Changeset 1703 for trunk/MagicSoft/Cosy/candrv

Timestamp:

01/14/03 12:08:46 (22 years ago)

Author:

tbretz

Message:

*** empty log message ***

Location:

trunk/MagicSoft/Cosy/candrv

Files:

• canopen.h (modified) ( previous)
• network.cc (modified) (3 diffs)
• network.h (modified) (1 diff)
• nodedrv.cc (modified) (13 diffs)
• nodedrv.h (modified) (2 diffs)
• vmodican.cc (modified) (1 diff)

trunk/MagicSoft/Cosy/candrv/network.cc

@@ -237 +237 @@
             lout << "- Setting up Node #" << dec << i << " (";
             lout << fNodes[i]->GetNodeName() << ")" << endl;
-            fNodes[i]->InitDevice(this);
-            if (!fNodes[i]->IsZombieNode())
+            if (fNodes[i]->InitDevice(this))
                 fNodeInitialized[i] = TRUE;
-            /*else
-                fNodes[i]=NULL;*/
+            else
+                lout << "- " << fNodes[i]->GetNodeName() << ": InitDevice failed." << endl;
         }
     lout << "- All Nodes setup." << endl;
@@ -310 +309 @@
 bool Network::RebootZombies()
 {
+    bool rc = true;
+
     lout << "- Trying to reboot all Zombies..." << endl;
     for (int i=0; i<32; i++)
@@ -317 +318 @@
                 {
                     lout << "- Failed to reboot " << fNodes[i]->GetNodeName() << "." << endl;
-                    return false;
+                    rc = false;
                 }
 
-    lout << "- All Zombies rebooted." << endl;
-
-    return true;
-}
+    if (rc)
+        lout << "- All Zombies rebooted." << endl;
+
+    return rc;
+}
+
+// --------------------------------------------------------------------------
+//
+// Check the connections to all nodes. (This can also mean: Validate
+// the correct setup, etc)
+//
+void Network::CheckConnections()
+{
+    for (int i=0; i<32; i++)
+        if (fNodes[i])
+            fNodes[i]->CheckConnection();
+}
+

trunk/MagicSoft/Cosy/candrv/network.h

@@ -35 +35 @@
 
     bool RebootZombies();
+    void CheckConnections();
 
     ClassDef(Network, 0) // collection of nodes (nodedrv)

trunk/MagicSoft/Cosy/candrv/nodedrv.cc

@@ -30 +30 @@
 //
 // to be overloaded:
-//  virtual void InitDevice(Network *net)
+//  virtual void Init()
 //  virtual void StopDevice()
 //  virtual void HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, timeval_t *tv)
@@ -39 +39 @@
 //  virtual void HandlePDO3(BYTE_t *data, timeval_t *tv)
 //  virtual void HandlePDO4(BYTE_t *data, timeval_t *tv)
+//  virtual bool Reboot();
+//  virtual void CheckConnection();
 //
 ///////////////////////////////////////////////////////////////////////
@@ -56 +58 @@
 // and the node name. The name is a name for debug output.
 //
-NodeDrv::NodeDrv(BYTE_t nodeid, const char *name, MLog &out) : Log(out), fNetwork(NULL), fId(32), fError(0), fIsZombie(kFALSE)
+NodeDrv::NodeDrv(BYTE_t nodeid, const char *name, MLog &out) : Log(out), fNetwork(NULL), fId(32), fError(0), fIsZombie(kTRUE)
 {
     if (nodeid>0x1f)
@@ -93 +95 @@
 {
     fIsZombie = false;
-    return true;
+
+    Init();
+
+    return !fIsZombie;
 }
 
@@ -107 +112 @@
 //   SDO tx
 //
-void NodeDrv::InitDevice(Network *net)
+bool NodeDrv::InitDevice(Network *net)
 {
     fNetwork = net;
@@ -117 +122 @@
     EnableCanMsg(kSDO_RX);
     EnableCanMsg(kSDO_TX);
+
+    fIsZombie = kFALSE;
+
+    Init();
+
+    return !fIsZombie;
 }
 
@@ -165 +176 @@
 // A PDO is carrying up to eight bytes of information.
 //
-void NodeDrv::SendPDO1(BYTE_t data[8])
-{
-    fNetwork->SendPDO1(fId, data);
+// The message is not send if the node has the status Zombie.
+// In this case false is returned, otherwise true
+//
+bool NodeDrv::SendPDO1(BYTE_t data[8])
+{
+    if (!fIsZombie)
+        fNetwork->SendPDO1(fId, data);
+    return !fIsZombie;
 }
 
