source: trunk/Cosy/devdrv/dkc.cc @ 10029

Last change on this file since 10029 was 10029, checked in by tbretz, 10 years ago
Added handling of the IndraDrive error codes.
File size: 21.6 KB
Line 
1#include "dkc.h"
2
3#include <sys/time.h>   // timeval->tv_sec
4
5#include <TGLabel.h>
6
7#include "network.h"
8
9#include "MLogManip.h"
10
11#include "MString.h"
12
13ClassImp(Dkc);
14
15using namespace std;
16
17//#define EXPERT
18
19Dkc::Dkc(const BYTE_t nodeid, const char *name)
20    : NodeDrv(nodeid, name), fMacId(2*nodeid+1),
21    fPdoPos1(0), fPdoPos2(0), fPosActive(0), fRpmActive(0),
22    fStatus(0xff), fStatusDKC(0), fStatusPdo3(0xff), fArmed(false),
23    fReport(NULL),fLabel(NULL),fUpdPos(0)
24{
25}
26
27TString Dkc::EvalStatusDKC(UInt_t stat) const
28{
29    switch (stat)
30    {
31    case 0: return "offline";
32    case 0xa000: case 0xa0000:
33    case 0xa001: case 0xa0001:
34    case 0xa002: case 0xa0002:
35    case 0xa003: case 0xa0003: return MString::Format("Communication phase %d", stat&0xf);
36    case 0xa010: case 0xa0010: return "Drive HALT";
37    case 0xa012: case 0xa0012: return "Control and power section ready for operation";
38    case 0xa013: case 0xa0013: return "Ready for power on";
39    case 0xa100: case 0xa0100: return "Drive in Torque mode";
40    case 0xa101: case 0xa0101: return "Drive in Velocity mode";
41    case 0xa102: case 0xa0102: return "Position control mode with encoder 1";
42    case 0xa103: case 0xa0103: return "Position control mode with encoder 2";
43    case 0xa104: case 0xa0104: return "Position control mode with encoder 1, lagless";
44    case 0xa105: case 0xa0105: return "Position control mode with encoder 2, lagless";
45    case 0xa106: case 0xa0106: return "Drive controlled interpolated positioning with encoder 1";
46    case 0xa107: case 0xa0107: return "Drive controlled interpolated positioning with encoder 2";
47    case 0xa108: case 0xa0108: return "Drive controlled interpolated positioning with encoder 1, lagless";
48    case 0xa109: case 0xa0109: return "Drive controlled interpolated positioning with encoder 2, lagless";
49    //case 0xa146: return "Drive controlled interpolated relative positioning with encoder 1";
50    //case 0xa147: return "Drive controlled interpolated relative positioning with encoder 2";
51    //case 0xa148: return "Drive controlled interpolated relative positioning lagless with encoder 1";
52    //case 0xa149: return "Drive controlled interpolated relative positioning lagless with encoder 2";
53    case 0xa150: case 0xa0150: return "Drive controlled positioning with encoder 1";
54    case 0xa151: case 0xa0151: return "Drive controlled positioning with encoder 1, lagless";
55    case 0xa152: case 0xa0152: return "Drive controlled positioning with encoder 2";
56    case 0xa153: case 0xa0153: return "Drive controlled positioning with encoder 2, lagless";
57    case 0xa208:               return "Jog mode positive";
58    case 0xa218:               return "Jog mode negative";
59    case 0xa400: case 0xa4000: return "Automatic drive check and adjustment";
60    case 0xa401: case 0xa4001: return "Drive decelerating to standstill";
61    case 0xa800: case 0xa0800: return "Unknown operation mode";
62    case 0xc217: return "Motor encoder reading error";
63    case 0xc218: return "Shaft encoder reading error";
64    case 0xc220: return "Motor encoder initialization error";
65    case 0xc221: return "Shaft encoder initialization error";
66    case 0xc300: return "Command: set absolute measure";
