//------------------------------------------------------------------------------
void ProcessThread::reachedNmtStateOff()
{
emit allNodesRemoved();
Mutex.lock();
NmtStateOff.wakeAll();
Mutex.unlock();
}
/**
********************************************************************************
\brief Constructor
Constructs a POWERLINK object.
\param pMainWindow_p pointer to main window
\param uiNodeId_p node ID of the POWERLINK node
\param devName_p device name of the network interface
*******************************************************************************/
EplApi::EplApi(MainWindow *pMainWindow_p, unsigned int uiNodeId_p, QString devName_p)
{
const char* sHostname = HOSTNAME;
tEplKernel EplRet;
EplState* pEplState;
EplOutput* pEplOutput;
EplInput* pEplInput;
EplCnState* pEplCnState;
char devName[256];
pEplState = pMainWindow_p->getEplStateWidget();
pEplOutput = pMainWindow_p->getEplOutputWidget();
pEplInput = pMainWindow_p->getEplInputWidget();
pEplCnState = pMainWindow_p->getEplCnStateWidget();
pEplProcessThread = new EplProcessThread;
QObject::connect(pEplProcessThread, SIGNAL(eplStatusChanged(int)),
pEplState, SLOT(setEplStatusLed(int)));
QObject::connect(pEplProcessThread, SIGNAL(nmtStateChanged(const QString&)),
pEplState, SLOT(setNmtStateText(const QString &)));
QObject::connect(pEplProcessThread, SIGNAL(nodeAppeared(int)),
pEplInput, SLOT(addNode(int)));
QObject::connect(pEplProcessThread, SIGNAL(allNodesRemoved()),
pEplInput, SLOT(removeAllNodes()));
QObject::connect(pEplProcessThread, SIGNAL(nodeDisappeared(int)),
pEplInput, SLOT(removeNode(int)));
QObject::connect(pEplProcessThread, SIGNAL(nodeAppeared(int)),
pEplOutput, SLOT(addNode(int)));
QObject::connect(pEplProcessThread, SIGNAL(nodeDisappeared(int)),
pEplOutput, SLOT(removeNode(int)));
QObject::connect(pEplProcessThread, SIGNAL(allNodesRemoved()),
pEplOutput, SLOT(removeAllNodes()));
QObject::connect(pEplProcessThread, SIGNAL(nodeAppeared(int)),
pEplCnState, SLOT(addNode(int)));
QObject::connect(pEplProcessThread, SIGNAL(nodeDisappeared(int)),
pEplCnState, SLOT(removeNode(int)));
QObject::connect(pEplProcessThread, SIGNAL(allNodesRemoved()),
pEplCnState, SLOT(removeAllNodes()));
QObject::connect(pEplProcessThread, SIGNAL(nodeStatusChanged(int, int)),
pEplCnState, SLOT(setState(int, int)));
pEplDataInOutThread = new EplDataInOutThread;
QObject::connect(pEplDataInOutThread, SIGNAL(processImageOutChanged(unsigned int, unsigned int)),
pEplOutput, SLOT(setValue(unsigned int, unsigned int)));
QObject::connect(pEplDataInOutThread, SIGNAL(processImageInChanged(unsigned int, unsigned int)),
pEplInput, SLOT(setLeds(unsigned int, unsigned int)));
EPL_MEMSET(&EplApiInitParam, 0, sizeof (EplApiInitParam));
EplApiInitParam.m_uiSizeOfStruct = sizeof (EplApiInitParam);
EplApiInitParam.m_uiNodeId = uiNodeId_p;
EplApiInitParam.m_dwIpAddress = (IP_ADDR & 0xFFFFFF00) | EplApiInitParam.m_uiNodeId;
EplApiInitParam.m_fAsyncOnly = FALSE;
EplApiInitParam.m_dwFeatureFlags = -1;
EplApiInitParam.m_dwCycleLen = CYCLE_LEN; // 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 = pEplProcessThread->getEventCbFunc();
/* 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));
#ifdef CONFIG_POWERLINK_USERSTACK
EplApiInitParam.m_HwParam.m_pszDevName = devName_p.toAscii().data();
EplApiInitParam.m_pfnObdInitRam = EplObdInitRam;
EplApiInitParam.m_pfnCbSync = pEplDataInOutThread->getSyncCbFunc();
#else
// Sync call back function not required for init from user space
EplApiInitParam.m_pfnCbSync = NULL;
#endif
// init EPL
EplRet = EplApiInitialize(&EplApiInitParam);
if(EplRet != kEplSuccessful)
{
printf("%s: EplApiInitialize() failed\n", __FUNCTION__);
QMessageBox::critical(0, "POWERLINK demo",
QString("Initialization of openPOWERLINK Stack failed.\n") +
"Error code: 0x"+ QString::number(EplRet, 16) +
"\nThe most common error source are an unsupported Ethernet controller or the kernel module is not loaded."