@@ -175 +191 @@
 // A PDO is carrying up to eight bytes of information.
 //
-void NodeDrv::SendPDO2(BYTE_t data[8])
-{
-    fNetwork->SendPDO2(fId, data);
+// The message is not send if the node has the status Zombie.
+// In this case false is returned, otherwise true
+//
+bool NodeDrv::SendPDO2(BYTE_t data[8])
+{
+    if (!fIsZombie)
+        fNetwork->SendPDO2(fId, data);
+    return !fIsZombie;
 }
 
@@ -185 +206 @@
 // A PDO is carrying up to eight bytes of information.
 //
-void NodeDrv::SendPDO1(BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0,
+// The message is not send if the node has the status Zombie.
+// In this case false is returned, otherwise true
+//
+bool NodeDrv::SendPDO1(BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0,
                        BYTE_t m4=0, BYTE_t m5=0, BYTE_t m6=0, BYTE_t m7=0)
 {
-    fNetwork->SendPDO1(fId, m0, m1, m2, m3, m4, m5, m6, m7);
+    if (!fIsZombie)
+        fNetwork->SendPDO1(fId, m0, m1, m2, m3, m4, m5, m6, m7);
+    return !fIsZombie;
 }
 
@@ -196 +222 @@
 // A PDO is carrying up to eight bytes of information.
 //
-void NodeDrv::SendPDO2(BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0,
+// The message is not send if the node has the status Zombie.
+// In this case false is returned, otherwise true
+//
+bool NodeDrv::SendPDO2(BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0,
                        BYTE_t m4=0, BYTE_t m5=0, BYTE_t m6=0, BYTE_t m7=0)
 {
-    fNetwork->SendPDO2(fId, m0, m1, m2, m3, m4, m5, m6, m7);
-}
-
-// --------------------------------------------------------------------------
-//
-// Sends the given SDO through the network to this device
-// An SDO message contains
-//  an address (this device)
-//  an index of the dictionary entry to address
-//  a subindex of this dictionary entry to access
-//  and a value to set for this dictionary entry
-//
-void NodeDrv::SendSDO(WORD_t idx, BYTE_t subidx, BYTE_t val, bool store)
-{
-    fNetwork->SendSDO(fId, idx, subidx, val, store);
-}
-
-// --------------------------------------------------------------------------
-//
-// Sends the given SDO through the network to this device
-// An SDO message contains
-//  an address (this device)
-//  an index of the dictionary entry to address
-//  a subindex of this dictionary entry to access
-//  and a value to set for this dictionary entry
-//
-void NodeDrv::SendSDO(WORD_t idx, BYTE_t subidx, WORD_t val, bool store)
-{
-    fNetwork->SendSDO(fId, idx, subidx, val, store);
-}
-
-// --------------------------------------------------------------------------
-//
-// Sends the given SDO through the network to this device
-// An SDO message contains
-//  an address (this device)
-//  an index of the dictionary entry to address
-//  a subindex of this dictionary entry to access
-//  and a value to set for this dictionary entry
-//
-void NodeDrv::SendSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, bool store)
-{
-    fNetwork->SendSDO(fId, idx, subidx, val, store);
-}
-
-// --------------------------------------------------------------------------
-//
-// Sends the given SDO through the network to this device
-// An SDO message contains
-//  an address (this device)
-//  an index of the dictionary entry to address
-//  a subindex of this dictionary entry to access
-//  and a value to set for this dictionary entry
-//
-void NodeDrv::SendSDO(WORD_t idx, BYTE_t val)
-{
-    fNetwork->SendSDO(fId, idx, val, true);
-}
-
-// --------------------------------------------------------------------------
-//
-// Sends the given SDO through the network to this device
-// An SDO message contains
-//  an address (this device)
-//  an index of the dictionary entry to address
-//  a subindex of this dictionary entry to access
-//  and a value to set for this dictionary entry
-//
-void NodeDrv::SendSDO(WORD_t idx, WORD_t val)
-{
-    fNetwork->SendSDO(fId, idx, val, true);
-}
-
-// --------------------------------------------------------------------------
-//
-// Sends the given SDO through the network to this device
-// An SDO message contains
-//  an address (this device)
-//  an index of the dictionary entry to address
