Exemplo n.º 1
0
//------------------------------------------------------------------------------
tOplkError target_init(void)
{
    tOplkError  Ret  = kErrorOk;
    sigset_t    mask;

    /*
     * We have to block the real time signals used by the timer modules so
     * that they are able to wait on them using sigwaitinfo!
     */
    sigemptyset(&mask);
    sigaddset(&mask, SIGRTMIN);
    sigaddset(&mask, SIGRTMIN + 1);
    pthread_sigmask(SIG_BLOCK, &mask, NULL);

    /* Enabling ftrace for debugging */
    FTRACE_OPEN();
    FTRACE_ENABLE(TRUE);

    return Ret;
}
//---------------------------------------------------------------------------
//
// Function:            main
//
// Description:         main function of demo application
//
// Parameters:
//
// Returns:
//---------------------------------------------------------------------------
int  main (int argc, char **argv)
{
    tEplKernel                  EplRet = kEplSuccessful;
    static tEplApiInitParam     EplApiInitParam;
    char*                       sHostname = HOSTNAME;
    char                        cKey = 0;

#ifdef CONFIG_POWERLINK_USERSTACK
    // variables for Pcap
    char                        sErr_Msg[ PCAP_ERRBUF_SIZE ];
    char                        devName[128];
    pcap_if_t *                 alldevs;
    pcap_if_t *                 seldev;
    int                         i = 0;
    int                         inum;
#endif

    int                         opt;

#if (TARGET_SYSTEM == _LINUX_)
    /* get command line parameters */
    while ((opt = getopt(argc, argv, "c:l:")) != -1)
    {
        switch (opt)
        {
        case 'c':
            uiCycleLen_g = strtoul(optarg, NULL, 10);
            break;

        case 'l':
            pLogFile_g = optarg;
            break;

        default: /* '?' */
            fprintf (stderr, "Usage: %s [-c CYCLE_TIME] [-l LOGFILE]\n", argv[0]);
            goto Exit;
        }
    }
#endif

#ifdef CONFIG_POWERLINK_USERSTACK

#if (TARGET_SYSTEM == _LINUX_)
    struct sched_param          schedParam;

    /* adjust process priority */
    if (nice (-20) == -1)         // push nice level in case we have no RTPreempt
    {
        EPL_DBGLVL_ERROR_TRACE("%s() couldn't set nice value! (%s)\n", __func__, strerror(errno));
    }
    schedParam.__sched_priority = MAIN_THREAD_PRIORITY;
    if (pthread_setschedparam(pthread_self(), SCHED_RR, &schedParam) != 0)
    {
        EPL_DBGLVL_ERROR_TRACE("%s() couldn't set thread scheduling parameters! %d\n",
                __func__, schedParam.__sched_priority);
    }

    /* Initialize target specific stuff */
    EplTgtInit();

#elif (TARGET_SYSTEM == _WIN32_)

    // activate realtime priority class
    SetPriorityClass(GetCurrentProcess(), REALTIME_PRIORITY_CLASS);
    // lower the priority of this thread
    SetThreadPriority(GetCurrentThread(), THREAD_PRIORITY_IDLE);

#endif // (TARGET_SYSTEM == _WIN32_)

#endif // CONFIG_POWERLINK_USERSTACK

#if (TARGET_SYSTEM == _LINUX_)
#ifdef SET_CPU_AFFINITY
    {
        /* binds all openPOWERLINK threads to the second CPU core */
        cpu_set_t                   affinity;

        CPU_ZERO(&affinity);
        CPU_SET(1, &affinity);
        sched_setaffinity(0, sizeof(cpu_set_t), &affinity);
    }
#endif
#endif


    /* Enabling ftrace for debugging */
    FTRACE_OPEN();
    FTRACE_ENABLE(TRUE);

    /*
    EPL_DBGLVL_ALWAYS_TRACE("%s(): Main Thread Id:%ld\n", __func__,
                             syscall(SYS_gettid));
                             */
    printf("----------------------------------------------------\n");
    printf("openPOWERLINK console MN DEMO application\n");
    printf("----------------------------------------------------\n");

    EPL_MEMSET(&EplApiInitParam, 0, sizeof (EplApiInitParam));
    EplApiInitParam.m_uiSizeOfStruct = sizeof (EplApiInitParam);

#ifdef CONFIG_POWERLINK_USERSTACK

    /* Retrieve the device list on the local machine */
    if (pcap_findalldevs(&alldevs, sErr_Msg) == -1)
    {
        fprintf(stderr, "Error in pcap_findalldevs: %s\n", sErr_Msg);
        EplRet = kEplNoResource;
        goto Exit;
    }