"\nFor further information please consult the manual.");
goto Exit;
}
#ifdef CONFIG_POWERLINK_USERSTACK
EplRet = EplApiSetCdcFilename(pszCdcFilename_g);
if(EplRet != kEplSuccessful)
{
goto Exit;
}
#endif
EplRet = pEplDataInOutThread->SetupProcessImage();
if (EplRet != kEplSuccessful)
{
printf("%s: pEplDataInOutThread->SetupProcessImage() failed\n", __FUNCTION__);
goto Exit;
}
printf("Setup Process Image Successfull\n");
// start the EPL stack
EplRet = EplApiExecNmtCommand(kEplNmtEventSwReset);
// start process thread
pEplProcessThread->start();
#ifndef CONFIG_POWERLINK_USERSTACK
// start data in out thread
pEplDataInOutThread->start();
#endif
Exit:
printf("%s: returns 0x%X\n", __FUNCTION__, EplRet);
}
//------------------------------------------------------------------------------
Api::Api(MainWindow* pMainWindow_p, UINT nodeId_p, QString devName_p)
{
tOplkError ret;
State* pState;
Output* pOutput;
Input* pInput;
CnState* pCnState;
pState = pMainWindow_p->getStateWidget();
pOutput = pMainWindow_p->getOutputWidget();
pInput = pMainWindow_p->getInputWidget();
pCnState = pMainWindow_p->getCnStateWidget();
pProcessThread = new ProcessThread(pMainWindow_p);
QObject::connect(pProcessThread, SIGNAL(oplkStatusChanged(int)),
pState, SLOT(setStatusLed(int)));
QObject::connect(pProcessThread, SIGNAL(nmtStateChanged(const QString&)),
pState, SLOT(setNmtStateText(const QString &)));
QObject::connect(pProcessThread, SIGNAL(nodeAppeared(int)),
pInput, SLOT(addNode(int)));
QObject::connect(pProcessThread, SIGNAL(allNodesRemoved()),
pInput, SLOT(removeAllNodes()));
QObject::connect(pProcessThread, SIGNAL(nodeDisappeared(int)),
pInput, SLOT(removeNode(int)));
QObject::connect(pProcessThread, SIGNAL(nodeAppeared(int)),
pOutput, SLOT(addNode(int)));
QObject::connect(pProcessThread, SIGNAL(nodeDisappeared(int)),
pOutput, SLOT(removeNode(int)));
QObject::connect(pProcessThread, SIGNAL(allNodesRemoved()),
pOutput, SLOT(removeAllNodes()));
QObject::connect(pProcessThread, SIGNAL(nodeAppeared(int)),
pCnState, SLOT(addNode(int)));
QObject::connect(pProcessThread, SIGNAL(nodeDisappeared(int)),
pCnState, SLOT(removeNode(int)));
QObject::connect(pProcessThread, SIGNAL(allNodesRemoved()),
pCnState, SLOT(removeAllNodes()));
QObject::connect(pProcessThread, SIGNAL(nodeStatusChanged(int, int)),
pCnState, SLOT(setState(int, int)));
QObject::connect(pProcessThread, SIGNAL(printLog(const QString&)),
pMainWindow_p, SLOT(printlog(const QString&)));
pDataInOutThread = new DataInOutThread;
QObject::connect(pDataInOutThread, SIGNAL(processImageOutChanged(int, int)),
pOutput, SLOT(setValue(int, int)));
QObject::connect(pDataInOutThread, SIGNAL(processImageInChanged(int, int)),
pInput, SLOT(setLeds(int, int)));
OPLK_MEMSET(&initParam, 0, sizeof(initParam));
initParam.sizeOfInitParam = sizeof(initParam);
initParam.nodeId = nodeId_p;
initParam.ipAddress = (IP_ADDR & 0xFFFFFF00) | initParam.nodeId;
