void CANUi::on_checkBox_sync_toggled(bool checked)
{
if(checked){
stopSYNC(&master_Data);
{//0x1005 : SYNC COB ID gen(bit 30) COB-ID : 80
UNS32 _sourceData = 0x40000080;
UNS32 _dataSize = sizeof(UNS32);
if(OD_SUCCESSFUL != writeLocalDict(&master_Data, (UNS16)0x1005, (UNS8)0, &_sourceData, &_dataSize, 1 )){
ui->textBrowser->append("writeLocalDict 0x1005 fail !");
}
}
{//0x1006 : SYNC Cycle Period us
UNS32 _sourceData = ui->spinBox_syncTime->value();
ui->textBrowser->append(tr("%1").arg(_sourceData));
UNS32 _dataSize = sizeof(UNS32);
if(OD_SUCCESSFUL != writeLocalDict(&master_Data, (UNS16)0x1006, (UNS8)0, &_sourceData, &_dataSize, 1 )){
ui->textBrowser->append("writeLocalDict 0x1006 fail !");
}
}
startSYNC(&master_Data);
}
else{
stopSYNC(&master_Data);
{//0x1005 : SYNC COB ID gen(bit 30) COB-ID : 80
UNS32 _sourceData = 0x00000080;
UNS32 _dataSize = sizeof(UNS32);
if(OD_SUCCESSFUL != writeLocalDict(&master_Data, (UNS16)0x1005, (UNS8)0, (UNS32*)&_sourceData, &_dataSize, 1 )){
ui->textBrowser->append("writeLocalDict 0x1005 fail !");
}
}
{//0x1006 : SYNC Cycle Period us
UNS32 _sourceData = 0;
UNS32 _dataSize = sizeof(UNS32);
if(OD_SUCCESSFUL != writeLocalDict(&master_Data, (UNS16)0x1006, (UNS8)0, (UNS32*)&_sourceData, &_dataSize, 1 )){
ui->textBrowser->append("writeLocalDict 0x1006 fail !");
}
}
}
}
/*!
**
**
** @param d
**/
void startSYNC(CO_Data* d)
{
if (d->syncTimer != TIMER_NONE) {
stopSYNC(d);
}
RegisterSetODentryCallBack(d, 0x1005, 0, &OnCOB_ID_SyncUpdate);
RegisterSetODentryCallBack(d, 0x1006, 0, &OnCOB_ID_SyncUpdate);
if (*d->COB_ID_Sync & 0x40000000ul && *d->Sync_Cycle_Period) {
d->syncTimer = SetAlarm(
d,
0 /*No id needed*/,
&SyncAlarm,
US_TO_TIMEVAL(*d->Sync_Cycle_Period),
US_TO_TIMEVAL(*d->Sync_Cycle_Period));
}
}
}
#define None
/*!
**
**
** @param d
** @param newCommunicationState
**/
void switchCommunicationState(CO_Data* d, s_state_communication *newCommunicationState)
{
#ifdef CO_ENABLE_LSS
StartOrStop(csLSS, startLSS(d), stopLSS(d))
#endif
StartOrStop(csSDO, None, resetSDO(d))
StartOrStop(csSYNC, startSYNC(d), stopSYNC(d))
StartOrStop(csHeartbeat, heartbeatInit(d), heartbeatStop(d))
StartOrStop(csEmergency, emergencyInit(d), emergencyStop(d))
StartOrStop(csPDO, PDOInit(d), PDOStop(d))
StartOrStop(csBoot_Up, None, slaveSendBootUp(d))
}
/*!