67    case 0xc400: case 0xc0400: return "Switching to parameter mode";
68    case 0xc401: case 0xc0401: return "Drive active, switching mode not allowed";
69    case 0xc500: case 0xc0500: return "Error reset";
70    case 0xc600: case 0xc0600: return "Drive controlled homing procedure";
71    case 0xe225: return "Motor overload";
72    case 0xe249: case 0xe2049: return "Positioning command velocity exceeds limit bipolar";
73    case 0xe250: return "Drive overtemp warning";
74    case 0xe251: return "Motor overtemp warning";
75    case 0xe252: return "Bleeder overtemp warning";
76    case 0xe257: return "Continous current limit active";
77    case 0xe259: return "Command velocity limit active";
78                 case 0xe8260: return "Torque limit active";
79    case 0xe264: return "Target position out of numerical range";
80    case 0xe829: return "Positive position limit exceeded";
81    case 0xe830: return "Negative position limit exceeded";
82    case 0xe831: return "Position limit reached during jog";
83    case 0xe834: return "Emergency-Stop";
84    case 0xe842: return "Both end-switches activated";
85    case 0xe843: return "Positive end-switch activated";
86    case 0xe844: return "Negative end-switch activated";
87    case 0xf218: case 0xf2018: return "Amplifier overtemp shutdown";
88    case 0xf219: case 0xf2019: return "Motor overtemp shutdown";
89    case 0xf220: return "Bleeder overload shutdown";
90    case 0xf221: case 0xf2021: return "Motor temperature surveillance defective";
91                 case 0xf2022: return "Unit temperature surveillance defective";
92    case 0xf224: return "Maximum breaking time exceeded";
93                 case 0xf2025: return "Drive not ready for power on";
94    case 0xf228: case 0xf2028: return "Excessive control deviation";
95    case 0xf250: return "Overflow of target position preset memory";
96    case 0xf269: return "Error during release of the motor holding brake";
97    case 0xf276: return "Absolute encoder out of allowed window";
98                 case 0xf2174: return "Lost reference of motor encoder";
99    case 0xf409: case 0xf4009: return "Bus error on Profibus interface";
100    case 0xf434: return "Emergency-Stop";
101    case 0xf629: return "Positive position limit exceeded";
102    case 0xf630: return "Negative position limit exceeded";
103    case 0xf634: return "Emergency-Stop";
104    case 0xf643: return "Positive end-switch activated";
105    case 0xf644: return "Negative end-switch activated";
106                 case 0xf8069: return "15V DC error";
107    case 0xf870: case 0xf8070: return "24V DC error";
108    case 0xf878: case 0xf8078: return "Velocity loop error";
109                 case 0xf8079: return "Velocity limit exceeded";
110                 case 0xf2026: return "Undervoltage in power section";
111    }
112    return "unknown";
113}
114
115TString Dkc::GetStatus(LWORD_t val) const
116{
117    const Int_t errnum = val&0xff;
118    const Int_t errinf = val>>8;
119
120    if (errnum!=0xff)
121        return "";
122
123    // DKC offline. This is a fatal error
124    if (errinf==0)
125        return "offline.";
126
127    TString str;
128
129    const Int_t type = (errinf&0xf0000)==0 ? ((errinf>>12)&0xf) : ((errinf>>16)&0xf);
130    switch (type)
131    {
132    case 0xf: str += "ERROR";   break;
133    case 0xe: str += "WARNING"; break;
134    case 0xa: str += "Status";  break;
135    case 0xc:
136    case 0xd: str += "Message"; break;
137    default:  str += "Unknown"; break;
138    }
139
140    str += " (";