    PRINTF("--------------------------------------------------\n");
    PRINTF("List of Ethernet Cards Found in this System: \n");
    PRINTF("--------------------------------------------------\n");

     /* Print the list */
    for (seldev = alldevs; seldev != NULL; seldev = seldev->next)
    {
        PRINTF("%d. ", ++i);

        if (seldev->description)
        {
            PRINTF("%s\n      %s\n", seldev->description, seldev->name);
        }
        else
        {
            PRINTF("%s\n", seldev->name);
        }
    }

    if (i == 0)
    {
        PRINTF("\nNo interfaces found! Make sure pcap library is installed.\n");
        EplRet = kEplNoResource;
        goto Exit;
    }

    PRINTF("--------------------------------------------------\n");
    PRINTF("Select the interface to be used for POWERLINK (1-%d):",i);
    if (scanf("%d", &inum) == EOF)
    {
        pcap_freealldevs(alldevs);
        EplRet = kEplNoResource;
        goto Exit;
    }
    PRINTF("--------------------------------------------------\n");
    if ((inum < 1) || (inum > i))
    {
        PRINTF("\nInterface number out of range.\n");
        /* Free the device list */
        pcap_freealldevs(alldevs);
        EplRet = kEplNoResource;
        goto Exit;
    }

    /* Jump to the selected adapter */
    for (seldev = alldevs, i = 0;
         i < (inum - 1);
         seldev = seldev->next, i++)
    {   // do nothing
    }

    strncpy(devName, seldev->name, 127);
    // pass selected device name to Edrv
    EplApiInitParam.m_HwParam.m_pszDevName = devName;

#endif

    EplApiInitParam.m_uiNodeId = uiNodeId_g = NODEID;
    EplApiInitParam.m_dwIpAddress = (0xFFFFFF00 & IP_ADDR) | EplApiInitParam.m_uiNodeId;

    /* write 00:00:00:00:00:00 to MAC address, so that the driver uses the real hardware address */
    EPL_MEMCPY(EplApiInitParam.m_abMacAddress, abMacAddr, sizeof (EplApiInitParam.m_abMacAddress));

    EplApiInitParam.m_fAsyncOnly = FALSE;

    EplApiInitParam.m_dwFeatureFlags            = -1;
    EplApiInitParam.m_dwCycleLen                = uiCycleLen_g;     // required for error detection
    EplApiInitParam.m_uiIsochrTxMaxPayload      = 256;              // const
    EplApiInitParam.m_uiIsochrRxMaxPayload      = 256;              // const
    EplApiInitParam.m_dwPresMaxLatency          = 50000;            // const; only required for IdentRes
    EplApiInitParam.m_uiPreqActPayloadLimit     = 36;               // required for initialisation (+28 bytes)
    EplApiInitParam.m_uiPresActPayloadLimit     = 36;               // required for initialisation of Pres frame (+28 bytes)
    EplApiInitParam.m_dwAsndMaxLatency          = 150000;           // const; only required for IdentRes
    EplApiInitParam.m_uiMultiplCycleCnt         = 0;                // required for error detection
    EplApiInitParam.m_uiAsyncMtu                = 1500;             // required to set up max frame size
    EplApiInitParam.m_uiPrescaler               = 2;                // required for sync
    EplApiInitParam.m_dwLossOfFrameTolerance    = 500000;
    EplApiInitParam.m_dwAsyncSlotTimeout        = 3000000;
    EplApiInitParam.m_dwWaitSocPreq             = 150000;
    EplApiInitParam.m_dwDeviceType              = -1;               // NMT_DeviceType_U32
    EplApiInitParam.m_dwVendorId                = -1;               // NMT_IdentityObject_REC.VendorId_U32
    EplApiInitParam.m_dwProductCode             = -1;               // NMT_IdentityObject_REC.ProductCode_U32
    EplApiInitParam.m_dwRevisionNumber          = -1;               // NMT_IdentityObject_REC.RevisionNo_U32
    EplApiInitParam.m_dwSerialNumber            = -1;               // NMT_IdentityObject_REC.SerialNo_U32

    EplApiInitParam.m_dwSubnetMask              = SUBNET_MASK;
    EplApiInitParam.m_dwDefaultGateway          = 0;
    EPL_MEMCPY(EplApiInitParam.m_sHostname, sHostname, sizeof(EplApiInitParam.m_sHostname));
    EplApiInitParam.m_uiSyncNodeId              = EPL_C_ADR_SYNC_ON_SOA;
    EplApiInitParam.m_fSyncOnPrcNode            = FALSE;

    // set callback functions
    EplApiInitParam.m_pfnCbEvent = AppCbEvent;

#ifdef CONFIG_POWERLINK_USERSTACK
    EplApiInitParam.m_pfnObdInitRam = EplObdInitRam;
    EplApiInitParam.m_pfnCbSync  = AppCbSync;
#else
    EplApiInitParam.m_pfnCbSync = NULL;
#endif


    printf("\n\nHello, I'm a Userspace POWERLINK node running as %s!\n  (build: %s / %s)\n\n",
            (uiNodeId_g == EPL_C_ADR_MN_DEF_NODE_ID ?
                "Managing Node" : "Controlled Node"),
            __DATE__, __TIME__);

    // initialize POWERLINK stack
    printf ("Initializing openPOWERLINK stack...\n");
    EplRet = EplApiInitialize(&EplApiInitParam);
    if(EplRet != kEplSuccessful)
    {
        printf("EplApiInitialize() failed (Error:0x%x!\n", EplRet);
        goto Exit;
    }

    // initialize application
    printf ("Initializing openPOWERLINK application...\n");
    EplRet = AppInit();
    if(EplRet != kEplSuccessful)
    {
        printf("ApiInit() failed!\n");
        goto Exit;
    }


#ifdef CONFIG_POWERLINK_USERSTACK
    /* At this point, we don't need any more the device list. Free it */
    pcap_freealldevs(alldevs);

    EplRet = EplApiSetCdcFilename(pszCdcFilename_g);
    if(EplRet != kEplSuccessful)
    {
        goto Exit;
    }
#else
    // create event thread
    if (pthread_create(&eventThreadId, NULL,
                   &powerlinkEventThread, NULL) != 0)
    {
        goto Exit;
    }

    // create sync thread
    if (pthread_create(&syncThreadId, NULL,
                   &powerlinkSyncThread, NULL) != 0)
    {
        goto Exit;
    }
#endif

    printf("Initializing process image...\n");
    printf("Size of input process image: %ld\n", sizeof(AppProcessImageIn_g));
    printf("Size of output process image: %ld\n", sizeof (AppProcessImageOut_g));
    AppProcessImageCopyJob_g.m_fNonBlocking = FALSE;
    AppProcessImageCopyJob_g.m_uiPriority = 0;
    AppProcessImageCopyJob_g.m_In.m_pPart = &AppProcessImageIn_g;
    AppProcessImageCopyJob_g.m_In.m_uiOffset = 0;
    AppProcessImageCopyJob_g.m_In.m_uiSize = sizeof (AppProcessImageIn_g);
    AppProcessImageCopyJob_g.m_Out.m_pPart = &AppProcessImageOut_g;
    AppProcessImageCopyJob_g.m_Out.m_uiOffset = 0;
    AppProcessImageCopyJob_g.m_Out.m_uiSize = sizeof (AppProcessImageOut_g);

    EplRet = EplApiProcessImageAlloc(sizeof (AppProcessImageIn_g), sizeof (AppProcessImageOut_g), 2, 2);
    if (EplRet != kEplSuccessful)
    {
        goto Exit;
    }

    EplRet = EplApiProcessImageSetup();
    if (EplRet != kEplSuccessful)
    {
        goto Exit;
    }

    // start processing
    EplRet = EplApiExecNmtCommand(kEplNmtEventSwReset);
    if (EplRet != kEplSuccessful)
    {
        goto ExitShutdown;
    }

    printf("\n-------------------------------\n");
    printf("Press Esc to leave the program\n");
    printf("Press r to reset the node\n");
    printf("-------------------------------\n\n");
    // wait for key hit
    while (cKey != 0x1B)
    {
        if( EplTgtKbhit() )
        {
            cKey    = (BYTE) EplTgtGetch();

            switch (cKey)
            {
                case 'r':
                {
                    EplRet = EplApiExecNmtCommand(kEplNmtEventSwReset);
                    if (EplRet != kEplSuccessful)
                    {
                        goto ExitShutdown;
                    }
                    break;
                }

                case 'c':
                {
                    EplRet = EplApiExecNmtCommand(kEplNmtEventNmtCycleError);
                    if (EplRet != kEplSuccessful)
                    {
                        goto ExitShutdown;
                    }
                    break;
                }

                default:
                {
                    break;
                }
            }
        }

        EplTgtMilliSleep( 1500 );
    }

    FTRACE_ENABLE(FALSE);

ExitShutdown:
    // halt the NMT state machine
    // so the processing of POWERLINK frames stops
    EplRet = EplApiExecNmtCommand(kEplNmtEventSwitchOff);

    // delete process image
    EplRet = EplApiProcessImageFree();

    // delete instance for all modules
    EplRet = EplApiShutdown();

Exit:
    PRINTF("main(): returns 0x%X\n", EplRet);

#if (TARGET_SYSTEM == _WIN32_)
    PRINTF("Press Enter to quit!\n");
    EplTgtGetch();
#endif

    return EplRet;
}