Exemple #1
0
static eOresult_t s_eom_emsdiscoverylistener_Connect(EOMtheEMSdiscoverylistener* p, eOipv4addr_t remaddr)
{
    eOresult_t res = eores_OK;
    

    if((eobool_false == p->connected2host) || (remaddr != p->hostaddress))
    {
        p->connected2host = eobool_false;
        p->hostaddress    = remaddr;
        
        res = eom_ipnet_ResolveIP(eom_ipnet_GetHandle(), remaddr, 5*EOK_reltime1sec);
 
        if(eores_OK != res)
        {
            return(res);
        }
        p->connected2host = eobool_true;        
    }
    
    return(eores_OK);   
}
Exemple #2
0
extern void eom_emstransceiver_callback_incaseoferror_in_sequencenumberReceived(EOreceiver *receiver)
{   // the only reason of using the following two variables as static is: to reduce the use of stack.
    static int64_t delta = 0;
    static eOerrmanDescriptor_t errdes = 
    {
        .code           = EOERRORCODE(eoerror_category_System, eoerror_value_SYS_transceiver_rxseqnumber_error),
        .sourcedevice   = eo_errman_sourcedevice_localboard,
        .sourceaddress  = 0,
        .par16          = 0,
        .par64          = 0
    };
    
    const eOreceiver_seqnum_error_t *err = eo_receiver_GetSequenceNumberError(receiver); 
    
    if(NULL == err)
    {
        errdes.code  = EOERRORCODE(eoerror_category_System, eoerror_value_SYS_runtimeerror);
        errdes.par64 = 0x123467fabc222;
        errdes.par16 = 1;       
        eo_errman_Error(eo_errman_GetHandle(), eo_errortype_warning, NULL, NULL, &errdes);   
        return;        
    }
    
    if(1 == err->rec_seqnum)
    {
        // it is the first packet received from a remote transmitter freshly initted (i.e., robotInterface has just re-started bu this board was alive well before)
        // thus, we dont issue an error but an info: 
        errdes.code  = EOERRORCODE(eoerror_category_System, eoerror_value_SYS_transceiver_rxseqnumber_restarted);
        errdes.par64 = err->exp_seqnum;
        errdes.par16 = 1;       
        eo_errman_Error(eo_errman_GetHandle(), eo_errortype_info, NULL, NULL, &errdes);   
        
        // ok, now we must set back the error code as it is normal.
        errdes.code = EOERRORCODE(eoerror_category_System, eoerror_value_SYS_transceiver_rxseqnumber_error);
    }  
    else
    {    
        delta = err->rec_seqnum - err->exp_seqnum;
        if(delta > INT16_MAX)       delta = INT16_MAX;  //32767
        else if(delta < INT16_MIN)  delta = INT16_MIN;  //-32768;
        
        errdes.code             = EOERRORCODE(eoerror_category_System, eoerror_value_SYS_transceiver_rxseqnumber_error);
        errdes.par16            = (int16_t)delta; 
        errdes.par64            = err->exp_seqnum; 
        eo_errman_Error(eo_errman_GetHandle(), eo_errortype_error, NULL, NULL, &errdes);
    }
}


extern void eom_emstransceiver_callback_incaseoferror_invalidframe(EOreceiver *receiver)
{  
    static eOerrmanDescriptor_t errdesinvframe = 
    {
        .code           = EOERRORCODE(eoerror_category_System, eoerror_value_SYS_transceiver_rxinvalidframe_error),
        .sourcedevice   = eo_errman_sourcedevice_localboard,
        .sourceaddress  = 0,
        .par16          = 0,
        .par64          = 0
    };

    eo_errman_Error(eo_errman_GetHandle(), eo_errortype_error, NULL, NULL, &errdesinvframe);
}


// --------------------------------------------------------------------------------------------------------------------
// - definition of extern hidden functions 
// --------------------------------------------------------------------------------------------------------------------




// --------------------------------------------------------------------------------------------------------------------
// - definition of static functions 
// --------------------------------------------------------------------------------------------------------------------


/** @fn         static void s_eom_emsappl_main_init(void)
    @brief      It initialises the emsappl 
    @details    bla bla bla.
 **/

static void s_eom_emsappl_main_init(void)
{      
    // init leds via the EOtheLEDpulser object
    eOledpulser_cfg_t ledpulsercfg =  
    {
        .led_enable_mask    = (1 << eo_ledpulser_led_zero | 1 << eo_ledpulser_led_one | 1 << eo_ledpulser_led_two | 1 << eo_ledpulser_led_three | 1 << eo_ledpulser_led_four | 1 << eo_ledpulser_led_five),
        .led_init           = (eOint8_fp_uint8_cvoidp_t) hal_led_init,
        .led_on             = (eOint8_fp_uint8_t) hal_led_on,
        .led_off            = (eOint8_fp_uint8_t) hal_led_off,
        .led_toggle         = (eOint8_fp_uint8_t) hal_led_toggle
    };

    eo_ledpulser_Initialise(&ledpulsercfg);
    
    
    // init the ems application
    EOMtheEMSapplCfg* emscfg = eom_emsapplcfg_GetHandle();    
    eom_emsappl_Initialise(&emscfg->applcfg);
      
    // set the led reserved for link
    if(eores_OK == eom_ipnet_ResolveIP(eom_ipnet_GetHandle(), emscfg->applcfg.hostipv4addr, 5*EOK_reltime100ms))
    {
        // set led0 to ON
       eo_ledpulser_On(eo_ledpulser_GetHandle(), eo_ledpulser_led_zero);
    }
    else
    {
        eo_ledpulser_Off(eo_ledpulser_GetHandle(), eo_ledpulser_led_zero);
    }
}