141    str += MString::Format("%X", errinf);
142    str += "): ";
143    str += EvalStatusDKC(errinf);
144    str += (type==0xf || type==0xe ? "!" : ".");
145
146    return str;
147}
148
149Bool_t Dkc::PrintStatus(LWORD_t val) const
150{
151    const Int_t errnum = val&0xff;
152    const Int_t errinf = val>>8;
153
154    if (errnum!=0xff)
155        return errnum==0;
156
157    gLog << all << MTime(-1) << ": " << GetNodeName() << " " << GetStatus(val) << endl;
158
159    // errinf==0: DKC offline. This is a fatal error
160    const Int_t type = (errinf&0xf0000)==0 ? ((errinf>>12)&0xf) : ((errinf>>16)&0xf);
161    return errinf==0 ? kFALSE : (type&0xf)!=0xf;
162}
163
164void Dkc::HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, const timeval_t &tv)
165{
166    // cout << "SdoRx: Idx=0x"<< hex << idx << "/" << (int)subidx;
167    // cout << ", val=0x" << val << endl;
168    switch (idx)
169    {
170    case 0x1000:
171        gLog << inf2 << "- " << GetNodeName() << ": Node is" << (val?" ":" not ") << "armed." << endl;
172        fArmed = val==1;
173        return;
174
175    case 0x1003:
176        // FIXME, see Init
177        gLog << inf2 << "- " << GetNodeName() << ": Error[0]=" << hex << val << dec << endl;
178        CheckErrorDKC(val);
179        return;
180
181    case 0x100a:
182        gLog << inf2 << "- " << GetNodeName() << ": Using Software Version V" << dec << (int)(val>>16) << "." << (int)(val&0xff) << endl;
183        fSoftVersion = val;
184        return;
185
186    case 0x100b:
187        // Do not display, this is used for CheckConnection
188        // lout << "Node ID: " << dec << val << endl;
189        return;
190
191    case 0x2002:
192        gLog << inf2 << GetNodeName() << ": Current velocity: " << dec << val << endl;
193        fVel = val;
194        return;
195
196    case 0x6004:
197        fPdoPos1 = (LWORDS_t)val;
198        fPdoTime1.Set(tv);
199        fHasChangedPos1 = true;
200        return;
201
202    case 0x6005:
203        fPdoPos2 = (LWORDS_t)val;
204        fPdoTime2.Set(tv);
205        fHasChangedPos2 = true;
206        return;
207
208    case 0x6002:
209        gLog << inf2 << "- " << GetNodeName() << ": Velocity resolution = " << dec << val << " (1rpm)" << endl;
210        fVelRes = val;
211        return;
212
213    case 0x6003:
214        gLog << inf2 << "- " << GetNodeName() << ": Maximum velocity = " << dec << val << " (100%)" << endl;
215        fVelMax = val;
216        return;
217
218    case 0x6501:
219        gLog << inf2 << "- " << GetNodeName() << ": Position resolution = " << dec << val << " ticks/revolution" << endl;
220        fPosRes = val;
221        return;
222    }
223
224    NodeDrv::HandleSDO(idx, subidx, val, tv);
225
226    //    cout << "Dkc: SDO, idx=0x"<< hex << idx << "/" << (int)subidx;
227    //    cout << ", val=0x"<<val<<endl;
228}
229
230void Dkc::HandleSDOOK(WORD_t idx, BYTE_t subidx, LWORD_t data, const timeval_t &tv)
231{
232    //    cout << "Node #" << dec << (int)GetId() << ": Sdo=" << hex << idx  << "/" << (int)subidx << " set." << endl;
233
234    // If a real drive operation is requested from the MACS and
235    // the MACS is not correctly initialized the operation is
236    // rejected. (This is expecially harmfull if the NoWait state
237    // is set incorrectly)
238    if (data)
239        SetZombie();
240
241    switch (idx)
242    {
243    case 0x1000:
244        gLog << inf2 << "- " << GetNodeName() << ": State of node set." << endl;
245        return;
246
247    case 0x1001:
