
if ( EVEN(sts)) return sts;
maref = cdh_ObjidToAref( oid);
// Get ModuleName attribute
sts = gdh_ArefANameToAref( &maref, "ModuleName", &aaref);
if ( EVEN(sts)) return sts;
sts = gdh_GetObjectInfoAttrref( &aaref, module_name, sizeof(module_name));
if ( EVEN(sts)) return sts;
ctx->gsd->add_module_conf( cid, oid, name, module_name);
}
// Set address
pwr_tUInt16 address;
sts = gdh_ArefANameToAref( &ctx->aref, "SlaveAddress", &aaref);
if ( EVEN(sts)) return sts;
sts = gdh_GetObjectInfoAttrref( &aaref, &address, sizeof(address));
if ( EVEN(sts)) return sts;
ctx->gsd->address = address;
// Set byte order
pwr_tByteOrderingEnum byte_order;
sts = gdh_ArefANameToAref( &ctx->aref, "ByteOrdering", &aaref);
if ( EVEN(sts)) return sts;
sts = gdh_GetObjectInfoAttrref( &aaref, &byte_order, sizeof(byte_order));
if ( EVEN(sts)) return sts;
ctx->gsd->byte_order = byte_order;
// Set Ext_User_Prm_Data
pwr_tUInt8 prm_user_data[256];
pwr_tUInt16 prm_user_data_len;
int len;
sts = gdh_ArefANameToAref( &ctx->aref, "PrmUserData", &aaref);
if ( EVEN(sts)) return sts;
sts = gdh_GetObjectInfoAttrref( &aaref, prm_user_data, sizeof(prm_user_data));
if ( EVEN(sts)) return sts;
sts = gdh_ArefANameToAref( &ctx->aref, "PrmUserDataLen", &aaref);
if ( EVEN(sts)) return sts;
sts = gdh_GetObjectInfoAttrref( &aaref, &prm_user_data_len, sizeof(prm_user_data_len));
if ( EVEN(sts)) return sts;
len = prm_user_data_len;
if ( len != 0) {
sts = ctx->gsd->unpack_ext_user_prm_data( (char *)prm_user_data, len);
if ( EVEN(sts)) return sts;
}
return 1;
}
/*
* Name:
* io_ConnectToAnaSupLstSerial
*
*
* Function:
* Initialize list of ASup object for serial connected analog in- och output
* signals.
* Description:
*
*/
pwr_tStatus io_ConnectToAnaSupLstSerial (
pwr_tClassId Class,
pwr_tObjid ObjId,
pwr_tAddress ObjP /* Pointer to the object */
)
{
pwr_tStatus Sts;
pwr_sClass_ASup *ASupP;
pwr_sClass_Ai *AiP;
pwr_sClass_Ao *AoP;
pwr_tFloat32 *Float32P;
pwr_tObjid SupId;
pwr_tClassId ObjClass;
sASupLstLink *ASupLstP;
sASupLstLink *NextASupLstP, *NextP;
switch (Class) {
case pwr_cClass_Ai:
AiP = (pwr_sClass_Ai *) ObjP;
Float32P = gdh_TranslateRtdbPointer( (pwr_tUInt32)AiP->ActualValue );
break;
case pwr_cClass_Ao:
AoP = (pwr_sClass_Ao *) ObjP;
Float32P = gdh_TranslateRtdbPointer( (pwr_tUInt32)AoP->ActualValue );
break;
default:
return ( IO__SUCCESS );
break;
}
/* Get child with class ASup */
Sts = gdh_GetChild ( ObjId, &SupId);
while ( ODD(Sts)) {
Sts = gdh_GetObjectClass ( SupId, &ObjClass);
if ( EVEN(Sts)) return (Sts);
if ( ObjClass == pwr_cClass_ASup ) {
Sts = gdh_ObjidToPointer ( SupId, (pwr_tAddress *)&ASupP);
if (EVEN(Sts)) return ( Sts );
ASupLstP = (sASupLstLink *) calloc( 1, sizeof(sASupLstLink) );
ASupLstP->SupP = ASupP;
ASupLstP->ValueP = Float32P;
if ( ASupAnaSerialLstP == NULL ) {
ASupAnaSerialLstP = ASupLstP;
}
else {
if ( ASupAnaSerialLstP->NextP == NULL ) {
ASupAnaSerialLstP->NextP = ASupLstP;
}
else {
NextP = ASupAnaSerialLstP->NextP;
while ( NextP != NULL ) {
NextASupLstP = NextP;
NextP = NextP->NextP;
}
NextASupLstP->NextP = ASupLstP;
}
}
}
Sts = gdh_GetNextSibling ( SupId, &SupId);
}
return IO__SUCCESS;
} /* END io_ConnectToAnaSupLstSerial */
/*
* Name:
* io_ConnectToDigSupLstSerial
*
*
* Function:
* Initialize list of DSup object for digitala in- och output signals.