-//  a subindex of this dictionary entry to access
-//  and a value to set for this dictionary entry
-//
-void NodeDrv::SendSDO(WORD_t idx, LWORD_t val)
-{
-    fNetwork->SendSDO(fId, idx, val, true);
+    if (!fIsZombie)
+        fNetwork->SendPDO2(fId, m0, m1, m2, m3, m4, m5, m6, m7);
+    return !fIsZombie;
+}
+
+// --------------------------------------------------------------------------
+//
+// Sends the given SDO through the network to this device
+// An SDO message contains
+//  an address (this device)
+//  an index of the dictionary entry to address
+//  a subindex of this dictionary entry to access
+//  and a value to set for this dictionary entry
+//
+// The message is not send if the node has the status Zombie.
+// In this case false is returned, otherwise true
+//
+bool NodeDrv::SendSDO(WORD_t idx, BYTE_t subidx, BYTE_t val, bool store)
+{
+    if (!fIsZombie)
+        fNetwork->SendSDO(fId, idx, subidx, val, store);
+    return !fIsZombie;
+}
+
+// --------------------------------------------------------------------------
+//
+// Sends the given SDO through the network to this device
+// An SDO message contains
+//  an address (this device)
+//  an index of the dictionary entry to address
+//  a subindex of this dictionary entry to access
+//  and a value to set for this dictionary entry
+//
+// The message is not send if the node has the status Zombie.
+// In this case false is returned, otherwise true
+//
+bool NodeDrv::SendSDO(WORD_t idx, BYTE_t subidx, WORD_t val, bool store)
+{
+    if (!fIsZombie)
+        fNetwork->SendSDO(fId, idx, subidx, val, store);
+    return !fIsZombie;
+}
+
+// --------------------------------------------------------------------------
+//
+// Sends the given SDO through the network to this device
+// An SDO message contains
+//  an address (this device)
+//  an index of the dictionary entry to address
+//  a subindex of this dictionary entry to access
+//  and a value to set for this dictionary entry
+//
+// The message is not send if the node has the status Zombie.
+// In this case false is returned, otherwise true
+//
+bool NodeDrv::SendSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, bool store)
+{
+    if (!fIsZombie)
+        fNetwork->SendSDO(fId, idx, subidx, val, store);
+    return !fIsZombie;
+}
+
+// --------------------------------------------------------------------------
+//
+// Sends the given SDO through the network to this device
+// An SDO message contains
+//  an address (this device)
+//  an index of the dictionary entry to address
+//  a subindex of this dictionary entry to access
+//  and a value to set for this dictionary entry
+//
+// The message is not send if the node has the status Zombie.
+// In this case false is returned, otherwise true
+//
+bool NodeDrv::SendSDO(WORD_t idx, BYTE_t val)
+{
+    if (!fIsZombie)
+        fNetwork->SendSDO(fId, idx, val, true);
+    return !fIsZombie;
+}
+
+// --------------------------------------------------------------------------
+//
+// Sends the given SDO through the network to this device
+// An SDO message contains
+//  an address (this device)
+//  an index of the dictionary entry to address
+//  a subindex of this dictionary entry to access
+//  and a value to set for this dictionary entry
+//
+// The message is not send if the node has the status Zombie.
+// In this case false is returned, otherwise true
+//
+bool NodeDrv::SendSDO(WORD_t idx, WORD_t val)
+{
+    if (!fIsZombie)
+        fNetwork->SendSDO(fId, idx, val, true);
+    return !fIsZombie;
+}
+
+// --------------------------------------------------------------------------
+//
+// Sends the given SDO through the network to this device
+// An SDO message contains
+//  an address (this device)
+//  an index of the dictionary entry to address
+//  a subindex of this dictionary entry to access
+//  and a value to set for this dictionary entry
+//
+// The message is not send if the node has the status Zombie.
+// In this case false is returned, otherwise true
+//
+bool NodeDrv::SendSDO(WORD_t idx, LWORD_t val)
+{
+    if (!fIsZombie)
+        fNetwork->SendSDO(fId, idx, val, true);
+    return !fIsZombie;
 }
 