248        gLog << inf2 << "- " << GetNodeName() << ": PDOs requested." << endl;
249        return;
250
251    case 0x2002:
252        gLog << inf2 << "- " << GetNodeName() << ": Velocity set." << endl;
253        return;
254
255    case 0x2003:
256        gLog << inf2 << "- " << GetNodeName() << ": Acceleration set." << endl;
257        return;
258
259    case 0x3006:
260        gLog << inf2 << "- " << GetNodeName() << ": RPM mode switched." << endl;
261        return;
262
263    case 0x3007:
264        //gLog << inf2 << "- Velocity set (" << GetNodeName() << ")" << endl;
265        return;
266
267    case 0x4000:
268        HandleNodeguard(tv);
269        return;
270
271    case 0x6000:
272        gLog << inf2 << "- " << GetNodeName() << ": Rotation direction set." << endl;
273        return;
274
275    case 0x6002:
276        gLog << inf2 << "- " << GetNodeName() << ": Velocity resolution set." << endl;
277        return;
278
279    case 0x6004:
280        gLog << inf2 << "- " << GetNodeName() << ": Absolute positioning started." << endl;
281        fPosActive = kTRUE; // Make sure that the status is set correctly already before the first PDO
282        return;
283
284    case 0x6005:
285        gLog << inf2 << "- " << GetNodeName() << ": Relative positioning started." << endl;
286        fPosActive = kTRUE; // Make sure that the status is set correctly already before the first PDO
287        return;
288    }
289
290    NodeDrv::HandleSDOOK(idx, subidx, data, tv);
291}
292
293void Dkc::ReqVelRes()
294{
295    gLog << inf2 << "- " << GetNodeName() << ": Requesting velocity resolution (velres, 0x6002)." << endl;
296    RequestSDO(0x6002);
297    WaitForSdo(0x6002);
298}
299
300void Dkc::ReqVelMax()
301{
302    gLog << inf2 << "- " << GetNodeName() << ": Requesting maximum velocity (velmax, 0x6003)." << endl;
303    RequestSDO(0x6003);
304    WaitForSdo(0x6003);
305}
306
307void Dkc::ReqPosRes()
308{
309    gLog << inf2 << "- " << GetNodeName() << ": Requesting position resolution (posres, 0x6501)." << endl;
310    RequestSDO(0x6501);
311    WaitForSdo(0x6501);
312}
313
314void Dkc::Arm()
315{
316    gLog << inf2 << "- " << GetNodeName() << ": Arming node." << endl;
317    SendSDO(0x1000, (LWORD_t)1);
318    WaitForSdo(0x1000);
319}
320
321void Dkc::Disarm()
322{
323    gLog << inf2 << "- " << GetNodeName() << ": Disarming Node." << endl;
324    SendSDO(0x1000, (LWORD_t)0);
325    WaitForSdo(0x1000);
326}
327
328void Dkc::CheckConnection()
329{
330    RequestSDO(0x100b);
331    WaitForSdo(0x100b);
332}
333
334void Dkc::Init()
335{
336    //
337    // Request current error status (FIXME: is the first entry in the
338    // error list)
339    //
340    gLog << inf2 << "- " << GetNodeName() << ": Requesting Error[0]." << endl;
341    RequestSDO(0x1003);
342    WaitForSdo(0x1003);
343
344    /*
345    if (HasError())
346    {
347        gLog << err << "Dkc::Init: " << GetNodeName() << " has error --> ZOMBIE!" << endl;
348        SetZombie();
349    }
350    if (IsZombieNode())
351        return;
352    */
353
354    SetRpmMode(FALSE);
355
356    ReqPosRes(); // Init fVelRes
357    ReqVelRes(); // Init fVelResVelRes
358    ReqVelMax(); // Init fVelMax
359
360    // Request to send all PDOs at least once
361    ReqPDOs();
362
363#ifdef EXPERT
364    Arm();
365#endif
366    gLog << inf2 << "- " << GetNodeName() << ": Checking armed status." << endl;
367    RequestSDO(0x1000);
368    WaitForSdo(0x1000);
369}
370
371void Dkc::StopDevice()
372{
373    //
374    // FIXME: This isn't called if the initialization isn't done completely!