**
**
** @param d
** @param newState
**
** @return
**/
UNS8 setState(CO_Data* d, e_nodeState newState)
int main(int argc, char** argv)
{
extern char *optarg;
char command[200];
char* res;
int ret=0;
int sysret=0;
int i=0;
if (sem_init(&Write_sem, 0, 0) == -1)
handle_error("Writesem_init");
if (sem_init(&Read_sem, 0, 0) == -1)
handle_error("Readsem_init");
/* Defaults */
strcpy(LibraryPath,"/usr/lib/libcanfestival_can_peak_linux.so");
strcpy(BoardBusName,"0");
strcpy(BoardBaudRate,"1M");
/* Init stack timer */
TimerInit();
if (argc > 1){
printf("ok\n");
/* Strip command-line*/
for(i=1 ; i<argc ; i++)
{
if(ProcessCommand(argv[i]) == INIT_ERR) goto init_fail;
}
}
NodeInit(0,1);
RegisterSetODentryCallBack(CANOpenShellOD_Data, 0x2003, 0, &OnStatus3Update);
help_menu();
CurrentNode = 3;
sleep(1);
//setState(CANOpenShellOD_Data, Operational); // Put the master in operational mode
stopSYNC(CANOpenShellOD_Data);
/* Enter in a loop to read stdin command until "quit" is called */
while(ret != QUIT)
{
// wait on stdin for string command
rl_on_new_line ();
res = rl_gets();
//sysret = system(CLEARSCREEN);
if(res[0]=='.'){
ret = ProcessCommand(res+1);
}
else if(res[0]==','){
ret = ProcessFocusedCommand(res+1);
}
else if (res[0]=='\n'){
}
else {
EnterMutex();
SDO_write(CANOpenShellOD_Data,CurrentNode,0x1023,0x01,strlen(res),visible_string, res, 0);
EnterMutex();
SDO_read(CANOpenShellOD_Data,CurrentNode,0x1023,0x03,visible_string,0);
printf("%s\n",SDO_read_data);
}
fflush(stdout);
usleep(500000);
}
printf("Finishing.\n");
// Stop timer thread
StopTimerLoop(&Exit);
/* Close CAN board */
canClose(CANOpenShellOD_Data);
init_fail:
TimerCleanup();
return 0;
}
int ProcessCommand(char* command)
{
int ret = 0;
int sec = 0;
int NodeID;
int NodeType;
UNS32 data = 0;
char buf[50];
EnterMutex();
switch(cst_str4(command[0], command[1], command[2], command[3]))
{
case cst_str4('h', 'e', 'l', 'p') : /* Display Help*/
help_menu();
break;
case cst_str4('c', 'l', 'e', 'a') : /* Display Help*/
system(CLEARSCREEN);
break;
case cst_str4('s', 's', 't', 'a') : /* Slave Start*/
StartNode(ExtractNodeId(command + 5));
break;
case cst_str4('s', 's', 't', 'o') : /* Slave Stop */
StopNode(ExtractNodeId(command + 5));
break;
case cst_str4('s', 'r', 's', 't') : /* Slave Reset */
ResetNode(ExtractNodeId(command + 5));
break;
case cst_str4('i', 'n', 'f', 'o') : /* Retrieve node informations */
GetSlaveNodeInfo(ExtractNodeId(command + 5));
break;
case cst_str4('r', 's', 'd', 'o') : /* Read device entry */
ReadDeviceEntry(command);
break;
case cst_str4('w', 's', 'd', 'o') : /* Write device entry */
WriteDeviceEntry(command);
break;
case cst_str4('n', 'o', 'd', 'e') : /* Write device entry */
ret = sscanf(command, "node %2x", &NodeID);
data = 0;
SDO_write(CANOpenShellOD_Data,NodeID,0x1024,0x00,1, 0, &data, 0);
CurrentNode = NodeID;
break;
case cst_str4('c', 'm', 'd', ' ') : /* Write device entry */
ret = sscanf(command, "cmd %2x,%s", &NodeID, buf );
SDO_write(CANOpenShellOD_Data,NodeID,0x1023,0x01,strlen(buf),visible_string, buf, 0);
SDO_read(CANOpenShellOD_Data,NodeID,0x1023,0x03,visible_string,0);
return 0;
break;
case cst_str4('s', 'y', 'n', '0') : /* Display master node state */
stopSYNC(CANOpenShellOD_Data);
break;
case cst_str4('s', 'y', 'n', '1') : /* Display master node state */
startSYNC(CANOpenShellOD_Data);
break;
case cst_str4('s', 't', 'a', 't') : /* Display master node state */
printf("Status3: %x\n",Status3);
Status3 = 0;
break;
case cst_str4('s', 'c', 'a', 'n') : /* Display master node state */
DiscoverNodes();
break;
case cst_str4('w', 'a', 'i', 't') : /* Display master node state */
ret = sscanf(command, "wait#%d", &sec);
if(ret == 1) {
LeaveMutex();
SleepFunction(sec);
return 0;
}
break;
case cst_str4('g', 'o', 'o', 'o') : /* Quit application */
setState(CANOpenShellOD_Data, Operational);
break;
case cst_str4('q', 'u', 'i', 't') : /* Quit application */
LeaveMutex();
return QUIT;
case cst_str4('l', 'o', 'a', 'd') : /* Library Interface*/
ret = sscanf(command, "load#%100[^,],%30[^,],%4[^,],%d,%d",
LibraryPath,
BoardBusName,
BoardBaudRate,
&NodeID,
&NodeType);
if(ret == 5)
{
LeaveMutex();
ret = NodeInit(NodeID, NodeType);
return ret;
}
else
{
printf("Invalid load parameters\n");
}
break;
default :
help_menu();
}
LeaveMutex();
return 0;
}
