//------------------------------------------------------------------------------
static tOplkError loopMain(tInstance* pInstance_p)
{
tOplkError ret = kErrorOk;
// start processing
if ((ret = oplk_execNmtCommand(kNmtEventSwReset)) != kErrorOk)
return ret;
while (1)
{
// do background tasks
if ((ret = oplk_process()) != kErrorOk)
break;
// trigger switch off
if (pInstance_p->fShutdown != FALSE)
{
oplk_execNmtCommand(kNmtEventSwitchOff);
// reset shutdown flag to generate only one switch off command
pInstance_p->fShutdown = FALSE;
}
// exit loop if NMT is in off state
if (pInstance_p->fGsOff != FALSE)
break;
}
return ret;
}
//------------------------------------------------------------------------------
static tOplkError loopMain(tInstance* pInstance_p)
{
tOplkError ret = kErrorOk;
// start processing
if ((ret = oplk_execNmtCommand(kNmtEventSwReset)) != kErrorOk)
return ret;
while (1)
{
// do background tasks
if ((ret = oplk_process()) != kErrorOk)
break;
if (oplk_checkKernelStack() == FALSE)
{
PRINTF("Kernel stack has gone! Exiting...\n");
instance_l.fShutdown = TRUE;
}
// trigger switch off
if (pInstance_p->fShutdown != FALSE)
{
oplk_execNmtCommand(kNmtEventSwitchOff);
// reset shutdown flag to generate only one switch off command
pInstance_p->fShutdown = FALSE;
}
// exit loop if NMT is in off state
if (pInstance_p->fGsOff != FALSE)
break;
switch (gpio_getAppInput())
{
case 0x01:
PRINTF("KEY0: SwReset\n");
lcd_printText("KEY0: SwReset", 2);
ret = oplk_execNmtCommand(kNmtEventSwReset);
break;
case 0x02:
PRINTF("KEY1: SwitchOff\n");
lcd_printText("KEY1: SwitchOff", 2);
ret = oplk_execNmtCommand(kNmtEventSwitchOff);
break;
default:
break;
}
while (gpio_getAppInput() != 0);
}
return ret;
}
//------------------------------------------------------------------------------
static void shutdownPowerlink(void)
{
UINT i;
// NMT_GS_OFF state has not yet been reached
fGsOff_l = FALSE;
#if !defined(CONFIG_KERNELSTACK_DIRECTLINK) && defined(CONFIG_USE_SYNCTHREAD)
system_stopSyncThread();
system_msleep(100);
#endif
// halt the NMT state machine so the processing of POWERLINK frames stops
oplk_execNmtCommand(kNmtEventSwitchOff);
// small loop to implement timeout waiting for thread to terminate
for (i = 0; i < 1000; i++)
{
if (fGsOff_l)
break;
}
printf("Stack is in state off ... Shutdown\n");
oplk_shutdown();
}
/**
********************************************************************************
\brief Destructor
Destructs a POWERLINK object.
*******************************************************************************/
Api::~Api()
{
tOplkError ret;
ret = oplk_execNmtCommand(kNmtEventSwitchOff);
pProcessThread->waitForNmtStateOff();
ret = oplk_freeProcessImage();
ret = oplk_shutdown();
}
//------------------------------------------------------------------------------
static tOplkError loopMain(tInstance* pInstance_p)
{
tOplkError ret = kErrorOk;
UINT checkStack = 0;
// start processing
if ((ret = oplk_execNmtCommand(kNmtEventSwReset)) != kErrorOk)
return ret;
while (1)
{
// do background tasks
if ((ret = oplk_process()) != kErrorOk)
break;
// check the kernel part from time to time
if (checkStack++ >= CHECK_KERNEL_TIMEOUT)
{
checkStack = 0;
if (oplk_checkKernelStack() == FALSE)
{
PRINTF("Kernel stack has gone! Exiting...\n");
instance_l.fShutdown = TRUE;
}
}
// trigger switch off
if (pInstance_p->fShutdown != FALSE)
{
oplk_execNmtCommand(kNmtEventSwitchOff);
// reset shutdown flag to generate only one switch off command
pInstance_p->fShutdown = FALSE;
}
// exit loop if NMT is in off state
if (pInstance_p->fGsOff != FALSE)
break;
}
return ret;
}
/**
********************************************************************************
\brief Destructor
Destructs a POWERLINK object.
