Changeset 1703 for trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc

Timestamp:

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

Author:

tbretz

Message:

*** empty log message ***

File:

• trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc (modified) (6 diffs)

trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc

@@ -51 +51 @@
         }
     case 0x100b:
-        lout << "Node ID: " << dec << val << endl;
+        // Do not display, this is used for CheckConnection
+        // lout << "Node ID: " << dec << val << endl;
         return;
 
@@ -94 +95 @@
 void ShaftEncoder::DisplayVal()
 {
+    if (fIsZombie)
+    {
+        fLabel[0]->SetText(new TGString(""));
+        fLabel[1]->SetText(new TGString(""));
+        fLabel[2]->SetText(new TGString(""));
+        fUpdPos = ~fPos;
+        fUpdVel = ~fVel;
+        fUpdAcc = ~fAcc;
+        return;
+    }
+
     char text[21];
 
@@ -190 +202 @@
 }
 
-void ShaftEncoder::InitDevice(Network *net)
-{
-    NodeDrv::InitDevice(net);
-
+void ShaftEncoder::Init()
+{
     //-----------------------------------------------------------------------
     //                    Start Setup of the Shaft Encoder
@@ -203 +213 @@
     lout << "- " << GetNodeName() << ": Requesting Hardware Type (0x1000)." << endl;
     RequestSDO(0x1000);
-    if (!WaitForSdo(0x1000))
-    {
-        lout << "  ... failed." << endl;
-        fIsZombie = true;
+    WaitForSdo(0x1000);
+
+    if (fIsZombie)
+    {
+        lout << GetNodeName() << " - Init failed!" << endl;
         return;
     }
@@ -265 +276 @@
 }
 
+void ShaftEncoder::CheckConnection()
+{
+    // Request Node number
+    RequestSDO(0x100b);
+    WaitForSdo(0x100b);
+}
+/*
+bool ShaftEncoder::InitDevice(Network *net)
+{
+    NodeDrv::InitDevice(net);
+
+    Init();
+
+    return !fIsZombie;
+}
+
+// --------------------------------------------------------------------------
+//
+// This should be called from a master or main thread to get a node out
+// of the Zombie-Status. 
+//
+bool ShaftEncoder::Reboot()
+{
+    fIsZombie = false;
+
+    Init();
+
+    return !fIsZombie;
+}
+*/
+
 void ShaftEncoder::ReqPos()
 {
@@ -277 +319 @@
 void ShaftEncoder::SetPreset(LWORD_t pre)
 {
+    lout << "- " << GetNodeName() << ": Setting Preset." << endl;
+
+    SendSDO(0x6003, (LWORD_t)fPos);
+    if (!WaitForSdo(0x6003))
+        return;
+
     fPos  = pre%16384;
     fTurn = pre/16384;
-
-    lout << "- " << GetNodeName() << ": Setting Preset." << endl;
-    SendSDO(0x6003, (LWORD_t)fPos);
-    WaitForSdo(0x6003);
 }