initParam.fAsyncOnly = FALSE;
initParam.featureFlags = UINT_MAX;
initParam.cycleLen = CYCLE_LEN; // required for error detection
initParam.isochrTxMaxPayload = 256; // const
initParam.isochrRxMaxPayload = 256; // const
initParam.presMaxLatency = 50000; // const; only required for IdentRes
initParam.preqActPayloadLimit = 36; // required for initialisation (+28 bytes)
initParam.presActPayloadLimit = 36; // required for initialisation of Pres frame (+28 bytes)
initParam.asndMaxLatency = 150000; // const; only required for IdentRes
initParam.multiplCylceCnt = 0; // required for error detection
initParam.asyncMtu = 1500; // required to set up max frame size
initParam.prescaler = 2; // required for sync
initParam.lossOfFrameTolerance = 500000;
initParam.asyncSlotTimeout = 3000000;
initParam.waitSocPreq = 150000;
initParam.deviceType = UINT_MAX; // NMT_DeviceType_U32
initParam.vendorId = UINT_MAX; // NMT_IdentityObject_REC.VendorId_U32
initParam.productCode = UINT_MAX; // NMT_IdentityObject_REC.ProductCode_U32
initParam.revisionNumber = UINT_MAX; // NMT_IdentityObject_REC.RevisionNo_U32
initParam.serialNumber = UINT_MAX; // NMT_IdentityObject_REC.SerialNo_U32
initParam.subnetMask = SUBNET_MASK;
initParam.defaultGateway = DEFAULT_GATEWAY;
sprintf((char*)initParam.sHostname, "%02x-%08x", initParam.nodeId, initParam.vendorId);
initParam.syncNodeId = C_ADR_SYNC_ON_SOA;
initParam.fSyncOnPrcNode = FALSE;
// set callback functions
initParam.pfnCbEvent = pProcessThread->getEventCbFunc();
/* write 00:00:00:00:00:00 to MAC address, so that the driver uses the real hardware address */
OPLK_MEMCPY(initParam.aMacAddress, abMacAddr, sizeof(initParam.aMacAddress));
// Copy the selected interface string to a local variable
strcpy(devName_g, devName_p.toStdString().c_str());
initParam.hwParam.pDevName = devName_g;
#if defined(CONFIG_KERNELSTACK_DIRECTLINK)
initParam.pfnCbSync = pDataInOutThread->getSyncCbFunc();
#else
initParam.pfnCbSync = NULL;
#endif
// init POWERLINK
ret = oplk_init(&initParam);
if (ret != kErrorOk)
{
QMessageBox::critical(0, "POWERLINK demo",
QString("Initialization of openPOWERLINK Stack failed.\n") +
"Error code: 0x"+ QString::number(ret, 16) +
"\nThe most common error source are an unsupported Ethernet controller or the kernel module is not loaded."
"\nFor further information please consult the manual.");
goto Exit;
}
ret = oplk_setCdcFilename(pszCdcFilename_g);
if (ret != kErrorOk)
{
goto Exit;
}
ret = pDataInOutThread->setupProcessImage();
if (ret != kErrorOk)
{
QMessageBox::critical(0, "POWERLINK demo",
QString("Initialization of process image failed.\n") +
"Error code: 0x"+ QString::number(ret, 16));
goto Exit;
}
// start the openPOWERLINK stack
ret = oplk_execNmtCommand(kNmtEventSwReset);
// start process thread
pProcessThread->start();
#if !defined(CONFIG_KERNELSTACK_DIRECTLINK)
// start data in out thread
pDataInOutThread->start();
#endif
Exit:
return;
}
