Index: /trunk/MagicSoft/Cosy/candrv/canopen.cc =================================================================== --- /trunk/MagicSoft/Cosy/candrv/canopen.cc (revision 8812) +++ /trunk/MagicSoft/Cosy/candrv/canopen.cc (revision 8813) @@ -18,5 +18,5 @@ ! Author(s): Thomas Bretz , 2003 ! -! Copyright: MAGIC Software Development, 2000-2003 +! Copyright: MAGIC Software Development, 2000-2008 ! ! @@ -32,6 +32,8 @@ #include "canopen.h" -#include // cout -#include // setw, setfill +#include "MLog.h" +#include "MLogManip.h" + +#include "interface.h" ClassImp(CanOpen); @@ -44,7 +46,7 @@ // PDO combinations // -CanOpen::CanOpen(const char *dev, const int baud, MLog &out) : VmodIcan(dev, baud, out) -{ - lout << "- CanOpen initialized." << endl; +CanOpen::CanOpen() : fInterface(0) +{ + gLog << inf << "- CanOpen initialized." << endl; } @@ -55,10 +57,30 @@ CanOpen::~CanOpen() { - lout << "- CanOpen destroyed." << endl; -} - -// -------------------------------------------------------------------------- -// -// This overloads VmodIcan::HandleCanMessage. It is called if a can + gLog << inf << "- CanOpen destroyed." << endl; +} + +// -------------------------------------------------------------------------- +// +// Start the interface +// +void CanOpen::Start() +{ + if (fInterface) + fInterface->Start(); +} + +// -------------------------------------------------------------------------- +// +// Stop the interface +// +void CanOpen::Stop() +{ + if (fInterface) + fInterface->Stop(); +} + +// -------------------------------------------------------------------------- +// +// This overloads Interface::HandleCanMessage. It is called if a can // message was received with all message relevant data (COBId, data, time) // It distributes the data depending on its function code to several @@ -69,5 +91,5 @@ // HandlePDO1/2/3/4:handles received PDOs // -void CanOpen::HandleCanMessage(WORD_t cobid, BYTE_t *data, timeval_t *tv) +void CanOpen::HandleCanMessage(WORD_t cobid, const BYTE_t *data, const timeval_t &tv) { const WORD_t fcode = cobid >> 7; @@ -105,4 +127,5 @@ const WORD_t subidx = data[3]; + cout << "SND NODE: " << (int)node << " " << flush; HandleSDO(node, cmd, idx, subidx, dat, tv); @@ -145,4 +168,161 @@ // -------------------------------------------------------------------------- // +// Does a basic message processing and hadles the so called command (cmd) +// stamp of the message. This is some kind of message type which is send +// by the can interface +// +void CanOpen::HandleMessage(const Message &msg, const timeval_t &tv) +{ + // + // Decode message + // + const WORD_t desc = msg.data[2]<<8 | msg.data[3]; + const BYTE_t rtr = (desc>>4)&1; + const BYTE_t len = desc&0xf; + const WORD_t cobid = desc>>5; + + switch (msg.cmd) // FROM mican.h + { + case M_MSG_LOST: + cout << "Interface reports: " << dec << (int)msg.data[0] << " msg(s) lost!" << endl; + return; + + case M_BCAN_TX_con: /* confirm (+/-) transmission */ + cout << "Interface reports: CTXcon=0x35" << endl; + cout << "This normally means, that the transmission of the following CAN frame failed:" << hex << endl; + cout << "Descr: 0x" << cobid << dec; + cout << " Rtr: " << (rtr?"Yes":"No"); + cout << " Len: " << (int)len << endl; + return; + + case M_BCAN_EVENT_ind: + cout << "Interface reports: CEVTind=0x37: " << hex; + switch (msg.data[0]) // error indicator + { + case 0x01: + cout << "Error interrup occured" << endl; + cout << "This means noisy network normally. Please check the bus termination." << endl; + switch (msg.data[1]) // msg type (board depending) + { + case 2: // SJA1000 + cout << dec; + cout << "ModeReg=" << (int)msg.data[2] << ", "; + cout << "StatReg=" << (int)msg.data[3] << ", "; + cout << "RxErrCnt=" << (int)msg.data[4] << ", "; + cout << "TxErrCnt=" << (int)msg.data[5] << endl; + } + //FIXME? TerminateApp(); + return; + case 0x02: + cout << "Overrun interrup occured" << endl; + return; + case 0x04: + cout << "Interrupts lost" << endl; + return; + case 0x08: + cout << "Send queue full" << endl; + return; + case 0x10: + cout << "CANbus bus-error" << endl; + return; + } + return; + case M_BCAN_RX_ind: + // + // Message is a message from the Can bus + // + //cout << "HandleCanMessage " << cobid << endl; + HandleCanMessage(cobid, &msg.data[4], tv); + return; + } + + // + // Nothing of the above happened + // + cout << hex; + cout << "Cmd=0x" << (int)msg.cmd << ": "; + cout << "Descr: 0x" << cobid << dec; + cout << " Rtr: " << (rtr?"Yes":"No"); + cout << " Len: " << (int)len << endl; + + cout << "As Raw Data:" << hex << setfill('0'); + for (int i=0; iEnableCobId(CobId(node, fcode), flag); } @@ -260,6 +441,6 @@ // void CanOpen::SendPDO1(BYTE_t node, - BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0, - BYTE_t m4=0, BYTE_t m5=0, BYTE_t m6=0, BYTE_t m7=0) + BYTE_t m0, BYTE_t m1, BYTE_t m2, BYTE_t m3, + BYTE_t m4, BYTE_t m5, BYTE_t m6, BYTE_t m7) { BYTE_t msg[8] = { m0, m1, m2, m3, m4, m5, m6, m7 }; @@ -272,6 +453,6 @@ // void CanOpen::SendPDO2(BYTE_t node, - BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0, - BYTE_t m4=0, BYTE_t m5=0, BYTE_t m6=0, BYTE_t m7=0) + BYTE_t m0, BYTE_t m1, BYTE_t m2, BYTE_t m3, + BYTE_t m4, BYTE_t m5, BYTE_t m6, BYTE_t m7) { BYTE_t msg[8] = { m0, m1, m2, m3, m4, m5, m6, m7 }; @@ -284,6 +465,6 @@ // void CanOpen::SendPDO3(BYTE_t node, - BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0, - BYTE_t m4=0, BYTE_t m5=0, BYTE_t m6=0, BYTE_t m7=0) + BYTE_t m0, BYTE_t m1, BYTE_t m2, BYTE_t m3, + BYTE_t m4, BYTE_t m5, BYTE_t m6, BYTE_t m7) { BYTE_t msg[8] = { m0, m1, m2, m3, m4, m5, m6, m7 }; @@ -296,6 +477,6 @@ // void CanOpen::SendPDO4(BYTE_t node, - BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0, - BYTE_t m4=0, BYTE_t m5=0, BYTE_t m6=0, BYTE_t m7=0) + BYTE_t m0, BYTE_t m1, BYTE_t m2, BYTE_t m3, + BYTE_t m4, BYTE_t m5, BYTE_t m6, BYTE_t m7) { BYTE_t msg[8] = { m0, m1, m2, m3, m4, m5, m6, m7 }; @@ -394,4 +575,46 @@ // -------------------------------------------------------------------------- // +// This is IcSendReqBCAN from the Janz software +// +// /* +// * IcSendReqBCAN - Send a CANbus message +// * +// * Issue request to send a CAN message. controls whether to send with +// * or without spec/confirmation. +// * .CS +// * spec action +// * 0 send only +// * 1 send with confirmation to the host. +// * 2 send and echo message to the host. +// * 3 send and generate both echo and confirmation. +// * .CE +// * +// * SERVICE: CTXreq, CTXCreq, CTXEreq, CTXCEreq +// * +// * NOTE: +// * Raw ICANOS version of the firmware only. +// */ +// +void CanOpen::SendCanFrame(WORD_t cobid, BYTE_t m[8], BYTE_t