*******************************************************************************/
Api::~Api()
{
tOplkError ret;
pDataInOutThread->stop();
pDataInOutThread->wait(100); // wait until thread terminates (max 100ms)
ret = oplk_execNmtCommand(kNmtEventSwitchOff);
pProcessThread->waitForNmtStateOff();
ret = oplk_freeProcessImage();
ret = oplk_destroy();
oplk_exit();
}
//------------------------------------------------------------------------------
static void loopMain(void)
{
tOplkError ret = kErrorOk;
char cKey = 0;
BOOL fExit = FALSE;
#if !defined(CONFIG_KERNELSTACK_DIRECTLINK)
#if defined(CONFIG_USE_SYNCTHREAD)
system_startSyncThread(processSync);
#endif
#endif
// start stack processing by sending a NMT reset command
ret = oplk_execNmtCommand(kNmtEventSwReset);
if (ret != kErrorOk)
{
return;
}
printf("\n-------------------------------\n");
printf("Press Esc to leave the program\n");
printf("Press r to reset the node\n");
printf("-------------------------------\n\n");
while (!fExit)
{
if (console_kbhit())
{
cKey = (char)console_getch();
switch (cKey)
{
case 'r':
ret = oplk_execNmtCommand(kNmtEventSwReset);
if (ret != kErrorOk)
{
fExit = TRUE;
}
break;
case 'c':
ret = oplk_execNmtCommand(kNmtEventNmtCycleError);
if (ret != kErrorOk)
{
fExit = TRUE;
}
break;
case 0x1B:
fExit = TRUE;
break;
default:
break;
}
}
if (system_getTermSignalState() == TRUE)
{
fExit = TRUE;
printf("Received termination signal, exiting...\n");
}
if (oplk_checkKernelStack() == FALSE)
{
fExit = TRUE;
fprintf(stderr, "Kernel stack has gone! Exiting...\n");
}
#if defined(CONFIG_USE_SYNCTHREAD) || defined(CONFIG_KERNELSTACK_DIRECTLINK)
system_msleep(100);
#else
processSync();
#endif
}
#if (TARGET_SYSTEM == _WIN32_)
printf("Press Enter to quit!\n");
console_getch();
#endif
}
//------------------------------------------------------------------------------
static void loopMain(void)
{
tOplkError ret = kErrorOk;
char cKey = 0;
BOOL fExit = FALSE;
#if !defined(CONFIG_KERNELSTACK_DIRECTLINK)
#if defined(CONFIG_USE_SYNCTHREAD)
system_startSyncThread(processSync);
#endif
#endif
// start processing
ret = oplk_execNmtCommand(kNmtEventSwReset);
if (ret != kErrorOk)
{
return;
}
printf("start POWERLINK Stack... ok\n");
printf("Digital I/O interface with openPOWERLINK is ready!\n");
printf("\n-------------------------------\n");
printf("Press Esc to leave the programm\n");
printf("Press r to reset the node\n");
printf("Press i to increase digital input\n");
printf("Press d to decrease digital input\n");
printf("Press p to print digital outputs\n");
printf("-------------------------------\n\n");
setupInputs();
// wait for key hit
while (!fExit)
{
if (console_kbhit())
{
cKey = (BYTE)console_getch();
switch (cKey)
{
case 'r':
ret = oplk_execNmtCommand(kNmtEventSwReset);
if (ret != kErrorOk)
{
fExit = TRUE;
}
break;
case 'i':
increaseInputs();
break;
case 'd':
decreaseInputs();
break;
case 'p':
printOutputs();
break;
case 0x1B:
fExit = TRUE;
break;
default:
break;
}
}
if (system_getTermSignalState() == TRUE)
{
fExit = TRUE;
printf("Received termination signal, exiting...\n");
}
if (oplk_checkKernelStack() == FALSE)
{
fExit = TRUE;
fprintf(stderr, "Kernel stack has gone! Exiting...\n");
}
#if defined(CONFIG_USE_SYNCTHREAD) || defined(CONFIG_KERNELSTACK_DIRECTLINK)
system_msleep(100);
#else
processSync();
#endif
}
#if (TARGET_SYSTEM == _WIN32_)
printf("Press Enter to quit!\n");
console_getch();
#endif
return;
}
//------------------------------------------------------------------------------
Api::Api(MainWindow* pMainWindow_p, UINT nodeId_p, QString devName_p)
{
tOplkError ret;
State* pState;
Output* pOutput;
Input* pInput;
CnState* pCnState;
pState = pMainWindow_p->getStateWidget();
pOutput = pMainWindow_p->getOutputWidget();
pInput = pMainWindow_p->getInputWidget();
pCnState = pMainWindow_p->getCnStateWidget();
pProcessThread = new ProcessThread(pMainWindow_p);
QObject::connect(pProcessThread, SIGNAL(oplkStatusChanged(int)),
pState, SLOT(setStatusLed(int)));
QObject::connect(pProcessThread, SIGNAL(nmtStateChanged(const QString&)),
pState, SLOT(setNmtStateText(const QString &)));
QObject::connect(pProcessThread, SIGNAL(nodeAppeared(int)),
pInput, SLOT(addNode(int)));
QObject::connect(pProcessThread, SIGNAL(allNodesRemoved()),