* Description:
*
*/
pwr_tStatus io_ConnectToDigSupLstSerial (
pwr_tClassId Class,
pwr_tObjid ObjId,
pwr_tAddress ObjP /* Pointer to the object */
)
{
pwr_tStatus Sts;
pwr_sClass_DSup *DSupP;
pwr_sClass_Di *DiP;
pwr_sClass_Do *DoP;
pwr_sClass_Po *PoP;
pwr_tBoolean *BooleanP;
pwr_tObjid SupId;
pwr_tClassId ObjClass;
sDSupLstLink *DSupLstP;
sDSupLstLink *NextDSupLstP, *NextP;
switch (Class) {
case pwr_cClass_Di:
DiP = (pwr_sClass_Di *) ObjP;
BooleanP = gdh_TranslateRtdbPointer( (pwr_tUInt32)DiP->ActualValue );
break;
case pwr_cClass_Do:
DoP = (pwr_sClass_Do *) ObjP;
BooleanP = gdh_TranslateRtdbPointer( (pwr_tUInt32)DoP->ActualValue );
break;
case pwr_cClass_Po:
PoP = (pwr_sClass_Po *) ObjP;
BooleanP = gdh_TranslateRtdbPointer( (pwr_tUInt32)PoP->ActualValue );
break;
default:
return ( IO__SUCCESS );
break;
}
/* Get child with class DSup */
Sts = gdh_GetChild ( ObjId, &SupId);
while ( ODD(Sts)) {
Sts = gdh_GetObjectClass ( SupId, &ObjClass);
if ( EVEN(Sts)) return (Sts);
if ( ObjClass == pwr_cClass_DSup ) {
Sts = gdh_ObjidToPointer ( SupId, (pwr_tAddress *)&DSupP);
if (EVEN(Sts)) return ( Sts );
DSupLstP = (sDSupLstLink *) calloc( 1, sizeof(sDSupLstLink) );
DSupLstP->SupP = DSupP;
DSupLstP->ValueP = BooleanP;
if ( DSupDigSerialLstP == NULL ) {
DSupDigSerialLstP = DSupLstP;
}
else {
if ( DSupDigSerialLstP->NextP == NULL ) {
DSupDigSerialLstP->NextP = DSupLstP;
}
else {
NextP = DSupDigSerialLstP->NextP;
while ( NextP != NULL ) {
NextDSupLstP = NextP;
NextP = NextP->NextP;
}
NextDSupLstP->NextP = DSupLstP;
}
}
}
Sts = gdh_GetNextSibling ( SupId, &SupId);
}
return IO__SUCCESS;
} /* END io_ConnectToDigSupLstSerial */
static pwr_tStatus
init_plc (
plc_sProcess *pp
)
{
pwr_tStatus sts = PLC__SUCCESS;
pwr_tObjid oid;
pwr_tObjid pp_oid;
pwr_tObjid io_oid;
pwr_tObjid thread_oid;
int sec;
int msec;
int i;
pwr_tCid cid;
sts = gdh_GetNodeObject(0, &oid);
if (EVEN(sts)) {
errh_Fatal("gdh_GetNodeObject, %m", sts);
exit(sts);
}
sts = gdh_ObjidToPointer(oid, (void *)&pp->Node);
if (EVEN(sts)) return sts;
sts = gdh_GetClassList(pwr_cClass_PlcProcess, &pp_oid);
if (EVEN(sts)) {
errh_Error("Found no PlcProcess-object\n%m", sts);
return sts;
}
sts = gdh_ObjidToPointer(pp_oid, (void *)&pp->PlcProcess);
if (EVEN(sts)) return sts;
i = 0;