375    //
376    SetRpmMode(FALSE);
377    Disarm();
378}
379
380void Dkc::ReqPDOs()
381{
382    gLog << inf2 << "- " << GetNodeName() << ": Requesting all PDOs." << endl;
383
384    SendSDO(0x1001, (LWORD_t)1);
385    WaitForSdo(0x1001);
386}
387
388void Dkc::ReqPos1()
389{
390    gLog << inf2 << "- " << GetNodeName() << ": Requesting position feedback 1." << endl;
391    RequestSDO(0x6004);
392    WaitForSdo(0x6004);
393}
394
395void Dkc::ReqPos2()
396{
397    gLog << inf2 << "- " << GetNodeName() << ": Requesting position feedback 2." << endl;
398    RequestSDO(0x6005);
399    WaitForSdo(0x6005);
400}
401
402void Dkc::ReqVel()
403{
404    gLog << inf2 << "- " << GetNodeName() << ": Requesting Velocity." << endl;
405    RequestSDO(0x2002);
406    WaitForSdo(0x2002);
407}
408
409void Dkc::SetVelocity(LWORD_t vel)
410{
411    gLog << dbg << "- Setting velocity to: " << vel << endl;
412    SendSDO(0x2002, vel);     // velocity
413    WaitForSdo(0x2002);
414}
415
416void Dkc::SetVelocityRel(Double_t vel)
417{
418    gLog << dbg << "- Setting velocity to: " << vel*100 << "%" << endl;
419    SendSDO(0x2002, (LWORD_t)(vel*fVelMax+0.5));     // velocity
420    WaitForSdo(0x2002);
421}
422
423void Dkc::SetAcceleration(LWORD_t acc)
424{
425    gLog << dbg << "- Setting acceleration to: " << acc << endl;
426    SendSDO(0x2003, acc);  // acceleration
427    WaitForSdo(0x2003);
428}
429
430void Dkc::SetRpmMode(BYTE_t mode)
431{
432    //
433    // SetRpmMode(FALSE) stop the motor, but lets the position control unit on
434    //
435    SendSDO(0x3006, mode ? string('s','t','r','t') : string('s','t','o','p'));
436    WaitForSdo(0x3006);
437}
438
439void Dkc::SetRpmVelocity(LWORDS_t cvel)
440{
441    SendSDO(0x3007, (LWORD_t)cvel);
442    WaitForSdo(0x3007);
443}
444
445void Dkc::StartRelPos(LWORDS_t pos)
446{
447    if (!fArmed)
448    {
449        gLog << err << GetNodeName() << ": ERROR - Moving without being armed is not allowed." << endl;
450        SetZombie();
451        return;
452    }
453
454    gLog << dbg << GetNodeName() << ": Starting relative positioning by " << (LWORDS_t)pos << " ticks." << endl;
455    SendSDO(0x6005, (LWORD_t)pos);
456    fPosActive = kTRUE; // Make sure that the status is set correctly already before the first PDO
457}
458
459void Dkc::StartAbsPos(LWORDS_t pos)
460{
461    if (!fArmed)
462    {
463        gLog << err << GetNodeName() << ": ERROR - Moving without being armed is not allowed." << endl;
464        SetZombie();
465        return;
466    }
467
468    gLog << dbg << GetNodeName() << ": Starting absolute positioning to " << (LWORDS_t)pos << " ticks." << endl;
469    SendSDO(0x6004, (LWORD_t)pos);
470    fPosActive = kTRUE; // Make sure that the status is set correctly already before the first PDO
471}
472
473void Dkc::StartAbsPosRev(Double_t pos)
474{
475    if (!fArmed)
476    {
477        gLog << err << GetNodeName() << ": ERROR - Moving without being armed is not allowed." << endl;
478        SetZombie();
479        return;
480    }
481
482    const LWORD_t p = (LWORD_t)(pos*fPosRes+.5);
483
484    gLog << dbg << GetNodeName() << ": Starting absolute positioning to " << p << " ticks." << endl;
485    SendSDO(0x6004, p);
486    fPosActive = kTRUE; // Make sure that the status is set correctly already before the first PDO
487}
488
489void Dkc::SendMsg(BYTE_t data[6])
490{
491    GetNetwork()->SendCanFrame(fMacId, 0, 0, data[0], data[1], data[2], data[3], data[4], data[5]);
492}
493
494void Dkc::SendMsg(BYTE_t d0, BYTE_t d1, BYTE_t d2,
495                   BYTE_t d3, BYTE_t d4, BYTE_t d5)
496{