@@ -294 +355 @@
 //  a subindex of this dictionary entry to access
 //
-void NodeDrv::RequestSDO(WORD_t idx, BYTE_t subidx)
-{
-    fNetwork->RequestSDO(fId, idx, subidx);
+// The message is not send if the node has the status Zombie.
+// In this case false is returned, otherwise true
+//
+bool NodeDrv::RequestSDO(WORD_t idx, BYTE_t subidx)
+{
+    if (!fIsZombie)
+        fNetwork->RequestSDO(fId, idx, subidx);
+    return !fIsZombie;
 }
 
@@ -303 +369 @@
 // Send an NMT message (command) to this device
 //
-void NodeDrv::SendNMT(BYTE_t cmd)
-{
-    fNetwork->SendNMT(fId, cmd);
+// The message is not send if the node has the status Zombie.
+// In this case false is returned, otherwise true
+//
+bool NodeDrv::SendNMT(BYTE_t cmd)
+{
+    if (!fIsZombie)
+        fNetwork->SendNMT(fId, cmd);
+    return !fIsZombie;
 }
 
@@ -323 +394 @@
 // You can stop waiting by StopWaitingForSDO.
 // Return false if waiting timed out.
+// If waiting timed out the node is set to status Zombie.
+//
+// If the node is already a zombie node, the message is deleted from the
+// queue and no waiting is done, false is returned..
 //
 bool NodeDrv::WaitForSdo(WORD_t idx, BYTE_t subidx, WORDS_t timeout)
 {
-    bool rc = fNetwork->WaitForSdo(fId, idx, subidx, timeout);
+    bool rc = fNetwork->WaitForSdo(fId, idx, subidx, fIsZombie?-1:timeout);
 
     if (!rc)
         fIsZombie = kTRUE;
 
-    return rc;
+    return fIsZombie ? false : rc;
 }
 

trunk/MagicSoft/Cosy/candrv/nodedrv.h

@@ -44 +44 @@
     Network    *GetNetwork()        { return fNetwork; }
 
-    virtual void InitDevice(Network *net);
+    virtual void Init() = 0;
+    virtual bool InitDevice(Network *net);
     virtual void StopDevice() = 0;
+    virtual bool Reboot();
+    virtual void CheckConnection() = 0;
 
     int  GetError() const { return fError; }
@@ -61 +64 @@
     virtual void HandlePDO4(BYTE_t *data, timeval_t *tv) {};
 
-    virtual bool Reboot();
-
-    void SendPDO1(BYTE_t data[8]);
-    void SendPDO2(BYTE_t data[8]);
-    void SendPDO1(BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0,
+    bool SendPDO1(BYTE_t data[8]);
+    bool SendPDO2(BYTE_t data[8]);
+    bool SendPDO1(BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0,
                   BYTE_t m4=0, BYTE_t m5=0, BYTE_t m6=0, BYTE_t m7=0);
-    void SendPDO2(BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0,
+    bool SendPDO2(BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0,
                   BYTE_t m4=0, BYTE_t m5=0, BYTE_t m6=0, BYTE_t m7=0);
 
-    void SendSDO(WORD_t idx, BYTE_t subidx, BYTE_t val, bool store=true);
-    void SendSDO(WORD_t idx, BYTE_t subidx, WORD_t val, bool store=true);
-    void SendSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, bool store=true);
+    bool SendSDO(WORD_t idx, BYTE_t subidx, BYTE_t val, bool store=true);
+    bool SendSDO(WORD_t idx, BYTE_t subidx, WORD_t val, bool store=true);
+    bool SendSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, bool store=true);
 
-    void SendSDO(WORD_t idx, BYTE_t val);
-    void SendSDO(WORD_t idx, WORD_t val);
-    void SendSDO(WORD_t idx, LWORD_t val=0);
+    bool SendSDO(WORD_t idx, BYTE_t val);
+    bool SendSDO(WORD_t idx, WORD_t val);
+    bool SendSDO(WORD_t idx, LWORD_t val=0);
 
-    void SendNMT(BYTE_t cmd);
+    bool SendNMT(BYTE_t cmd);
 
-    void RequestSDO(WORD_t idx, BYTE_t subidx=0);
+    bool RequestSDO(WORD_t idx, BYTE_t subidx=0);
 
     void WaitForNextPdo1();

trunk/MagicSoft/Cosy/candrv/vmodican.cc

@@ -232 +232 @@
                 cout << "TxErrCnt=" << (int)msg->data[5] << endl;
             }
-            TerminateApp();
+            //FIXME? TerminateApp();
             return;
         case 0x02: