//------------------------------------------------------------------------------
static tOplkError processStateChangeEvent(const tEventNmtStateChange* pNmtStateChange_p,
void* pUserArg_p)
{
tOplkError ret = kErrorOk;
UNUSED_PARAMETER(pUserArg_p);
if (instance_l.config.pfGsOff == NULL)
{
console_printlog("Application event module is not initialized!\n");
return kErrorGeneralError;
}
eventlog_printStateEvent(pNmtStateChange_p);
switch (pNmtStateChange_p->newNmtState)
{
case kNmtGsOff:
// NMT state machine was shut down,
// because of user signal (CTRL-C) or critical POWERLINK stack error
// -> also shut down oplk_process() and main()
ret = kErrorShutdown;
printf("Stack received kNmtGsOff!\n");
// signal that stack is off
*instance_l.config.pfGsOff = TRUE;
break;
case kNmtGsResetCommunication:
break;
case kNmtGsResetConfiguration:
break;
case kNmtGsInitialising:
case kNmtGsResetApplication: // Implement
case kNmtMsNotActive: // handling of
case kNmtMsPreOperational1: // different
case kNmtMsPreOperational2: // states here
case kNmtMsReadyToOperate:
case kNmtMsOperational:
case kNmtMsBasicEthernet: // no break
default:
printf("Stack entered state: %s\n",
debugstr_getNmtStateStr(pNmtStateChange_p->newNmtState));
break;
}
return ret;
}
//------------------------------------------------------------------------------
static tOplkError processNodeEvent(tOplkApiEventType EventType_p,
tOplkApiEventArg* pEventArg_p,
void* pUserArg_p)
{
tOplkApiEventNode* pNode = &pEventArg_p->nodeEvent;
UNUSED_PARAMETER(EventType_p);
UNUSED_PARAMETER(pUserArg_p);
// check additional argument
switch (pNode->nodeEvent)
{
case kNmtNodeEventCheckConf:
PRINTF("NodeEvent: (Node=%u, CheckConf)\n", pNode->nodeId);
break;
case kNmtNodeEventUpdateConf:
PRINTF("NodeEvent: (Node=%u, UpdateConf)\n", pNode->nodeId);
break;
case kNmtNodeEventNmtState:
PRINTF("NodeEvent: (Node=%u, NmtState=%s)\n",
pNode->nodeId,
debugstr_getNmtStateStr(pNode->nmtState));
break;
case kNmtNodeEventError:
PRINTF("NodeEvent: (Node=%u): Error=%s (0x%.4X)\n",
pNode->nodeId,
debugstr_getEmergErrCodeStr(pNode->errorCode),
pNode->errorCode);
break;
case kNmtNodeEventFound:
PRINTF("NodeEvent: (Node=%u, Found)\n", pNode->nodeId);
break;
default:
break;
}
return kErrorOk;
}
//------------------------------------------------------------------------------
static tOplkError processNodeEvent(const tOplkApiEventNode* pNode_p,
void* pUserArg_p)
{
UNUSED_PARAMETER(pUserArg_p);
eventlog_printNodeEvent(pNode_p);
// check additional argument
switch (pNode_p->nodeEvent)
{
case kNmtNodeEventCheckConf:
break;
case kNmtNodeEventUpdateConf:
break;
case kNmtNodeEventNmtState:
printf("Node %d entered state %s\n",
pNode_p->nodeId,
debugstr_getNmtStateStr(pNode_p->nmtState));
break;
case kNmtNodeEventError:
break;
case kNmtNodeEventFound:
printf("Stack found node %d\n",
pNode_p->nodeId);
break;
case kNmtNodeEventAmniReceived:
break;
case kNmtNodeEventUpdateSw:
break;
default:
break;
}
return kErrorOk;
}
//------------------------------------------------------------------------------
tOplkError ProcessThread::processStateChangeEvent(tOplkApiEventType eventType_p,
tOplkApiEventArg* pEventArg_p,
void* pUserArg_p)
{
tOplkError ret = kErrorOk;
tEventNmtStateChange* pNmtStateChange = &pEventArg_p->nmtStateChange;
#if !defined(CONFIG_INCLUDE_CFM)
UINT varLen;
#endif
QString str;
UNUSED_PARAMETER(eventType_p);
UNUSED_PARAMETER(pUserArg_p);
sigNmtState(pNmtStateChange->newNmtState);
sigPrintLog(QString("StateChangeEvent %1: %2 -> %3")
.arg(debugstr_getNmtEventStr(pNmtStateChange->nmtEvent))
.arg(debugstr_getNmtStateStr(pNmtStateChange->oldNmtState))
.arg(debugstr_getNmtStateStr(pNmtStateChange->newNmtState)));
switch (pNmtStateChange->newNmtState)
{
case kNmtGsOff:
pProcessThread_g->sigOplkStatus(0);
// NMT state machine was shut down,
// because of user signal (CTRL-C) or critical POWERLINK stack error
// -> also shut down oplk_process()
ret = kErrorShutdown;
// and unblock DataInDataOutThread
oplk_freeProcessImage(); //jba do we need it here?
reachedNmtStateOff();
break;
case kNmtGsResetCommunication:
#if !defined(CONFIG_INCLUDE_CFM)
ret = setDefaultNodeAssignment();
#endif
pProcessThread_g->sigOplkStatus(1);
break;
case kNmtGsResetConfiguration:
#if !defined(CONFIG_INCLUDE_CFM)
// Configuration Manager is not available,
// so fetch object 0x1006 NMT_CycleLen_U32 from local OD
// (in little endian byte order)
// for configuration of remote CN
varLen = sizeof(UINT32);
ret = oplk_readObject(NULL, 0, 0x1006, 0x00, &cycleLen_g,
&varLen, kSdoTypeAsnd, NULL);
if (ret != kErrorOk)
{
sigPrintLog(QString(" oplk_readObject() failed with 0x%1\n\"2\"")
.arg(ret)
.arg(debugstr_getRetValStr(ret)));
break;
}
#endif
sigOplkStatus(1);
break;
case kNmtCsNotActive:
case kNmtMsNotActive:
case kNmtRmsNotActive:
case kNmtGsInitialising:
case kNmtGsResetApplication:
case kNmtCsPreOperational1:
case kNmtMsPreOperational1:
case kNmtCsPreOperational2:
case kNmtMsPreOperational2:
case kNmtCsReadyToOperate:
case kNmtMsReadyToOperate:
case kNmtCsBasicEthernet:
case kNmtMsBasicEthernet:
sigOplkStatus(1);
break;
case kNmtCsOperational:
case kNmtMsOperational:
sigOplkStatus(2);
break;
default:
sigOplkStatus(-1);
break;
}
return ret;
}