497    GetNetwork()->SendCanFrame(fMacId, 0, 0, d0, d1, d2, d3, d4, d5);
498}
499
500void Dkc::HandlePDO1(const BYTE_t *data, const timeval_t &tv)
501{
502    // FIXME!!!! Only 0x4000 should do this to be
503    // CanOpen conform
504    //HandleNodeguard(tv);
505
506    fPdoPos1    = (data[3]<<24) | (data[2]<<16) | (data[1]<<8) | data[0];
507    fPdoTime1.Set(tv);
508    fHasChangedPos1 = true;
509
510    fPdoPos2    = (data[7]<<24) | (data[6]<<16) | (data[5]<<8) | data[4];
511    fPdoTime2.Set(tv);
512    fHasChangedPos2 = true;
513
514    if (fReport)
515    {
516        fReport->Lock("ShaftEncoder::HandlePDOType0");
517        *fReport << "FEEDBACK " << (int)GetId() << " " << fPdoTime1 << " PDO0 " << GetNodeName() << " " << fPdoPos1 << " " << fPdoPos2 << endl;
518        fReport->UnLock("ShaftEncoder::HandlePDOType0");
519    }
520}
521
522void Dkc::HandlePDO3(const BYTE_t *data, const timeval_t &tv)
523{
524    if (fStatus!=data[3])
525    {
526        fArmed     = data[3]&0x01; // armed status
527        fPosActive = data[3]&0x02; // positioning active
528        fRpmActive = data[3]&0x04; // RPM mode switched on
529                  // data[3]&0x08; //  - unused -
530                  // data[3]&0x10; //  - unused -
531                  // data[3]&0x20; //  - unused -
532        //fInControl = data[3]&0x40; // motor uncontrolled
533                  // data[3]&0x80; // axis resetted (after errclr, motor stop, motor on)
534
535        fStatus = data[3];
536    }
537
538    const LWORD_t stat = data[0] | (data[1]<<8);
539    if (fStatusPdo3!=stat)
540    {
541        gLog << inf << MTime(-1) << ": " << GetNodeName() << " - PDO2(0x" << hex << (int)stat << dec << ") = ";
542        const Bool_t ready  = stat&0x001;
543        const Bool_t fuse   = stat&0x002;
544        const Bool_t emcy   = stat&0x004;
545        const Bool_t vltg   = stat&0x008;
546        const Bool_t mode   = stat&0x010;
547        const Bool_t rf     = stat&0x020;
548        const Bool_t brake  = stat&0x040;
549        const Bool_t power  = stat&0x080;
550        const Bool_t alarm  = stat&0x100;  // UPS Alarm      (FACT only)
551        const Bool_t batt   = stat&0x200;  // UPS on battery (FACT only)
552        const Bool_t charge = stat&0x400;  // UPS charging   (FACT only)
553        if (ready)  gLog << "DKC-Ready ";
554        if (fuse)   gLog << "FuseOk ";
555        if (emcy)   gLog << "EmcyOk ";
556        if (vltg)   gLog << "OvervoltOk ";
557        if (mode)   gLog << "SwitchToManualMode ";
558        if (rf)     gLog << "RF ";
559        if (brake)  gLog << "BrakeOpen ";
560        if (power)  gLog << "PowerOn ";
561        if (alarm)  gLog << "UPS-PowerLoss ";
562        if (batt)   gLog << "UPS-OnBattery ";
563        if (charge) gLog << "UPS-Charging ";
564        gLog << endl;
565
566        fStatusPdo3 = stat;
567    }
568}
569
570void Dkc::CheckErrorDKC(LWORD_t val)
571{
572    fStatusDKC = val;
573
574    const Bool_t rc = PrintStatus(val);
575    SetError(rc ? 0 : val);
576    if (!rc)
577        SetZombie();
578}
579
580void Dkc::HandlePDO2(const BYTE_t *data, const timeval_t &tv)
581{
582    LWORDS_t errnum = (data[0]<<24) | (data[1]<<16) | (data[2]<<8) | data[3];
583    LWORDS_t errinf = (data[4]<<24) | (data[5]<<16) | (data[6]<<8) | data[7];
584
585    // Check if the DKC changed its status message
586    const Int_t type = (errinf&0xf0000)==0 ? ((errinf>>12)&0xf) : ((errinf>>16)&0xf);
587    if (errnum==0xff && (type&0xf)<=0xe)
588    {
589        CheckErrorDKC(errnum, errinf);
590        return;
591    }
592
593    // Check if MACS report error occursion.