sts = gdh_GetChild( pp_oid, &thread_oid);
while ( ODD(sts)) {
sts = gdh_GetObjectClass( thread_oid, &cid);
if ( EVEN(sts)) return sts;
if ( cid == pwr_cClass_PlcThread)
pp->PlcProcess->PlcThreadObjects[i++] = thread_oid;
sts = gdh_GetNextSibling( thread_oid, &thread_oid);
}
for ( ; i > sizeof(pp->PlcProcess->PlcThreadObjects)/sizeof(pp->PlcProcess->PlcThreadObjects[0]); i++)
pp->PlcProcess->PlcThreadObjects[i] = pwr_cNObjid;
aproc_RegisterObject( pp_oid);
sts = gdh_GetClassList(pwr_cClass_IOHandler, &io_oid);
if (EVEN(sts)) {
errh_Error("Found no IOHandler-object\n%m", sts);
return sts;
}
sts = gdh_ObjidToPointer(io_oid, (void *)&pp->IOHandler);
if (EVEN(sts)) return sts;
/* Set subscription defaults for PLC job */
sts = gdh_SetSubscriptionDefaults(
(pwr_tInt32)(pp->PlcProcess->SubscriptionInterval * 1000.), 10000);
sec = pp->PlcProcess->SubscriptionInterval;
msec = (int)((pp->PlcProcess->SubscriptionInterval - sec) * 1000.);
errh_Info("Setting subscription defaults to %d.%03d seconds", sec, msec);
sts = gdh_ObjidToName(oid, pp->nodeName, sizeof(pp->nodeName), cdh_mNName);
if (EVEN(sts)) return sts;
init_grafcet(pp);
link_io_base_areas(pp);
return sts;
}
int XNav::getAllMenuItems( xmenu_sMenuCall *ip,
xmenu_sMenuItem **Item,
pwr_tObjid objid,
pwr_tUInt32 Level,
int *nItems,
int AddSeparator,
pwr_sAttrRef *CurrentObject)
{
int sts;
pwr_tCid classid;
pwr_tObjid child;
pwr_sMenuButton *mbp;
pwr_sMenuCascade *mcp;
pwr_sMenuRef *mrp;
pwr_tStatus (*filter)( xmenu_sMenuCall *);
int sensitive;
int i;
Level++;
memset(*Item, 0, sizeof(**Item));
if(AddSeparator) {
(*Item)->Level = Level;
(*Item)->Item = xmenu_eMenuItem_Separator;
(*Item)->MenuObject = pwr_cNObjid;
(*Item)++;
(*nItems)++;
}
else {
sts = gdh_GetObjectClass( objid, &classid);
if ( EVEN(sts)) return sts;
if ( classid == pwr_eClass_MenuButton) {
sts = gdh_ObjidToPointer( objid, (void **) &mbp);
if ( EVEN(sts)) return sts;
ip->ChosenItem = *nItems;
for ( i = 0; i < 5; i++) {
strcpy( (*Item)->FilterArguments[i], mbp->FilterArguments[i]);
}
// Call any filter method
(*Item)->CurrentObject = *CurrentObject;
sensitive = 1;
if ( strcmp( mbp->FilterName, "") != 0) {
sts = GetMethod( mbp->FilterName, &filter);
if ( ODD(sts)) {
sts = (filter) ( ip);
