//------------------------------------------------------------------------------
static tOplkError processNmtEvent(tEvent* pEvent_p)
{
tOplkError Ret = kErrorOk;
tNmtEvent* pNmtEvent;
tNmtState NmtState;
pNmtEvent = (tNmtEvent*)pEvent_p->eventArg.pEventArg;
switch (*pNmtEvent)
{
case kNmtEventDllCeSoa:
// do preprocessing for next cycle
NmtState = dllkInstance_g.nmtState;
#if (CONFIG_DLL_PROCESS_SYNC == DLL_PROCESS_SYNC_ON_SOA)
if (dllkInstance_g.dllState != kDllGsInit)
{ // cyclic state is active, so preprocessing is necessary
Ret = processSync(NmtState);
}
// BENCHMARK_MOD_02_TOGGLE(7);
#endif
Ret = processCycleFinish(NmtState);
break;
default:
break;
}
return Ret;
}
void pdsp::ClockedPhazor::process(int bufferSize) noexcept {
phaseOffset = processAndGetSingleValue(input_phase, 0);
division = processAndGetSingleValue(input_division, 0);
if (input_trig.isConnected()) {
processTrigger(bufferSize);
}else{
processSync(bufferSize);
}
}
static bool processWhenSynchronized(pulseProcessor_t *state, int sensor, unsigned int timestamp, unsigned int width, pulseProcessorResult_t angles[], int *baseStation, int *axis) {
bool anglesMeasured = false;
if (isSweep(state, timestamp, width)) {
storeSweepData(state, sensor, timestamp);
} else {
anglesMeasured = processSync(state, timestamp, width, angles, baseStation, axis);
}
return anglesMeasured;
}
void DSDDstar::process()
{
if (m_frameType == DStarVoiceFrame)
{
processVoice();
}
else if (m_frameType == DStarDataFrame)
{
processData();
}
else if (m_frameType == DStarSyncFrame)
{
processSync();
}
}
//------------------------------------------------------------------------------
static tOplkError processCycleFinish(tNmtState nmtState_p)
{
tOplkError ret = kErrorOk;
ret = dllkframe_updateFrameAsyncRes(nmtState_p);
if (ret != kErrorOk)
goto Exit;
ret = errhndk_decrementCounters(NMT_IF_ACTIVE_MN(nmtState_p));
#if defined(CONFIG_INCLUDE_NMT_MN)
if (dllkInstance_g.dllState > kDllMsNonCyclic)
{
if (dllkInstance_g.dllConfigParam.syncNodeId == C_ADR_SYNC_ON_SOC)
{ // cyclic state is active, so preprocessing is necessary
ret = processSync(nmtState_p);
}
}
#endif
Exit:
return ret;
}
//------------------------------------------------------------------------------
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;
}
//------------------------------------------------------------------------------
tOplkError dllk_process(tEvent* pEvent_p)
{
tOplkError ret = kErrorOk;
tEventNmtStateChange* pNmtStateChange;
switch (pEvent_p->eventType)
{
case kEventTypeNmtStateChange:
pNmtStateChange = (tEventNmtStateChange*)pEvent_p->eventArg.pEventArg;
ret = processNmtStateChange(pNmtStateChange->newNmtState,
pNmtStateChange->oldNmtState,
pNmtStateChange->nmtEvent);
break;
case kEventTypeNmtEvent:
ret = processNmtEvent(pEvent_p);
break;
case kEventTypeDllkFillTx:
ret = processFillTx(*((tDllAsyncReqPriority*)pEvent_p->eventArg.pEventArg),
dllkInstance_g.nmtState);
break;
case kEventTypeDllkFlag1:
// trigger update of StatusRes on SoA, because Flag 1 was changed
if (dllkInstance_g.updateTxFrame == DLLK_UPDATE_NONE)
dllkInstance_g.updateTxFrame = DLLK_UPDATE_STATUS;
break;
case kEventTypeDllkCycleFinish:
ret = processCycleFinish(dllkInstance_g.nmtState);
break;
case kEventTypeSync:
ret = processSync(dllkInstance_g.nmtState);
break;
#if defined(CONFIG_INCLUDE_NMT_MN)
case kEventTypeDllkStartReducedCycle:
ret = processStartReducedCycle();
break;
#if defined(CONFIG_INCLUDE_PRES_FORWARD)
case kEventTypeRequPresForward:
ret = requestPresForward(*((UINT*)pEvent_p->eventArg.pEventArg));
break;
#endif
#endif
#if CONFIG_DLL_PRES_READY_AFTER_SOA != FALSE
case kEventTypeDllkPresReady:
ret = processPresReady(dllkInstance_g.nmtState);
break;
#endif
default:
ret = kErrorInvalidEvent;
ASSERTMSG(ret != kErrorInvalidEvent, "dllk_process(): unhandled event type!\n");
break;
}
return ret;
}
int sageDisplayManager::parseEvent(sageEvent *event)
{
if (!event) {
sage::printLog("sageDisplayManager::parseEvent : event object is Null");
return -1;
}
switch (event->eventType) {
case EVENT_NEW_CONNECTION : {
initStreams(event->eventMsg, (streamProtocol *)event->param);
break;
}
case EVENT_NEW_MESSAGE : {
parseMessage((sageMessage *)event->param);
break;
}
case EVENT_SYNC_MESSAGE : {
//processSync((char *)event->eventMsg);
processSync( event );
break;
}
case EVENT_REFRESH_SCREEN : {
if (shared->displayObj->isDirty())
shared->displayObj->updateScreen(shared, false);
if (shared->context)
shared->context->checkEvent();
break;
}
case EVENT_READ_BLOCK : {
int instID = atoi((char *)event->eventMsg);
if (0 > instID) break;
int index;
pixelDownloader* temp_app = findApp(instID, index);
if (temp_app) {
if (temp_app->getStatus() == PDL_WAIT_DATA)
temp_app->fetchSageBlocks();
}
break;
}
case EVENT_APP_CONNECTED : {
int instID = atoi((char *)event->eventMsg);
if (0 > instID) break;
int index;
pixelDownloader* temp_app = findApp(instID, index);
if (temp_app) {
sendMessage(DISP_APP_CONNECTED, instID);
}
break;
}
}
delete event;
return 0;
}
