// --------------------------
// Constructor for 4 modules
// --------------------------
EncoderSSI_apci1710_board::EncoderSSI_apci1710_board( unsigned int mNr1, unsigned int mNr2, unsigned int mNr3, unsigned int mNr4 )
: PeriodicActivity(RTT::OS::HighestPriority, 1./ORONUM_DEVICE_DRIVERS_APCI1710_SSI_UPDATE )
, nr_of_modules(3), moduleNr1( mNr1 ), moduleNr2( mNr2 ), moduleNr3( mNr3 ), moduleNr4( mNr4 )
{
buffer1 = new unsigned int[12];
buffer2 = new unsigned int[12];
readbuffer = buffer1;
writebuffer = buffer2;
log() << "(EncoderSSI_apci1710) Creating EncoderSSI..." << endlog(Info);
dev = apci1710_get_device();
int res = 0;
if ( 0 != (res = apci1710_ssi_init( dev, moduleNr1,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_PROFILE,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_POSITION_BITS,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_TURN_BITS,
COUNTINGMODE_BINARY,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_FREQ ) ) ) //in Hz (25kHz is ok)
log() << "\n(EncoderSSI_apci1710) Error "<< res << " : Module " << moduleNr1 << " is not ready for SSI\n" << endlog(Error);
if ( 0 != (res = apci1710_ssi_init( dev, moduleNr2,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_PROFILE,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_POSITION_BITS,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_TURN_BITS,
COUNTINGMODE_BINARY,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_FREQ ) ) ) //in Hz (25kHz is ok)
log() << "\n(EncoderSSI_apci1710) Error "<< res << " : Module " << moduleNr2 << " is not ready for SSI\n" << endlog(Error);
if ( 0 != (res = apci1710_ssi_init( dev, moduleNr3,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_PROFILE,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_POSITION_BITS,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_TURN_BITS,
COUNTINGMODE_BINARY,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_FREQ ) ) ) //in Hz (25kHz is ok)
log() << "\n(EncoderSSI_apci1710) Error "<< res << " : Module " << moduleNr3 << " is not ready for SSI\n" << endlog(Error);
if ( 0 != (res = apci1710_ssi_init( dev, moduleNr4,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_PROFILE,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_POSITION_BITS,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_TURN_BITS,
COUNTINGMODE_BINARY,
ORONUM_DEVICE_DRIVERS_APCI1710_SSI_FREQ ) ) ) //in Hz (25kHz is ok)
log() << "\n(EncoderSSI_apci1710) Error "<< res << " : Module " << moduleNr4 << " is not ready for SSI\n" << endlog(Error);
#ifdef OROPKG_CORELIB_TIMING
// init one buffer, display some statistics
TimeService::ticks t=TimeService::Instance()->getTicks();
readCard( readbuffer );
t = TimeService::Instance()->ticksSince(t);
TimeService::nsecs n = TimeService::ticks2nsecs(t);
log() << "(EncoderSSI_apci1710) Reading SSI modules takes about " << long(n) << " nanoseconds" << endlog(Info);
#endif
this->start();
}
void EncoderSSI_apci1710_board::step()
{
readCard( writebuffer );
switchBuffers();
}
//清空链表中数据，已保存文件和链表中的数据同步
int getCard()
{
int nCount = 0; //卡信息数
int i = 0;
Card* pCard = NULL;
IpCardNode node = NULL;
IpCardNode cur = NULL;
//清除链表中已存在的数据，并初始化
if (cardList != NULL)
{
releaseCardList();
}
initCardList();
//获取卡信息个数
nCount = getCardCount(CARDPATH);
//动态分配内存保存卡信息
pCard = (Card*)malloc(sizeof(Card) * nCount);
if (pCard == NULL)
{
return FALSE;
}
//如果返回FALSE，表示读取卡信息失败
if (FALSE == readCard(pCard, CARDPATH))
{
free(pCard);
pCard = NULL;
return FALSE;
}
//node->next = NULL;
for (i = 0, node = cardList; i < nCount; i++)
{
if (i == 0)
{
node->data = pCard[i];
node->next = NULL;
}
else
{
//为节点分配内存
cur = (IpCardNode)malloc(sizeof(CardNode));
//如果分配内存失败，则返回
if (cur == NULL)
{
free(pCard);
return FALSE;
}
//初始化新的空间，全部赋值为零
memset(cur, 0, sizeof(CardNode));
//将卡信息保存到节点中
cur->data = pCard[i];
cur->next = NULL;
//将节点添加到链表结尾
node->next = cur;
node = cur;
}
}
//free(cur);
free(pCard);
pCard = NULL;
return TRUE;
}