if ( sts == XNAV__INSENSITIVE)
sensitive = 0;
}
}
else
sts = XNAV__SUCCESS;
if ( ODD(sts)) {
(*Item)->Level = Level;
(*Item)->Item = xmenu_eMenuItem_Button;
(*Item)->MenuObject = objid;
(*Item)->Flags.f.Sensitive = sensitive;
if (strcmp( mbp->MethodName, "") == 0)
(*Item)->Flags.f.Sensitive = 0;
strcpy((*Item)->Name, mbp->ButtonName);
strcpy( (*Item)->Method, mbp->MethodName);
strcpy( (*Item)->Filter, mbp->FilterName);
for ( i = 0; i < 5; i++) {
strcpy( (*Item)->MethodArguments[i], mbp->MethodArguments[i]);
}
(*Item)++;
(*nItems)++;
}
}
else if ( classid == pwr_eClass_MenuSeparator) {
(*Item)->Level = Level;
(*Item)->Item = xmenu_eMenuItem_Separator;
(*Item)->MenuObject = objid;
(*Item)++;
(*nItems)++;
}
else if ( classid == pwr_eClass_MenuCascade) {
sts = gdh_ObjidToPointer( objid, (void **) &mcp);
if ( EVEN(sts)) return sts;
// Call any filter method
(*Item)->CurrentObject = *CurrentObject;
if ( strcmp( mcp->FilterName, "") != 0) {
sts = GetMethod( mcp->FilterName, &filter);
if ( ODD(sts)) {
sts = (filter) ( ip);
}
}
else
sts = XNAV__SUCCESS;
if ( ODD(sts)) {
(*Item)->Level = Level;
(*Item)->Item = xmenu_eMenuItem_Cascade;
(*Item)->Flags.f.Sensitive = 1;
strcpy((*Item)->Name, mcp->ButtonName);
(*Item)->MenuObject = objid;
(*Item)++;
(*nItems)++;
sts = gdh_GetChild( objid, &child);
while( ODD(sts)) {
sts = getAllMenuItems(ip, Item, child, Level, nItems, 0, CurrentObject);
if ( EVEN(sts)) return sts;
sts = gdh_GetNextSibling( child, &child);
}
}
}
else if ( classid == pwr_eClass_MenuRef &&
cdh_ObjidIsNull( CurrentObject->Objid)) {
pwr_tAName aname;
pwr_sAttrRef currentar;
pwr_tCid current_cid;
pwr_tTid a_tid;
pwr_tUInt32 a_size, a_offs, a_elem;
sts = gdh_ObjidToPointer( objid, (void **) &mrp);
if ( EVEN(sts)) return sts;
// Call any filter method
(*Item)->CurrentObject = *CurrentObject;
if ( strcmp( mrp->FilterName, "") != 0) {
sts = GetMethod( mrp->FilterName, &filter);
if ( ODD(sts)) {
sts = (filter) ( ip);
}
}
else
sts = XNAV__SUCCESS;
if ( ODD(sts)) {
int create_object_button = 0;
if ( strcmp( mrp->RefAttribute, "_SelfObject") == 0) {
// Object entry for attributes
char *s;
sts = gdh_AttrrefToName( &ip->Pointed, aname, sizeof(aname), cdh_mName_volumeStrict);
if ( EVEN(sts)) return sts;
if ( (s = strrchr( aname, '.')))
