Changeset 1727 for trunk/MagicSoft/Cosy/candrv/nodedrv.h

Timestamp:

01/23/03 13:32:58 (22 years ago)

Author:

tbretz

Message:

*** empty log message ***

File:

• trunk/MagicSoft/Cosy/candrv/nodedrv.h (modified) (5 diffs)

trunk/MagicSoft/Cosy/candrv/nodedrv.h

@@ -20 +20 @@
 class Network;
 
-class NodeDrv : public Log
+class NodeDrv : public Log, public TObject
 {
 private:
@@ -30 +30 @@
     int fError;
 
+    Bool_t fIsZombie; // A Zombie node is a node which doesn't answer...
+
+    TTimer  *fTimeout;
+    Int_t    fGuardTime;      // Guardtime [ms]
+    Int_t    fLifeTimeFactor;
+    Double_t fTimeoutTime;
+    Bool_t   fTimerOn;
+
+    Bool_t HandleTimer(TTimer *t);
+
 protected:
     void SetError(int err) { fError = err; }
     void DelError()        { fError = 0; }
 
-    Bool_t fIsZombie; // A Zombie node is a node which doesn't answer...
+    Int_t GetLifeTimeFactor() const { return fLifeTimeFactor; }
+    Int_t GetGuardTime() const      { return fGuardTime; }
+
+    virtual void SetZombie();
 
 public:
@@ -56 +69 @@
 
     virtual void HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, timeval_t *tv);
-    virtual void HandleSDOOK(WORD_t idx, BYTE_t subidx);
+    virtual void HandleSDOOK(WORD_t idx, BYTE_t subidx, timeval_t *tv);
     virtual void HandleSDOError(LWORD_t data);
 
-    virtual void HandlePDO1(BYTE_t *data, timeval_t *tv) {};
-    virtual void HandlePDO2(BYTE_t *data, timeval_t *tv) {};
-    virtual void HandlePDO3(BYTE_t *data, timeval_t *tv) {};
-    virtual void HandlePDO4(BYTE_t *data, timeval_t *tv) {};
+    virtual void HandlePDO1(BYTE_t *data, timeval_t *tv) {}
+    virtual void HandlePDO2(BYTE_t *data, timeval_t *tv) {}
+    virtual void HandlePDO3(BYTE_t *data, timeval_t *tv) {}
+    virtual void HandlePDO4(BYTE_t *data, timeval_t *tv) {}
+    virtual void HandleNodeguard(timeval_t *tv);
+    virtual void HandleEmergency(timeval_t *tv) {}
 
     bool SendPDO1(BYTE_t data[8]);
@@ -80 +95 @@
 
     bool SendNMT(BYTE_t cmd);
+    virtual void SendNodeguard();
 
     bool RequestSDO(WORD_t idx, BYTE_t subidx=0);
@@ -93 +109 @@
     void EnableCanMsg(BYTE_t fcode);
 
+    void StartGuarding();
+    void StartGuarding(Int_t ms, Int_t ltf);
+    void StopGuarding();
+
     ClassDef(NodeDrv, 0) // base class for an object describing hardware
 };