594    // errnum==0 gives a sudden information that something happened. Now the
595    // microcontroller is running inside its interrupt procedure which
596    // stopped the normal program. The interrupt procedure should try to clear
597    // the error state of the hardware. This should never create a new error!
598    //
599    if (!errnum)
600    {
601        gLog << err << "- " << GetNodeName() << ": reports Error occursion." << endl;
602        gLog << "Dkc::HandlePDO2: " << GetNodeName() << " --> ZOMBIE!" << endl;
603        SetZombie();
604        SetError(-1);
605        return;
606    }
607
608    //
609    // Now the error is handled by the hardware now it is the software part
610    // to react on it. The Error flag now is set to the correct value.
611    //
612    if (GetError()>0)
613    {
614        gLog << warn << GetNodeName() << ": WARNING! Previous error #" << GetError() << " unhandled (not cleared) by software." << endl;
615
616        //
617        // If the error is unhadled and/or not cleared, don't try it again.
618        //
619        if (GetError()==errnum)
620            return;
621    }
622
623    SetError(errnum);
624
625    gLog << err << GetNodeName() << " reports: ";
626    switch (errnum)
627    {
628    case 0xff:
629        EvalStatus(errnum, errinf);
630        return;
631
632    default:
633        gLog << "Error Nr. " << dec << errnum << ", " << errinf << endl;
634    }
635}
636
637// FIXME? Handling of fIsZombie?
638void Dkc::HandleError()
639{
640    //
641    // If there is no error we must not handle anything
642    //
643    if (!HasError())
644        return;
645
646    //
647    // If the program got into the: HandleError state before the hardware
648    // has finished handeling the error we have to wait for the hardware
649    // handeling the error
650    //
651    // FIXME: Timeout???
652    //
653//  while (GetError()<0)
654//      usleep(1);
655
656    //
657    // After this software and hardware should be in a state so that
658    // we can go on working 'as usual' Eg. Initialize a Display Update
659    //
660    gLog << inf << GetNodeName() << " Handling Error #" << dec << GetError() << endl;
661    switch (GetError())
662    {
663    case 0xff:
664        gLog << err << "DKC error! Go and check what is going on!" << endl;
665        return;
666
667    default:
668        gLog << "- " << GetNodeName() << ": Cannot handle error #" << GetError() << endl;
669 
670    }
671}
672
673void Dkc::DisplayVal()
674{
675    const LWORDS_t pos = GetPdoPos2();
676    if (IsZombieNode())
677    {
678        if (fLabel)
679            fLabel->SetText(new TGString(""));
680        fUpdPos = ~pos;
681        return;
682    }
683
684    char text[21]="";
685    if (pos!=fUpdPos && fLabel)
686    {
687        sprintf(text, "%ld", pos);
688        fLabel->SetText(new TGString(text));
689        fUpdPos = pos;
690    }
691}
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