*s = 0;
sts = gdh_NameToAttrref( pwr_cNOid, aname, ¤tar);
if ( EVEN(sts)) return sts;
}
else {
sts = gdh_AttrrefToName( &ip->Pointed, aname, sizeof(aname), cdh_mName_volumeStrict);
if ( EVEN(sts)) return sts;
strcat( aname, ".");
strcat( aname, mrp->RefAttribute);
sts = gdh_GetAttributeCharacteristics( aname, &a_tid, &a_size,
&a_offs, &a_elem);
if ( ODD(sts)) {
switch ( a_tid) {
case pwr_eType_AttrRef:
sts = gdh_GetObjectInfo( aname, ¤tar, sizeof(currentar));
break;
case pwr_eType_Objid: {
pwr_tOid oid;
currentar = pwr_cNAttrRef;
sts = gdh_GetObjectInfo( aname, &oid, sizeof(oid));
currentar = cdh_ObjidToAref( oid);
break;
}
default:
sts = 0;
}
}
create_object_button = 0;
}
if ( ODD(sts) && cdh_ObjidIsNotNull( currentar.Objid)) {
(*Item)->Level = Level;
(*Item)->Item = xmenu_eMenuItem_Ref;
(*Item)->Flags.f.Sensitive = 1;
strcpy((*Item)->Name, mrp->ButtonName);
(*Item)->MenuObject = objid;
(*Item)++;
(*nItems)++;
// Create a label with current object name
sts = gdh_AttrrefToName( ¤tar, aname, sizeof(aname),
cdh_mNName);
if ( ODD(sts) && create_object_button) {
(*Item)->Level = Level;
(*Item)->Item = xmenu_eMenuItem_Button;
(*Item)->MenuObject = pwr_cNObjid;
strncpy((*Item)->Name, aname, sizeof((*Item)->Name));
(*Item)->Name[sizeof((*Item)->Name)-1] = 0;
(*Item)->MenuObject = pwr_cNObjid;
(*Item)->CurrentObject = currentar;
(*Item)->Flags.f.Sensitive = 1;
strcpy( (*Item)->Method, "$Object-OpenObject");
(*Item)++;
(*nItems)++;
}
sts = gdh_GetAttrRefTid( ¤tar, ¤t_cid);
if ( EVEN(sts)) return sts;
xmenu_eItemType item_type = ip->ItemType;
if ( currentar.Flags.b.Object)
ip->ItemType = xmenu_eItemType_Object;
else
ip->ItemType = xmenu_eItemType_AttrObject;
sts = GetObjectMenu(ip, current_cid, Item, Level, nItems, 0, ¤tar);
if ( EVEN(sts)) return sts;
ip->ItemType = item_type;
}
}
}
}
return XNAV__SUCCESS;
}
int XNav::GetObjectMenu( xmenu_sMenuCall *ip,
pwr_tCid classid,
xmenu_sMenuItem **Item,
pwr_tUInt32 Level,
int *nItems,
int AddSeparator,
pwr_sAttrRef *CurrentObject)
{
int sts;
pwr_tObjid child;
pwr_tObjid menu_objid;
char menu[80];
pwr_tOName classname;
pwr_sAttrRef currentar = pwr_cNAttrRef;
pwr_tCid supercid;
if ( cdh_ObjidIsNotNull( CurrentObject->Objid))
currentar = *CurrentObject;
if ( ip->ItemType == xmenu_eItemType_Object) {
// Popup-menu for an object
if ( !cdh_tidIsCid( classid))
return XNAV__SUCCESS;
// Get the RtXtt common menu-objects
strcpy( menu, "pwrs:Class-$Object-RtXtt");
sts = gdh_NameToObjid( menu, &menu_objid);
if ( ODD(sts)) {
sts = gdh_GetChild( menu_objid, &child);
while( ODD(sts)) {
sts = getAllMenuItems( ip, Item, child, Level, nItems, 0, ¤tar);
if ( EVEN(sts)) return sts;
sts = gdh_GetNextSibling( child, &child);
}
}
// Get the RtXtt menu-objects for superclasses
// TODO shadow overlayed methods...
sts = gdh_GetSuperClass( classid, &supercid, CurrentObject->Objid);
while ( ODD(sts)) {
sts = gdh_ObjidToName( cdh_ClassIdToObjid( supercid), classname,
sizeof(classname), cdh_mName_volumeStrict);
if ( EVEN(sts)) return sts;
sprintf( menu, "%s-RtXtt", classname);
sts = gdh_NameToObjid( menu, &menu_objid);
if ( ODD(sts)) {
sts = gdh_GetChild( menu_objid, &child);
while( ODD(sts)) {
sts = getAllMenuItems( ip, Item, child, 0, nItems, 0, ¤tar);
if ( EVEN(sts)) return sts;
sts = gdh_GetNextSibling( child, &child);
}
}
sts = gdh_GetSuperClass( supercid, &supercid, CurrentObject->Objid);
}
// Get the RtXtt menu-objects for this class, or for superclasses
sts = gdh_ObjidToName( cdh_ClassIdToObjid( classid), classname,
sizeof(classname), cdh_mName_volumeStrict);
if ( EVEN(sts)) return sts;
sprintf( menu, "%s-RtXtt", classname);
sts = gdh_NameToObjid( menu, &menu_objid);
if ( ODD(sts)) {
sts = gdh_GetChild( menu_objid, &child);
while( ODD(sts)) {
sts = getAllMenuItems( ip, Item, child, 0, nItems, 0, ¤tar);
if ( EVEN(sts)) return sts;
sts = gdh_GetNextSibling( child, &child);
}
}
}
else if ( ip->ItemType == xmenu_eItemType_AttrObject) {
// Find attribute object methods...
