Changeset 1727 for trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc

Timestamp:

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

Author:

tbretz

Message:

*** empty log message ***

File:

• trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc (modified) (11 diffs)

trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc

@@ -1 +1 @@
 #include "shaftencoder.h"
 
-#include "timer.h"
+#include "base/timer.h"
 #include "network.h"
 
@@ -17 +17 @@
 ShaftEncoder::ShaftEncoder(const BYTE_t nodeid, const char *name, MLog &out)
     : NodeDrv(nodeid, name, out), fLabel(NULL), fPosHasChanged(false)
-{
-}
-
-ShaftEncoder::~ShaftEncoder()
 {
 }
@@ -55 +51 @@
         return;
 
+    case 0x100c:
+        lout << "- Guardtime: " << dec << val << "ms" << endl;
+        return;
+
+    case 0x100d:
+        lout << "- Lifetimefactor: " << dec << val << endl;
+        return;
+
+    case 0x100e:
+        lout << "- CobId for guarding: 0x" << hex << val << endl;
+        return;
+
     case 0x6000:
     case 0x6500:
-        lout << "- Counting: " << (val&1   ?"anti-clockwise":"clockwise") << "  ";
+        lout << "- Counting: " << (val&1 ?"anti-clockwise":"clockwise") << "  ";
         lout << "HwTest: " <<   (val&2   ?"on":"off") << "  ";
         lout << "Scaling: " <<  (val&4   ?"on":"off") << "  ";
@@ -95 +103 @@
 void ShaftEncoder::DisplayVal()
 {
-    if (fIsZombie)
+    if (IsZombieNode())
     {
         fLabel[0]->SetText(new TGString(""));
@@ -162 +170 @@
 }
 
+//#include <fstream.h>
+//ofstream fout("log/shaftencoder.log");
+
 void ShaftEncoder::HandlePDOType2(BYTE_t *data, timeval_t *tv)
 {
@@ -188 +199 @@
     fPos  = pos;
     fTurn = turn;
+
+    //fout << dec << (int)GetId() << " " << turn << " " << pos << endl;
+
     fTime.SetTimer(tv);
     fPosHasChanged=true;
@@ -208 +222 @@
     //-----------------------------------------------------------------------
 
+    StopGuarding();
+
     //
     // Requesting and checking (FIXME) type of encoder
@@ -215 +231 @@
     WaitForSdo(0x1000);
 
-    if (fIsZombie)
+    if (IsZombieNode())
     {
         lout << GetNodeName() << " - Init failed!" << endl;
@@ -274 +290 @@
     lout << "- " << GetNodeName() << ": Start Node (NMT)." << endl;
     SendNMT(kNMT_START);
+
+    StartGuarding(125, 2);
 }
 
@@ -282 +300 @@
     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()
@@ -321 +315 @@
     lout << "- " << GetNodeName() << ": Setting Preset." << endl;
 
-    SendSDO(0x6003, (LWORD_t)fPos);
+    SendSDO(0x6003, (LWORD_t)pre);
     if (!WaitForSdo(0x6003))
         return;