extern void eom_emsappl_hid_userdef_on_exit_RUN(EOMtheEMSappl* p)
{
// EOtheCANservice: set straigth mode and force parsing of all packets in the RX queues.
eo_canserv_SetMode(eo_canserv_GetHandle(), eocanserv_mode_straight);
eo_canserv_ParseAll(eo_canserv_GetHandle());
// stop services
// motion-control
eo_motioncontrol_Stop(eo_motioncontrol_GetHandle());
eo_motioncontrol_Deactivate(eo_motioncontrol_GetHandle());
// stop tx activity of services that may have been started by callback function
// strain... no strain in here
// eo_strain_Stop(eo_strain_GetHandle());
// eo_strain_Deactivate(eo_strain_GetHandle());
// skin
eo_skin_Stop(eo_skin_GetHandle());
eo_skin_Deactivate(eo_skin_GetHandle());
// mais
eo_mais_Stop(eo_mais_GetHandle());
eo_mais_Deactivate(eo_mais_GetHandle());
// inertials
eo_inertials2_Stop(eo_inertials2_GetHandle());
eo_inertials2_Deactivate(eo_inertials2_GetHandle());
}
extern void eoprot_fun_UPDT_as_mais_config_mode(const EOnv* nv, const eOropdescriptor_t* rd)
{
eOas_maismode_t *maismode = (eOas_maismode_t*)rd->data;
eo_mais_ConfigMode(eo_mais_GetHandle(), *maismode);
// //uint8_t number = eoprot_ID2index(rd->id32);
// eOas_maismode_t *maismode = (eOas_maismode_t*)rd->data;
// eOsmStatesEMSappl_t currentstate = eo_sm_emsappl_STerr;
// eOcanprot_command_t command = {0};
// command.class = eocanprot_msgclass_pollingAnalogSensor;
// command.type = ICUBCANPROTO_POL_AS_CMD__SET_TXMODE;
// command.value = maismode;
//
// //if pc104 tell me to enable maistx, before to send cmd verify if i'm in RUN state:
// // if yes ==> ok no problem
// // if no ==> i'll send cmd when go to RUN state
// if(eoas_maismode_txdatacontinuously == *maismode)
// {
// //only if the appl is in RUN state enable mais tx
// eom_emsappl_GetCurrentState(eom_emsappl_GetHandle(), ¤tstate);
// if(eo_sm_emsappl_STrun == currentstate)
// {
// eo_canserv_SendCommandToEntity(eo_canserv_GetHandle(), &command, rd->id32);
// }
// }
// else
// {
// eo_canserv_SendCommandToEntity(eo_canserv_GetHandle(), &command, rd->id32);
// }
}
extern void eom_emsappl_hid_userdef_on_entry_ERR(EOMtheEMSappl* p)
{
// pulse led3 forever at 4 hz.
eo_ledpulser_Start(eo_ledpulser_GetHandle(), eo_ledpulser_led_three, EOK_reltime1sec/4, 0);
// EOtheCANservice: set straight mode and force parsing of all packets in the RX queues.
eo_canserv_SetMode(eo_canserv_GetHandle(), eocanserv_mode_straight);
eo_canserv_ParseAll(eo_canserv_GetHandle());
// stop services which may have been started
// motion-control
eo_motioncontrol_Stop(eo_motioncontrol_GetHandle());
eo_motioncontrol_Deactivate(eo_motioncontrol_GetHandle());
// stop tx activity of services that may have been started by callback function
// strain... no strain in here
// eo_strain_Stop(eo_strain_GetHandle());
// eo_strain_Deactivate(eo_strain_GetHandle());
// skin
eo_skin_Stop(eo_skin_GetHandle());
eo_skin_Deactivate(eo_skin_GetHandle());
// mais
eo_mais_Stop(eo_mais_GetHandle());
eo_mais_Deactivate(eo_mais_GetHandle());
// inertials
eo_inertials2_Stop(eo_inertials2_GetHandle());
eo_inertials2_Deactivate(eo_inertials2_GetHandle());
// inertials3
eo_inertials3_Stop(eo_inertials3_GetHandle());
eo_inertials3_Deactivate(eo_inertials3_GetHandle());
// temperatures
eo_temperatures_Stop(eo_temperatures_GetHandle());
eo_temperatures_Deactivate(eo_temperatures_GetHandle());
}
extern void eoprot_fun_UPDT_as_mais_config_datarate(const EOnv* nv, const eOropdescriptor_t* rd)
{
uint8_t *datarate = (uint8_t*)rd->data;
eo_mais_ConfigDataRate(eo_mais_GetHandle(), *datarate);
// eOcanprot_command_t command = {0};
// command.class = eocanprot_msgclass_pollingAnalogSensor;
// command.type = ICUBCANPROTO_POL_AS_CMD__SET_CANDATARATE;
// command.value = datarate;
//
// eo_canserv_SendCommandToEntity(eo_canserv_GetHandle(), &command, rd->id32);
}
extern void eoprot_fun_UPDT_as_mais_config(const EOnv* nv, const eOropdescriptor_t* rd)
{
eOas_mais_config_t *cfg = (eOas_mais_config_t*)rd->data;
eo_mais_Config(eo_mais_GetHandle(), cfg);
// uint8_t number = eoprot_ID2index(rd->id32);
// eOsmStatesEMSappl_t currentstate = eo_sm_emsappl_STerr;
// eOcanprot_command_t command = {0};
// command.class = eocanprot_msgclass_pollingAnalogSensor;
//
// //if pc104 tell me to enable maistx, before to send cmd verify if i'm in RUN state:
// // if yes ==> ok no problem
// // if no ==> i'll send cmd when go to RUN state
// if(eoas_maismode_txdatacontinuously == cfg->mode)
// {
// // only if the appl is in RUN state we enable mais tx
// eom_emsappl_GetCurrentState(eom_emsappl_GetHandle(), ¤tstate);
// if(eo_sm_emsappl_STrun == currentstate)
// {
// command.type = ICUBCANPROTO_POL_AS_CMD__SET_TXMODE;
// command.value = &(cfg->mode);
// eo_canserv_SendCommandToEntity(eo_canserv_GetHandle(), &command, rd->id32);
// }
// }
//
// command.type = ICUBCANPROTO_POL_AS_CMD__SET_CANDATARATE;
// command.value = &(cfg->datarate);
// eo_canserv_SendCommandToEntity(eo_canserv_GetHandle(), &command, rd->id32);
// command.type = ICUBCANPROTO_POL_AS_CMD__SET_RESOLUTION;
// command.value = &(cfg->resolution);
// eo_canserv_SendCommandToEntity(eo_canserv_GetHandle(), &command, rd->id32);
//
//
// eOas_mais_status_t *status = eo_entities_GetMaisStatus(eo_entities_GetHandle(), number);
// if(NULL == status)
// {
// return; //error
// }
// s_process_mais_resolution((eOas_maisresolution_t)cfg->resolution, status);
}
extern void eoprot_fun_UPDT_as_mais_config_resolution(const EOnv* nv, const eOropdescriptor_t* rd)
{
eOas_maisresolution_t *resolution = (eOas_maisresolution_t*)rd->data;
eo_mais_ConfigResolution(eo_mais_GetHandle(), *resolution);
// uint8_t number = eoprot_ID2index(rd->id32);
// eOcanprot_command_t command = {0};
// command.class = eocanprot_msgclass_pollingAnalogSensor;
// command.type = ICUBCANPROTO_POL_AS_CMD__SET_RESOLUTION;
// command.value = resolution;
//
// eo_canserv_SendCommandToEntity(eo_canserv_GetHandle(), &command, rd->id32);
//
// eOas_mais_status_t *status = eo_entities_GetMaisStatus(eo_entities_GetHandle(), number);
// if(NULL == status)
// {
// return; //error
// }
// s_process_mais_resolution(*resolution, status);
}