if ( !cdh_tidIsCid( classid))
return XNAV__SUCCESS;
// Get the RtXtt common menu-objects
strcpy( menu, "pwrs:Class-$Object-RtXttAttrObject");
sts = gdh_NameToObjid( menu, &menu_objid);
if ( ODD(sts)) {
sts = gdh_GetChild( menu_objid, &child);
while( ODD(sts)) {
sts = getAllMenuItems( ip, Item, child, 0, nItems, 0, ¤tar);
if ( EVEN(sts)) return sts;
sts = gdh_GetNextSibling( child, &child);
}
}
// Get the RtXtt menu-objects for this class
sts = gdh_ObjidToName( cdh_ClassIdToObjid( classid), classname,
sizeof(classname), cdh_mName_volumeStrict);
if ( EVEN(sts)) return sts;
sprintf( menu, "%s-RtXtt", classname);
sts = gdh_NameToObjid( menu, &menu_objid);
if ( ODD(sts)) {
sts = gdh_GetChild( menu_objid, &child);
while( ODD(sts)) {
sts = getAllMenuItems( ip, Item, child, 0, nItems, 0, ¤tar);
if ( EVEN(sts)) return sts;
sts = gdh_GetNextSibling( child, &child);
}
}
}
else if ( ip->ItemType == xmenu_eItemType_Attribute) {
// Find attribute methods...
// Get the RtXttAttribute common menu-objects
strcpy( menu, "pwrs:Class-$Object-RtXttAttribute");
sts = gdh_NameToObjid( menu, &menu_objid);
if ( ODD(sts)) {
sts = gdh_GetChild( menu_objid, &child);
while( ODD(sts)) {
sts = getAllMenuItems( ip, Item, child, 0, nItems, 0, ¤tar);
if ( EVEN(sts)) return sts;
sts = gdh_GetNextSibling( child, &child);
}
}
}
else if ( ip->ItemType == xmenu_eItemType_Crossref) {
// Find attribute methods...
// Get the RtXttCrossref common menu-objects
strcpy( menu, "pwrs:Class-$Object-RtXttCrossref");
sts = gdh_NameToObjid( menu, &menu_objid);
if ( ODD(sts)) {
sts = gdh_GetChild( menu_objid, &child);
while( ODD(sts)) {
sts = getAllMenuItems( ip, Item, child, 0, nItems, 0, ¤tar);
if ( EVEN(sts)) return sts;
sts = gdh_GetNextSibling( child, &child);
}
}
}
return XNAV__SUCCESS;
}
static void pwrsrv_Oid( rpvd_sMsgOid *msg)
{
rpvd_sMsgObject rmsg;
pwr_tOid fth;
pwr_tOid fch;
pwr_tOid lch;
pwr_tOid bws;
pwr_tOid fws;
pwr_tCid cid;
pwr_tObjName name;
pwr_tOid o;
pwr_tStatus sts;
pwr_tOid plist[200];
int psize = 0;
int i, j;
char *s;
rmsg.Type = rpvd_eMsg_Object;
rmsg.Id = msg->Id;
rmsg.Status = 1;
rmsg.Oid = msg->Oid;
sts = gdh_GetObjectClass( msg->Oid, &cid);
if ( EVEN(sts)) {
rmsg.Status = sts;
udp_Send( (char *)&rmsg, sizeof(rmsg));
return;
}
plist[psize++] = msg->Oid;
for ( sts = gdh_GetParent( plist[psize-1], &o);
ODD(sts);
sts = gdh_GetParent( plist[psize-1], &o)) {
plist[psize++] = o;
}
/* Add volume object */
plist[psize].oix = 0;
plist[psize++].vid = msg->Oid.vid;
for ( j = 0; j < psize; j++) {
i = psize - j - 1;
sts = gdh_GetObjectClass( plist[i], &cid);
if ( i == psize - 1) {
/* Volume object */
fth.oix = 0;
sts = gdh_GetRootList( &fch);
if ( EVEN(sts)) {
fch.oix = 0;
lch.oix = 0;
}
else {
