Ignore:
Timestamp:
12/21/01 11:59:50 (23 years ago)
Author:
tbretz
Message:
*** empty log message ***
File:
1 edited

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  • trunk/MagicSoft/Cosy/candrv/network.cc

    r1109 r1138  
     1/* ======================================================================== *\
     2!
     3! *
     4! * This file is part of Stesy, the MAGIC Steering System
     5! * Software. It is distributed to you in the hope that it can be a useful
     6! * and timesaving tool in analysing Data of imaging Cerenkov telescopes.
     7! * It is distributed WITHOUT ANY WARRANTY.
     8! *
     9! * Permission to use, copy, modify and distribute this software and its
     10! * documentation for any purpose is hereby granted without fee,
     11! * provided that the above copyright notice appear in all copies and
     12! * that both that copyright notice and this permission notice appear
     13! * in supporting documentation. It is provided "as is" without express
     14! * or implied warranty.
     15! *
     16!
     17!
     18!   Author(s): Thomas Bretz, 2001 <mailto:tbretz@uni-sw.gwdg.de>
     19!
     20!   Copyright: MAGIC Software Development, 2000-2001
     21!
     22!
     23\* ======================================================================== */
     24
     25///////////////////////////////////////////////////////////////////////
     26//
     27// Network
     28//
     29// is a collection of nodes which coordinates the network
     30//
     31///////////////////////////////////////////////////////////////////////
    132#include "network.h"
    233
    … …  
    637ClassImp(Network);
    738
     39// --------------------------------------------------------------------------
     40//
     41// Start the canopen module
     42// Initialize all nodes (calling NodeDrv::Init()
     43//
    844void Network::Start()
    945{
    … …  
    1652}
    1753
     54// --------------------------------------------------------------------------
     55//
     56// Stop all nodes, stop the can module
     57//
    1858void Network::Stop()
    1959{
    … …  
    2666}
    2767
     68// --------------------------------------------------------------------------
     69//
     70// Initialize the network, set all nodes to NULL (n/a)
     71//
    2872Network::Network(const char *dev, const int baud, MLog &out) : CanOpen(dev, baud, out)
    2973{
    … …  
    3276}
    3377
     78// --------------------------------------------------------------------------
     79//
     80// Distributes the received SDO messages to the addressed nodes.
     81// Depending on the received command either HandleSDO, HandleSDOOK or
     82// HandleSDOError called.
     83//  HandleSDO:      Handles a received value
     84//  HandleSDOOK:    Handles the acknoledgment of a trasmitted SDO
     85//  HandleSDOError: Handles error occursion (see CanOpen standard)
     86//
    3487void Network::HandleSDO(BYTE_t node, BYTE_t cmd, WORD_t idx, BYTE_t subidx, LWORD_t data, struct timeval *tv)
    3588{
    … …  
    82135}
    83136
     137// --------------------------------------------------------------------------
     138//
     139// Distributes PDO1 messages to the correspoding node calling HandlePDO1
     140//
    84141void Network::HandlePDO1(BYTE_t node, BYTE_t *data, struct timeval *tv)
    85142{
    … …  
    96153}
    97154
     155// --------------------------------------------------------------------------
     156//
     157// Distributes PDO2 messages to the correspoding node calling HandlePDO2
     158//
    98159void Network::HandlePDO2(BYTE_t node, BYTE_t *data, struct timeval *tv)
    99160{
    … …  
    110171}
    111172
     173// --------------------------------------------------------------------------
     174//
     175// Distributes PDO3 messages to the correspoding node calling HandlePDO3
     176//
    112177void Network::HandlePDO3(BYTE_t node, BYTE_t *data, struct timeval *tv)
    113178{
    … …  
    124189}
    125190
     191// --------------------------------------------------------------------------
     192//
     193// Distributes PDO4 messages to the correspoding node calling HandlePDO4
     194//
    126195void Network::HandlePDO4(BYTE_t node, BYTE_t *data, struct timeval *tv)
    127196{
    … …  
    138207}
    139208
     209// --------------------------------------------------------------------------
     210//
     211// Sets a node to a given nodedrv. The id is requested from the drv object.
     212//
    140213void Network::SetNode(NodeDrv *drv)
    141214{
    … …  
    151224}
    152225
     226// --------------------------------------------------------------------------
     227//
     228// Initializes all nodes calling InitDevice
     229//
    153230void Network::InitNodes()
    154231{
    … …  
    163240}
    164241
     242// --------------------------------------------------------------------------
     243//
     244// Stop all nodes calling StopDevice
     245//
    165246void Network::StopNodes()
    166247{
    … …  
    174255}
    175256
     257// --------------------------------------------------------------------------
     258//
     259// returns true if one of the nodes has the error-flag set (HasError).
     260//
    176261bool Network::HasError() const
    177262{
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