Changeset 1727 for trunk/MagicSoft/Cosy/devdrv/macs.h

Timestamp:

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

Author:

tbretz

Message:

*** empty log message ***

File:

• trunk/MagicSoft/Cosy/devdrv/macs.h (modified) (5 diffs)

trunk/MagicSoft/Cosy/devdrv/macs.h

@@ -1 +1 @@
 #ifndef MACS_H
 #define MACS_H
-
-#include <TObject.h>
 
 #include "nodedrv.h"
 #include "base/timer.h"
 
-class Macs : public NodeDrv, public TObject
+class Macs : public NodeDrv
 {
 private:
@@ -30 +28 @@
     BYTE_t   fStatus;
 
-    TTimer  *fTimeout;
-    Bool_t   fTimerOn;
-    LWORD_t  fGuardTime;
-    double   fTimeoutTime;
-
     LWORD_t string(BYTE_t b0=0, BYTE_t b1=0, BYTE_t b2=0, BYTE_t b3=0)
     {
@@ -40 +33 @@
     }
 
-    void ResetTimeout();
-    Bool_t HandleTimer(TTimer *t);
-
     void Init();
-    //bool Reboot();
-
-    //bool InitDevice(Network *);
-
-    //void StartDevice();
     void StopDevice();
 
     void HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, timeval_t *tv);
-    void HandleSDOOK(WORD_t idx, BYTE_t subidx);
-    void HandleSDOError(LWORD_t data)           { NodeDrv::HandleSDOError(data); }
+    void HandleSDOOK(WORD_t idx, BYTE_t subidx, timeval_t *tv);
+    //void HandleSDOError(LWORD_t data) { NodeDrv::HandleSDOError(data); }
 
     void HandlePDO1(BYTE_t *data, timeval_t *tv);
     void HandlePDO2(BYTE_t *data, timeval_t *tv);
+    //void HandleNodeguard(timeval_t *tv);
+
+    void SendNodeguard();
 
     void CheckConnection();
@@ -108 +96 @@
     void StartAbsPos(LWORDS_t pos);
 
-    void SetTimeoutTime(LWORD_t ms);
-    void ReqTimeoutTime();
-
-    void EnableTimeout(bool enable=true, LWORDS_t ms=-1);
-
     void StopMotor();
 
@@ -131 +114 @@
     LWORD_t  GetRes()    const { return fRes; }    // Encoder resolution
 
+    void StartHostGuarding();
+    void StopHostGuarding();
+
     void HandleError();