sts = 1;
for ( lch = fch; ODD(sts); sts = gdh_GetNextSibling( lch, &o)) {
lch = o;
}
}
fws.oix = 0;
bws.oix = 0;
sts = gdh_ObjidToName( plist[i], name, sizeof(name), cdh_mName_volume);
if ( (s = strrchr( name, ':')))
*s = 0;
}
else {
sts = gdh_GetParent( plist[i], &fth);
if ( EVEN(sts))
fth.oix = 0;
sts = gdh_GetChild( plist[i], &fch);
if ( EVEN(sts)) {
fch.oix = 0;
lch.oix = 0;
}
else {
lch = fch;
for ( sts = gdh_GetNextSibling( lch, &o);
ODD(sts);
sts = gdh_GetNextSibling( lch, &o)) {
lch = o;
}
}
sts = gdh_GetNextSibling( plist[i], &fws);
if ( EVEN(sts))
fws.oix = rmsg.o[j-1].fchoix;
sts = gdh_GetPreviousSibling( plist[i], &bws);
if ( EVEN(sts))
bws.oix = rmsg.o[j-1].lchoix;
sts = gdh_ObjidToName( plist[i], name, sizeof(name), cdh_mName_object);
}
rmsg.o[j].oix = plist[i].oix;
rmsg.o[j].fthoix = fth.oix;
rmsg.o[j].fchoix = fch.oix;
rmsg.o[j].lchoix = lch.oix;
rmsg.o[j].fwsoix = fws.oix;
rmsg.o[j].bwsoix = bws.oix;
rmsg.o[j].cid = cid;
strcpy( rmsg.o[j].name, name);
}
rmsg.OSize = psize;
udp_Send( (char *)&rmsg, sizeof(rmsg));
}
/*----------------------------------------------------------------------------*\
Init method for the Pb_profiboard agent
\*----------------------------------------------------------------------------*/
static pwr_tStatus IoAgentInit (
io_tCtx ctx,
io_sAgent *ap
)
{
pwr_sClass_Pb_Profiboard *op;
pwr_tUInt16 sts;
pwr_tStatus status;
T_PROFI_DEVICE_HANDLE *hDevice;
io_sAgentLocal *local;
char ok;
pwr_tObjid slave_objid;
pwr_tClassId slave_class;
pwr_sClass_Pb_DP_Slave *sop;
char name[196];
struct timespec rqtp = {0, 20000000}; // 20 ms
int retry;
count=0;
/* Allocate area for local data structure */
ap->Local = calloc(1, sizeof(io_sAgentLocal));
if (!ap->Local) {
errh_Error( "ERROR config Profibus DP Master %s - %s", ap->Name, "calloc");
return IO__ERRINIDEVICE;
}
hDevice = (T_PROFI_DEVICE_HANDLE *) ap->Local;
local = (io_sAgentLocal *) ap->Local;
op = (pwr_sClass_Pb_Profiboard *) ap->op;
op->Status = PB__NOTINIT;
/* Initialize interface */
if (ctx->Node->Restarts > 0) {
nanosleep(&rqtp, NULL);
}
errh_Info( "Initializing interface for Profibus DP Master %s", ap->Name);
sts = profi_init(hDevice, (unsigned char) op->BusNumber - 1, 0, 0);
if (sts != E_OK)
{
/* Can't open driver */
op->Status = PB__INITFAIL;
errh_Error( "ERROR config Profibus DP Master %s - %s", ap->Name, "open device");
ctx->Node->EmergBreakTrue = 1;
return IO__ERRDEVICE;
}
/* If this is not the Profibus I/O process, return */
if ((op->Process & io_mProcess_Profibus) && (ctx->Process != io_mProcess_Profibus)) {
op->Status = PB__NOTINIT;
errh_Info( "Init template I/O agent for Profibus DP Master %s, %d", ap->Name, ctx->Process );
return IO__SUCCESS;
}
if (ctx->Node->Restarts > 0) {
