source: trunk/MagicSoft/Cosy/candrv/nodedrv.h@ 2079

Last change on this file since 2079 was 2019, checked in by tbretz, 23 years ago
*** empty log message ***
File size: 3.3 KB
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1#ifndef NODEDRV_H
2#define NODEDRV_H
3
4#include <TString.h>
5
6#include "log.h"
7
8#ifdef __CINT__
9typedef Byte_t BYTE_t;
10typedef UShort_t WORD_t;
11typedef Short_t WORDS_t;
12typedef UInt_t LWORD_t;
13typedef Int_t LWORDS_t;
14#else
15#include "gendef.h"
16#endif
17
18typedef struct timeval timeval_t;
19
20class Network;
21
22class NodeDrv : public Log, public TObject
23{
24private:
25 Network *fNetwork;
26 BYTE_t fId;
27
28 TString fName;
29
30 int fError;
31
32 Bool_t fIsZombie; // A Zombie node is a node which doesn't answer...
33
34 TTimer *fTimeout;
35 Int_t fGuardTime; // Guardtime [ms]
36 Int_t fLifeTimeFactor;
37 Double_t fTimeoutTime;
38 Bool_t fTimerOn;
39
40 Bool_t HandleTimer(TTimer *t);
41
42protected:
43 void SetError(int err) { fError = err; }
44 void DelError() { fError = 0; }
45
46 Int_t GetLifeTimeFactor() const { return fLifeTimeFactor; }
47 Int_t GetGuardTime() const { return fGuardTime; }
48
49 virtual void SetZombie();
50
51public:
52 NodeDrv(BYTE_t nodeid, const char *name=NULL, MLog &out=gLog);
53 virtual ~NodeDrv();
54
55 BYTE_t GetId() const { return fId; }
56 const char *GetNodeName() const { return fName; }
57 Network *GetNetwork() { return fNetwork; }
58
59 virtual void Init() = 0;
60 virtual bool InitDevice(Network *net);
61 virtual void StopDevice() = 0;
62 virtual bool Reboot();
63 virtual void CheckConnection() = 0;
64
65 int GetError() const { return fError; }
66 bool HasError() const { return fError; }
67
68 bool IsZombieNode() const { return fIsZombie; }
69
70 virtual void HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, timeval_t *tv);
71 virtual void HandleSDOOK(WORD_t idx, BYTE_t subidx, timeval_t *tv);
72 virtual void HandleSDOError(LWORD_t data);
73
74 virtual void HandlePDO1(BYTE_t *data, timeval_t *tv) {}
75 virtual void HandlePDO2(BYTE_t *data, timeval_t *tv) {}
76 virtual void HandlePDO3(BYTE_t *data, timeval_t *tv) {}
77 virtual void HandlePDO4(BYTE_t *data, timeval_t *tv) {}
78 virtual void HandleNodeguard(timeval_t *tv);
79 virtual void HandleEmergency(timeval_t *tv) {}
80
81 bool SendPDO1(BYTE_t data[8]);
82 bool SendPDO2(BYTE_t data[8]);
83 bool SendPDO1(BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0,
84 BYTE_t m4=0, BYTE_t m5=0, BYTE_t m6=0, BYTE_t m7=0);
85 bool SendPDO2(BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0,
86 BYTE_t m4=0, BYTE_t m5=0, BYTE_t m6=0, BYTE_t m7=0);
87
88 bool SendSDO(WORD_t idx, BYTE_t subidx, BYTE_t val, bool store=true);
89 bool SendSDO(WORD_t idx, BYTE_t subidx, WORD_t val, bool store=true);
90 bool SendSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, bool store=true);
91
92 bool SendSDO(WORD_t idx, BYTE_t val);
93 bool SendSDO(WORD_t idx, WORD_t val);
94 bool SendSDO(WORD_t idx, LWORD_t val=0);
95
96 bool SendNMT(BYTE_t cmd);
97 virtual void SendNodeguard();
98
99 bool RequestSDO(WORD_t idx, BYTE_t subidx=0);
100
101 void WaitForNextPdo1();
102 void WaitForNextPdo2();
103 void WaitForNextPdo3();
104 void WaitForNextPdo4();
105
106 // void WaitForSdos();
107 bool WaitForSdo(WORD_t idx, BYTE_t subidx=0, WORDS_t timeout=500);
108
109 void EnableCanMsg(BYTE_t fcode);
110
111 void StartGuarding(Bool_t real=kTRUE);
112 void StartGuarding(Int_t ms, Int_t ltf, Bool_t real=kTRUE);
113 void StopGuarding();
114
115 ClassDef(NodeDrv, 0) // base class for an object describing hardware
116};
117
118#endif
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