Changeset 8811 for trunk/MagicSoft/Cosy/devdrv

Timestamp:

01/16/08 10:05:44 (17 years ago)

Author:

tbretz

Message:

*** empty log message ***

Location:

trunk/MagicSoft/Cosy/devdrv

Files:

• macs.cc (modified) (6 diffs)
• macs.h (modified) (1 diff)
• shaftencoder.cc (modified) (9 diffs)
• shaftencoder.h (modified) (2 diffs)

trunk/MagicSoft/Cosy/devdrv/macs.cc

@@ -43 +43 @@
 }
 
-void Macs::HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, timeval_t *tv)
+void Macs::HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, const timeval_t &tv)
 {
   // cout << "SdoRx: Idx=0x"<< hex << idx << "/" << (int)subidx;
@@ -86 +86 @@
 //        lout << "Actual Position: " << dec << (signed long)val << endl;
         fPos = (LWORDS_t)val;
-        fPosTime.Set(*tv);
+        fPosTime.Set(tv);
         return;
 /*
@@ -136 +136 @@
 }
 
-void Macs::HandleSDOOK(WORD_t idx, BYTE_t subidx, LWORD_t data, timeval_t *tv)
+void Macs::HandleSDOOK(WORD_t idx, BYTE_t subidx, LWORD_t data, const timeval_t &tv)
 {
     //    cout << "Node #" << dec << (int)GetId() << ": Sdo=" << hex << idx  << "/" << (int)subidx << " set." << endl;
@@ -556 +556 @@
 }
 
-void Macs::HandlePDO1(BYTE_t *data, timeval_t *tv)
+void Macs::HandlePDO1(const BYTE_t *data, const timeval_t &tv)
 {
     // FIXME!!!! Only 0x4000 should do this to be
@@ -575 +575 @@
     fStatus = data[3];
 
-    fPdoTime.Set(*tv);
-}
-
-void Macs::HandlePDO2(BYTE_t *data, timeval_t *tv)
+    fPdoTime.Set(tv);
+}
+
+void Macs::HandlePDO2(const BYTE_t *data, const timeval_t &tv)
 {
     LWORDS_t errnum = (data[0]<<24) | (data[1]<<16) | (data[2]<<8) | data[3];
@@ -727 +727 @@
 }
 
-void Macs::HandlePDO3(BYTE_t *data, timeval_t *tv)
+void Macs::HandlePDO3(const BYTE_t *data, const timeval_t &tv)
 {
     // 3    5    7    9

trunk/MagicSoft/Cosy/devdrv/macs.h

@@ -38 +38 @@
     void StopDevice();
 
-    void HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, timeval_t *tv);
-    void HandleSDOOK(WORD_t idx, BYTE_t subidx, LWORD_t data, timeval_t *tv);
+    void HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, const timeval_t &tv);
+    void HandleSDOOK(WORD_t idx, BYTE_t subidx, LWORD_t data, const 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 HandlePDO3(BYTE_t *data, timeval_t *tv);
+    void HandlePDO1(const BYTE_t *data, const timeval_t &tv);
+    void HandlePDO2(const BYTE_t *data, const timeval_t &tv);
+    void HandlePDO3(const BYTE_t *data, const timeval_t &tv);
     //void HandleNodeguard(timeval_t *tv);
 

trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc

@@ -17 +17 @@
     : NodeDrv(nodeid, name, out), fPos(0), fVel(0), fAcc(0),
     fTurn(0), fDirection(kUndefined), fHysteresisPos(0), fHysteresisNeg(0),
-    fLabel(NULL), fPosHasChanged(false), fDirHasChanged(false),
+    fLabel(NULL), fUpdPos(0), fPosHasChanged(false), fDirHasChanged(false),
     fReport(NULL),
     /*fTwin(0), fIsUpdated(kFALSE),*/
@@ -35 +35 @@
 }
 */
-void ShaftEncoder::HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, timeval_t *tv)
+void ShaftEncoder::HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, const timeval_t &tv)
 {
     switch (idx)
@@ -125 +125 @@
 }
 
