//------------------------------------------------------------------------------
void SdoDialog::userDefEvent(void* pUserArg_p)
{
tSdoComConHdl SdoComConHdl;
tObdSize obdSize;
tOplkError ret;
obdSize = data.size();
if (pUserArg_p == readButton)
{
ret = oplk_readObject(&SdoComConHdl, targetNodeId,
targetIndex, targetSubindex,
data.data(), &obdSize,
(tSdoType) sdoType, NULL);
if (ret == kErrorApiTaskDeferred)
{ // SDO transfer started
return;
}
else if (ret == kErrorOk)
{ // local OD access
data.resize(obdSize);
emit sigUpdateData("Successfully read from local OD");
}
else
{
data.resize(0);
emit sigUpdateData(QString("Error 0x%1: %2")
.arg(ret, 0, 16)
.arg(debugstr_getRetValStr(ret)));
}
}
else if (pUserArg_p == writeButton)
{
ret = oplk_writeObject(&SdoComConHdl, targetNodeId,
targetIndex, targetSubindex,
data.data(), obdSize,
(tSdoType) sdoType, NULL);
if (ret == kErrorApiTaskDeferred)
{ // SDO transfer started
return;
}
else if (ret == kErrorOk)
{ // local OD access
data.resize(obdSize);
emit sigUpdateData("Successfully written to local OD");
}
else
{
data.resize(0);
emit sigUpdateData(QString("Error 0x%1: %2")
.arg(ret, 0, 16)
.arg(debugstr_getRetValStr(ret)));
}
}
}
//------------------------------------------------------------------------------
tOplkError ProcessThread::processNodeEvent(tOplkApiEventType eventType_p,
tOplkApiEventArg* pEventArg_p,
void* pUserArg_p)
{
tOplkApiEventNode* pNode = &pEventArg_p->nodeEvent;
tOplkError ret = kErrorOk;
UNUSED_PARAMETER(eventType_p);
UNUSED_PARAMETER(pUserArg_p);
// printf("AppCbEvent(Node): NodeId=%u Event=0x%02X\n",
// pEventArg_p->nodeEvent.nodeId, pEventArg_p->nodeEvent.nodeEvent);
// check additional argument
switch (pEventArg_p->nodeEvent.nodeEvent)
{
case kNmtNodeEventCheckConf:
#if !defined(CONFIG_INCLUDE_CFM)
// Configuration Manager is not available,
// so configure CycleLen (object 0x1006) on CN
tSdoComConHdl SdoComConHdl;
// update object 0x1006 on CN
ret = oplk_writeObject(&SdoComConHdl, pEventArg_p->nodeEvent.nodeId,
0x1006, 0x00, &cycleLen_g, 4,
kSdoTypeAsnd, NULL);
if (ret == kErrorApiTaskDeferred)
{ // SDO transfer started
ret = kErrorReject;
}
else if (ret == kErrorOk)
{ // local OD access (should not occur)
printf("AppCbEvent(Node) write to local OD\n");
}
else
{ // error occured
ret = oplk_freeSdoChannel(SdoComConHdl);
SdoComConHdl = 0;
ret = oplk_writeObject(&SdoComConHdl, pEventArg_p->nodeEvent.nodeId,
0x1006, 0x00, &cycleLen_g, 4,
kSdoTypeAsnd, NULL);
if (ret == kErrorApiTaskDeferred)
{ // SDO transfer started
ret = kErrorReject;
}
else
{
printf("AppCbEvent(Node): oplk_writeObject() returned 0x%03X", ret);
}
}
#endif
sigPrintLog(QString("Node Event: (Node=%2, CheckConf)")
.arg(pEventArg_p->nodeEvent.nodeId, 0, 10));
break;
case kNmtNodeEventUpdateConf:
sigPrintLog(QString("Node Event: (Node=%1, UpdateConf)")
.arg(pEventArg_p->nodeEvent.nodeId, 0, 10));
break;
case kNmtNodeEventFound:
pProcessThread_g->sigNodeAppeared(pEventArg_p->nodeEvent.nodeId);
break;
case kNmtNodeEventNmtState:
switch (pEventArg_p->nodeEvent.nmtState)
{
case kNmtGsOff:
case kNmtGsInitialising:
case kNmtGsResetApplication:
case kNmtGsResetCommunication:
case kNmtGsResetConfiguration:
case kNmtCsNotActive:
pProcessThread_g->sigNodeDisappeared(pEventArg_p->nodeEvent.nodeId);
break;
case kNmtCsPreOperational1:
case kNmtCsPreOperational2:
case kNmtCsReadyToOperate:
pProcessThread_g->sigNodeAppeared(pEventArg_p->nodeEvent.nodeId);
pProcessThread_g->sigNodeStatus(pEventArg_p->nodeEvent.nodeId, 1);
break;
case kNmtCsOperational:
pProcessThread_g->sigNodeAppeared(pEventArg_p->nodeEvent.nodeId);
pProcessThread_g->sigNodeStatus(pEventArg_p->nodeEvent.nodeId, 2);
break;
case kNmtCsBasicEthernet:
case kNmtCsStopped:
default:
pProcessThread_g->sigNodeStatus(pEventArg_p->nodeEvent.nodeId, -1);
break;
}
break;
case kNmtNodeEventError:
pProcessThread_g->sigNodeStatus(pEventArg_p->nodeEvent.nodeId, -1);
sigPrintLog(QString("AppCbEvent (Node=%1): Error = %2 (0x%3)")
.arg(pEventArg_p->nodeEvent.nodeId, 0, 10)
.arg(debugstr_getEmergErrCodeStr(pEventArg_p->nodeEvent.errorCode))
.arg(pEventArg_p->nodeEvent.errorCode, 4, 16, QLatin1Char('0')));
break;
case kNmtNodeEventAmniReceived:
sigPrintLog(QString("AppCbEvent (Node=%1): received ActiveManagingNodeIndication")
.arg(pEventArg_p->nodeEvent.nodeId, 0, 10));
break;
default:
break;
}
return kErrorOk;
}
//------------------------------------------------------------------------------
static tFirmwareRet transmitFirmware(tFirmwareUpdateTransmissionInfo* pInfo_p)
{
tFirmwareRet ret = kFwReturnOk;
tOplkError oplkRet;
if (pInfo_p->fTranmissionActive)
{
goto EXIT;
}
if (!isTransmissionAllowed(pInfo_p))
{
FWM_TRACE("Postpone update for node: %u index: 0x%x subindex: 0x%x\n",
pInfo_p->pUpdateList->nodeId, pInfo_p->pUpdateList->index,
pInfo_p->pUpdateList->subindex);
goto EXIT;
}
FWM_TRACE("Start update for node: %u index: 0x%x subindex: 0x%x\n",
pInfo_p->pUpdateList->nodeId, pInfo_p->pUpdateList->index,
pInfo_p->pUpdateList->subindex);
ret = firmwarestore_loadData(pInfo_p->pUpdateList->pStoreHandle);
if (ret != kFwReturnOk)
{
FWM_ERROR("Loading image for transmission failed with %d and errno %d\n",
ret, errno);
goto EXIT;
}
ret = firmwarestore_getData(pInfo_p->pUpdateList->pStoreHandle,
&pInfo_p->pFirmwareImage,
&pInfo_p->firmwareSize);
if (ret != kFwReturnOk)
{
FWM_ERROR("Getting the image for transmission failed with %d and errno %d\n",
ret, errno);
goto EXIT;
}
oplkRet = oplk_writeObject(&pInfo_p->sdoComCon,
pInfo_p->pUpdateList->nodeId,
pInfo_p->pUpdateList->index,
pInfo_p->pUpdateList->subindex,
pInfo_p->pFirmwareImage,
(UINT)pInfo_p->firmwareSize,
FIRMWARE_UPDATE_SDO_TYPE,
&instance_l);
if ((oplkRet != kErrorApiTaskDeferred) && (pInfo_p->sdoComCon != FIRMWARE_UPDATE_INVALID_SDO))
{
FWM_ERROR("Writing the firmware object failed with 0x%X\n", oplkRet);
ret = kFwReturnSdoWriteFailed;
goto EXIT;
}
instance_l.numberOfStartedTransmissions++;
pInfo_p->fTranmissionActive = TRUE;
EXIT:
if (ret != kFwReturnOk)
{
firmwarestore_flushData(pInfo_p->pUpdateList->pStoreHandle);
}
return ret;
}
