| 1 | #ifndef NODEDRV_H
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| 2 | #define NODEDRV_H
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| 3 |
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| 4 | #include "log.h"
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| 5 |
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| 6 | #ifdef __CINT__
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| 7 | typedef Byte_t BYTE_t;
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| 8 | typedef UShort_t WORD_t;
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| 9 | typedef Short_t WORDS_t;
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| 10 | typedef UInt_t LWORD_t;
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| 11 | typedef Int_t LWORDS_t;
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| 12 | struct timeval;
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| 13 | #else
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| 14 | #include "gendef.h"
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| 15 | #endif
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| 16 |
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| 17 | class Network;
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| 18 |
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| 19 | class NodeDrv : public Log
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| 20 | {
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| 21 | private:
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| 22 | Network *fNetwork;
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| 23 | BYTE_t fId;
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| 24 |
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| 25 | char *fName;
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| 26 |
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| 27 | int fError;
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| 28 |
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| 29 | protected:
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| 30 | void SetError(int err) { fError = err; }
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| 31 | void DelError() { fError = 0; }
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| 32 | int GetError() { return fError; }
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| 33 |
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| 34 | public:
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| 35 | NodeDrv(BYTE_t nodeid, const char *name=NULL, MLog &out=gLog);
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| 36 | virtual ~NodeDrv();
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| 37 |
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| 38 | BYTE_t GetId() const { return fId; }
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| 39 | char *GetNodeName() const { return fName; }
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| 40 | Network *GetNetwork() { return fNetwork; }
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| 41 |
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| 42 | virtual void InitDevice(Network *net);
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| 43 | virtual void StopDevice() = 0;
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| 44 |
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| 45 | bool HasError() { return fError; }
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| 46 |
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| 47 | virtual void HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, struct timeval *tv);
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| 48 | virtual void HandleSDOOK(WORD_t idx, BYTE_t subidx);
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| 49 | virtual void HandleSDOError(LWORD_t data);
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| 50 |
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| 51 | virtual void HandlePDO1(BYTE_t *data, struct timeval *tv) {};
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| 52 | virtual void HandlePDO2(BYTE_t *data, struct timeval *tv) {};
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| 53 | virtual void HandlePDO3(BYTE_t *data, struct timeval *tv) {};
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| 54 | virtual void HandlePDO4(BYTE_t *data, struct timeval *tv) {};
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| 55 |
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| 56 | void SendPDO1(BYTE_t data[8]);
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| 57 | void SendPDO2(BYTE_t data[8]);
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| 58 | void SendPDO1(BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0,
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| 59 | BYTE_t m4=0, BYTE_t m5=0, BYTE_t m6=0, BYTE_t m7=0);
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| 60 | void SendPDO2(BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0,
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| 61 | BYTE_t m4=0, BYTE_t m5=0, BYTE_t m6=0, BYTE_t m7=0);
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| 62 |
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| 63 | void SendSDO(WORD_t idx, BYTE_t subidx, BYTE_t val, bool store=true);
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| 64 | void SendSDO(WORD_t idx, BYTE_t subidx, WORD_t val, bool store=true);
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| 65 | void SendSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, bool store=true);
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| 66 |
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| 67 | void SendSDO(WORD_t idx, BYTE_t val);
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| 68 | void SendSDO(WORD_t idx, WORD_t val);
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| 69 | void SendSDO(WORD_t idx, LWORD_t val=0);
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| 70 |
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| 71 | void SendNMT(BYTE_t cmd);
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| 72 |
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| 73 | void RequestSDO(WORD_t idx, BYTE_t subidx=0);
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| 74 |
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| 75 | void WaitForNextPdo1();
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| 76 | void WaitForNextPdo2();
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| 77 | void WaitForNextPdo3();
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| 78 | void WaitForNextPdo4();
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| 79 |
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| 80 | // void WaitForSdos();
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| 81 | void WaitForSdo(WORD_t idx, BYTE_t subidx=0, WORDS_t timeout=500);
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| 82 |
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| 83 | void EnableCanMsg(BYTE_t fcode);
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| 84 |
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| 85 | ClassDef(NodeDrv, 0)
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| 86 | };
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| 87 |
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| 88 | #endif
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