-void ShaftEncoder::HandleSDOOK(WORD_t idx, BYTE_t subidx, LWORD_t data, timeval_t *tv)
+void ShaftEncoder::HandleSDOOK(WORD_t idx, BYTE_t subidx, LWORD_t data, const timeval_t &tv)
 {
     switch (idx)
@@ -195 +195 @@
 }
 
-void ShaftEncoder::HandlePDOType0(BYTE_t *data, timeval_t *tv)
+void ShaftEncoder::HandlePDOType0(const BYTE_t *data, const timeval_t &tv)
 {
     //
@@ -216 +216 @@
 
     fPos = pos;
-    fTime.Set(*tv);
+    fTime.Set(tv);
     fPosHasChanged = true;
 
@@ -230 +230 @@
 }
 
-void ShaftEncoder::HandlePDOType1(BYTE_t *data, timeval_t *tv)
+void ShaftEncoder::HandlePDOType1(const BYTE_t *data, const timeval_t &tv)
 {
     //
@@ -253 +253 @@
     //CheckTwin(fPos-pos);
     fPos=pos;
-    fTime.Set(*tv);
+    fTime.Set(tv);
     fPosHasChanged=true;
     //fIsUpdated=kTRUE;
@@ -271 +271 @@
 //ofstream fout("log/shaftencoder.log");
 
-void ShaftEncoder::HandlePDOType2(BYTE_t *data, timeval_t *tv)
+void ShaftEncoder::HandlePDOType2(const BYTE_t *data, const timeval_t &tv)
 {
     //
@@ -322 +322 @@
     fTurn = turn;
 
-    fTime.Set(*tv);
+    fTime.Set(tv);
     fPosHasChanged=true;
     //fIsUpdated=kTRUE;

trunk/MagicSoft/Cosy/devdrv/shaftencoder.h

@@ -45 +45 @@
 
 
-    void HandlePDOType0(BYTE_t *data, timeval_t *tv);
-    void HandlePDOType1(BYTE_t *data, timeval_t *tv);
-    void HandlePDOType2(BYTE_t *data, timeval_t *tv);
+    void HandlePDOType0(const BYTE_t *data, const timeval_t &tv);
+    void HandlePDOType1(const BYTE_t *data, const timeval_t &tv);
+    void HandlePDOType2(const BYTE_t *data, const timeval_t &tv);
 
     void ReqPos();
@@ -64 +64 @@
     //void SetTwin(ShaftEncoder *se) { fTwin = se; }
 
-    void HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, timeval_t *tv);
-    void HandleSDOOK(WORD_t idx, BYTE_t subidx, LWORD_t data, timeval_t *tv);
+    void HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, const timeval_t &tv);
+    void HandleSDOOK(WORD_t idx, BYTE_t subidx, LWORD_t data, const timeval_t &tv);
     /*
      void HandleSDOOK(WORD_t idx, BYTE_t subidx, timeval_t *tv) { NodeDrv::HandleSDOOK(idx, subidx, tv); }
      void HandleSDOError(LWORD_t data)           { NodeDrv::HandleSDOError(data); }
      */
-    void HandlePDO1(BYTE_t *data, timeval_t *tv) { HandlePDOType2(data, tv); }
-    void HandlePDO2(BYTE_t *data, timeval_t *tv) { HandlePDOType2(data, tv); }
+    void HandlePDO1(const BYTE_t *data, const timeval_t &tv) { HandlePDOType2(data, tv); }
+    void HandlePDO2(const BYTE_t *data, const timeval_t &tv) { HandlePDOType2(data, tv); }
 
     LWORDS_t GetPos() const       { return IsZombieNode() ? 0 : fPos+fTurn*fTicks; } // FIXME? 0?