errh_Info( "Warm restart - Skipping config of Profibus DP Master %s", ap->Name);
op->Status = PB__NORMAL;
// return IO__SUCCESS;
}
errh_Info( "Config of Profibus DP Master %s", ap->Name);
if (op->DisableBus != 1) {
ok = FALSE;
if (ctx->Node->Restarts == 0) {
retry = 0;
while (!ok) {
op->Status = PB__NOTINIT;
/* Set FMB configuration */
sts = fmb_set_configuration(hDevice, op);
if (!sts) {
op->Status = PB__INITFAIL;
errh_Error( "ERROR config Profibus DP Master %s - %s", ap->Name, "fmb set configuration");
retry++;
if (retry < 2) {
nanosleep(&rqtp, NULL);
continue;
}
return IO__ERRINIDEVICE;
}
/* Set DP master parameters */
sts = dp_init_master(hDevice);
if (!sts) {
op->Status = PB__INITFAIL;
errh_Error( "ERROR config Profibus DP Master %s - %s", ap->Name, "dp init master");
return IO__ERRINIDEVICE;
}
/* Download DP bus parameters */
sts = dp_download_bus(hDevice, op);
if (!sts) {
op->Status = PB__INITFAIL;
errh_Error( "ERROR config Profibus DP Master %s - %s", ap->Name, "dp download bus");
return IO__ERRINIDEVICE;
}
/* Loop through all slaves (traverse agent's children) and initialize them */
op->NumberSlaves = 0;
status = gdh_GetChild(ap->Objid, &slave_objid);
while (ODD(status)) {
status = gdh_GetObjectClass(slave_objid, &slave_class);
status = gdh_ObjidToPointer(slave_objid, (pwr_tAddress *) &sop);
status = gdh_ObjidToName(slave_objid, (char *) &name, sizeof(name), cdh_mNName);
errh_Info( "Download Profibus DP Slave config - %s", name );
status = dp_download_slave(hDevice, sop);
if (!status) {
errh_Error( "ERROR Init Profibus DP slave %s", name);
}
op->NumberSlaves++;
status = gdh_GetNextSibling(slave_objid, &slave_objid);
}
/* Calculate offsets of inputs and outputs for a slave */
status = gdh_GetChild(ap->Objid, &slave_objid);
while (ODD(status)) {
status = gdh_GetObjectClass(slave_objid, &slave_class);
status = gdh_ObjidToPointer(slave_objid, (pwr_tAddress *) &sop);
status = dp_io_offsets(hDevice, sop);
status = gdh_GetNextSibling(slave_objid, &slave_objid);
}
/* Move to STOP mode, this will fix the DPRAM layout */
sts = dp_act_param_loc(hDevice, DP_OP_MODE_STOP);
if (sts != E_OK) {
op->Status = PB__INITFAIL;
errh_Error( "ERROR config Profibus DP Master %s - %s", ap->Name, "act param loc to STOPPED");
return IO__ERRINIDEVICE;
}
ok = TRUE;
} /* End - While !ok */
} /* End - Initialization only if not restart */
/* else {
Move to STOP mode, this will fix the DPRAM layout
sts = dp_act_param_loc(hDevice, DP_OP_MODE_STOP);
if (sts != E_OK) {
op->Status = PB__INITFAIL;
errh_Error( "ERROR config Profibus DP Master %s - %s", ap->Name, "act param loc to STOPPED");
return IO__ERRINIDEVICE;
}
} */
}
else
op->Status = PB__DISABLED;
return IO__SUCCESS;
}