pInput, SLOT(removeAllNodes()));
QObject::connect(pProcessThread, SIGNAL(nodeDisappeared(int)),
pInput, SLOT(removeNode(int)));
QObject::connect(pProcessThread, SIGNAL(nodeAppeared(int)),
pOutput, SLOT(addNode(int)));
QObject::connect(pProcessThread, SIGNAL(nodeDisappeared(int)),
pOutput, SLOT(removeNode(int)));
QObject::connect(pProcessThread, SIGNAL(allNodesRemoved()),
pOutput, SLOT(removeAllNodes()));
QObject::connect(pProcessThread, SIGNAL(nodeAppeared(int)),
pCnState, SLOT(addNode(int)));
QObject::connect(pProcessThread, SIGNAL(nodeDisappeared(int)),
pCnState, SLOT(removeNode(int)));
QObject::connect(pProcessThread, SIGNAL(allNodesRemoved()),
pCnState, SLOT(removeAllNodes()));
QObject::connect(pProcessThread, SIGNAL(nodeStatusChanged(int, int)),
pCnState, SLOT(setState(int, int)));
QObject::connect(pProcessThread, SIGNAL(printLog(const QString&)),
pMainWindow_p, SLOT(printlog(const QString&)));
pDataInOutThread = new DataInOutThread;
QObject::connect(pDataInOutThread, SIGNAL(processImageOutChanged(int, int)),
pOutput, SLOT(setValue(int, int)));
QObject::connect(pDataInOutThread, SIGNAL(processImageInChanged(int, int)),
pInput, SLOT(setLeds(int, int)));
OPLK_MEMSET(&initParam, 0, sizeof(initParam));
initParam.sizeOfInitParam = sizeof(initParam);
initParam.nodeId = nodeId_p;
initParam.ipAddress = (IP_ADDR & 0xFFFFFF00) | initParam.nodeId;
initParam.fAsyncOnly = FALSE;
initParam.featureFlags = UINT_MAX;
initParam.cycleLen = CYCLE_LEN; // required for error detection
initParam.isochrTxMaxPayload = 256; // const
initParam.isochrRxMaxPayload = 256; // const
initParam.presMaxLatency = 50000; // const; only required for IdentRes
initParam.preqActPayloadLimit = 36; // required for initialisation (+28 bytes)
initParam.presActPayloadLimit = 36; // required for initialisation of Pres frame (+28 bytes)
initParam.asndMaxLatency = 150000; // const; only required for IdentRes
initParam.multiplCylceCnt = 0; // required for error detection
initParam.asyncMtu = 1500; // required to set up max frame size
initParam.prescaler = 2; // required for sync
initParam.lossOfFrameTolerance = 500000;
initParam.asyncSlotTimeout = 3000000;
initParam.waitSocPreq = 150000;
initParam.deviceType = UINT_MAX; // NMT_DeviceType_U32
initParam.vendorId = UINT_MAX; // NMT_IdentityObject_REC.VendorId_U32
initParam.productCode = UINT_MAX; // NMT_IdentityObject_REC.ProductCode_U32
initParam.revisionNumber = UINT_MAX; // NMT_IdentityObject_REC.RevisionNo_U32
initParam.serialNumber = UINT_MAX; // NMT_IdentityObject_REC.SerialNo_U32
initParam.subnetMask = SUBNET_MASK;
initParam.defaultGateway = DEFAULT_GATEWAY;
sprintf((char*)initParam.sHostname, "%02x-%08x", initParam.nodeId, initParam.vendorId);
initParam.syncNodeId = C_ADR_SYNC_ON_SOA;
initParam.fSyncOnPrcNode = FALSE;
// set callback functions
initParam.pfnCbEvent = pProcessThread->getEventCbFunc();
/* write 00:00:00:00:00:00 to MAC address, so that the driver uses the real hardware address */
OPLK_MEMCPY(initParam.aMacAddress, abMacAddr, sizeof(initParam.aMacAddress));
// Copy the selected interface string to a local variable
strcpy(devName_g, devName_p.toStdString().c_str());
initParam.hwParam.pDevName = devName_g;
#if defined(CONFIG_KERNELSTACK_DIRECTLINK)
initParam.pfnCbSync = pDataInOutThread->getSyncCbFunc();
#else
initParam.pfnCbSync = NULL;
#endif
// init POWERLINK
ret = oplk_init(&initParam);
if (ret != kErrorOk)
{
QMessageBox::critical(0, "POWERLINK demo",
QString("Initialization of openPOWERLINK Stack failed.\n") +
"Error code: 0x"+ QString::number(ret, 16) +
"\nThe most common error source are an unsupported Ethernet controller or the kernel module is not loaded."
"\nFor further information please consult the manual.");
goto Exit;
}
ret = oplk_setCdcFilename(pszCdcFilename_g);
if (ret != kErrorOk)
{
goto Exit;
}
ret = pDataInOutThread->setupProcessImage();
if (ret != kErrorOk)
{
QMessageBox::critical(0, "POWERLINK demo",
QString("Initialization of process image failed.\n") +
"Error code: 0x"+ QString::number(ret, 16));
goto Exit;
}
// start the openPOWERLINK stack
ret = oplk_execNmtCommand(kNmtEventSwReset);
// start process thread
pProcessThread->start();
#if !defined(CONFIG_KERNELSTACK_DIRECTLINK)
// start data in out thread
pDataInOutThread->start();
#endif
Exit:
return;
}
