source: trunk/MagicSoft/Cosy/candrv/network.cc@ 770

Last change on this file since 770 was 732, checked in by tbretz, 24 years ago
*** empty log message ***
File size: 3.8 KB
Line 
1#include "network.h"
2
3#include <iostream.h> // cout
4#include <iomanip.h> // setw, setfill
5
6void Network::Start()
7{
8 StartReceiver();
9 InitNodes();
10}
11
12void Network::Stop()
13{
14 StopNodes();
15 StopReceiver();
16
17 lout << "- Network stopped." << endl;
18}
19
20Network::Network(const char *dev, const int baud, ostream &out) : CanOpen(dev, baud, out)
21{
22 for (int i=0; i<32; i++)
23 fNodes[i] = NULL;
24}
25
26void Network::HandleSDO(BYTE_t node, BYTE_t cmd, WORD_t idx, BYTE_t subidx, LWORD_t data, struct timeval *tv)
27{
28 switch (cmd)
29 {
30 case kSDO_TX4: // answer to 0x40 with 4 bytes of data
31 if (fNodes[node])
32 {
33 fNodes[node]->HandleSDO(idx, subidx, data, tv);
34 return;
35 }
36 break;
37
38 case kSDO_TX3: // answer to 0x40 with 2 bytes of data
39 if (fNodes[node])
40 {
41 fNodes[node]->HandleSDO(idx, subidx, data>>16, tv);
42 return;
43 }
44 break;
45
46 case kSDO_TX1: // answer to 0x40 with 1 byte of data
47 if (fNodes[node])
48 {
49 fNodes[node]->HandleSDO(idx, subidx, data>>24, tv);
50 return;
51 }
52 break;
53
54 case kSDO_TX_OK: // answer to a SDO_TX message
55 if (fNodes[node])
56 {
57 fNodes[node]->HandleSDOOK(idx, subidx);
58 return;
59 }
60 break;
61
62 case kSDO_TX_ERROR: // error message (instead of 0x60)
63 if (fNodes[node])
64 {
65 fNodes[node]->HandleSDOError(data);
66 return;
67 }
68 break;
69 }
70 cout << dec << setfill('0');
71 cout << "Node=" << (int)node << " Cmd=0x" << hex << (int)cmd << ": ";
72 cout << "Sdo=" << idx << "/" << (int)subidx << ": 0x" << setw(8) << data;
73 cout << endl;
74}
75
76void Network::HandlePDO1(BYTE_t node, BYTE_t *data, struct timeval *tv)
77{
78 if (!fNodes[node])
79 {
80 cout << "Node " << dec << (int)node << ", PDO1: " << hex;
81 for (int i=0; i<8; i++)
82 cout << " 0x" << (int)data[i];
83 cout << endl;
84 return;
85 }
86
87 fNodes[node]->HandlePDO1(data, tv);
88}
89
90void Network::HandlePDO2(BYTE_t node, BYTE_t *data, struct timeval *tv)
91{
92 if (!fNodes[node])
93 {
94 cout << "Node " << dec << (int)node << ", PDO2: " << hex;
95 for (int i=0; i<8; i++)
96 cout << " 0x" << (int)data[i];
97 cout << endl;
98 return;
99 }
100
101 fNodes[node]->HandlePDO2(data, tv);
102}
103
104void Network::HandlePDO3(BYTE_t node, BYTE_t *data, struct timeval *tv)
105{
106 if (!fNodes[node])
107 {
108 cout << "Node " << dec << (int)node << ", PDO3: " << hex;
109 for (int i=0; i<8; i++)
110 cout << " 0x" << (int)data[i];
111 cout << endl;
112 return;
113 }
114
115 fNodes[node]->HandlePDO3(data, tv);
116}
117
118void Network::HandlePDO4(BYTE_t node, BYTE_t *data, struct timeval *tv)
119{
120 if (!fNodes[node])
121 {
122 cout << "Node " << dec << (int)node << ", PDO4: " << hex;
123 for (int i=0; i<8; i++)
124 cout << " 0x" << (int)data[i];
125 cout << endl;
126 return;
127 }
128
129 fNodes[node]->HandlePDO4(data, tv);
130}
131
132void Network::SetNode(NodeDrv *drv)
133{
134 const BYTE_t nodeid = drv->GetId();
135
136 if (nodeid>31)
137 {
138 cout << "SetNode - Error: Only node Numbers < 32 are allowed"<< endl;
139 return;
140 }
141
142 fNodes[nodeid] = drv;
143}
144
145void Network::InitNodes()
146{
147 for (int i=0; i<32; i++)
148 if (fNodes[i])
149 {
150 lout << "- Initializing Node #" << dec << i << endl;
151 fNodes[i]->InitDevice(this);
152 fNodeInitialized[i] = TRUE;
153 }
154 lout << "- All Nodes initialized." << endl;
155}
156
157void Network::StopNodes()
158{
159 for (int i=0; i<32; i++)
160 if (fNodes[i] && fNodeInitialized[i])
161 {
162 lout << "- Stopping Node #" << dec << i << endl;
163 fNodes[i]->StopDevice();
164 }
165 lout << "- All Nodes stopped." << endl;
166}
167
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