rtr) +{ + if (fInterface) + fInterface->SendCanFrame(cobid, m, rtr); +} + +// -------------------------------------------------------------------------- +// +// Sends a can frame with the given cobid and the given eight bytes +// through the can network +// +void CanOpen::SendCanFrame(WORD_t cobid, + BYTE_t m0, BYTE_t m1, BYTE_t m2, BYTE_t m3, + BYTE_t m4, BYTE_t m5, BYTE_t m6, BYTE_t m7) +{ + BYTE_t msg[8] = { m0, m1, m2, m3, m4, m5, m6, m7 }; + SendCanFrame(cobid, msg); +} + +// -------------------------------------------------------------------------- +// // Decodes node and function code into a CobId // Index: /trunk/MagicSoft/Cosy/candrv/canopen.h =================================================================== --- /trunk/MagicSoft/Cosy/candrv/canopen.h (revision 8812) +++ /trunk/MagicSoft/Cosy/candrv/canopen.h (revision 8813) @@ -9,9 +9,8 @@ #include "sdolist.h" #endif -#ifndef COSY_VmodIcan -#include "vmodican.h" + +#ifndef COSY_MTimeout +#include "MTimeout.h" #endif - -#include "MTimeout.h" #ifdef __CINT__ @@ -65,27 +64,41 @@ #define kDontWait (-1) -class CanOpen : public VmodIcan +class Interface; + +typedef struct timeval timeval_t; + +class CanOpen { private: - PendingSDOList fSdoList; + Interface *fInterface; // Handle to the I/O interface + PendingSDOList fSdoList; // List for pending SDOs + TCondition fPdoCond[32][4]; // one for every PDO of every node - TCondition fPdoCond[32][4]; // one for every PDO of every node -// pthread_cond_t fPdoCond[32][4]; -// pthread_mutex_t fPdoMux[32][4]; +protected: + virtual void Start(); // Start CanOpen communication + virtual void Stop(); // Stop CanOpen communcation - void HandleCanMessage(WORD_t cobid, BYTE_t *data, timeval_t *tv); +private: + // + // Handle can objects arrived at the CanOpen interface + // + virtual void HandleSDO(BYTE_t node, BYTE_t cmd, WORD_t idx, BYTE_t subidx, LWORD_t data, const timeval_t &tv)=0; + virtual void HandlePDO1(BYTE_t node, const BYTE_t *data, const timeval_t &tv)=0; + virtual void HandlePDO2(BYTE_t node, const BYTE_t *data, const timeval_t &tv)=0; + virtual void HandlePDO3(BYTE_t node, const BYTE_t *data, const timeval_t &tv)=0; + virtual void HandlePDO4(BYTE_t node, const BYTE_t *data, const timeval_t &tv)=0; + virtual void HandleNodeguard(BYTE_t node, const timeval_t &tv)=0; + virtual void HandleEmergency(BYTE_t node, const timeval_t &tv)=0; - virtual void HandleSDO(BYTE_t node, BYTE_t cmd, WORD_t idx, BYTE_t subidx, LWORD_t data, timeval_t *tv)=0; - virtual void HandlePDO1(BYTE_t node, BYTE_t *data, timeval_t *tv)=0; - virtual void HandlePDO2(BYTE_t node, BYTE_t *data, timeval_t *tv)=0; - virtual void HandlePDO3(BYTE_t node, BYTE_t *data, timeval_t *tv)=0; - virtual void HandlePDO4(BYTE_t node, BYTE_t *data, timeval_t *tv)=0; - virtual void HandleNodeguard(BYTE_t node, timeval_t *tv)=0; - virtual void HandleEmergency(BYTE_t node, timeval_t *tv)=0; + // Handle message arrived at the CanOpen interface and split into can objects + virtual void HandleCanMessage(WORD_t cobid, const BYTE_t *data, const timeval_t &tv); public: - CanOpen(const char *dev, const int baud, MLog &out=gLog); + CanOpen(); virtual ~CanOpen(); + void SetInterface(Interface *f) { fInterface=f; } // Set Handle to the interface + + // Send a Process Data Object (PDO) to the CanOpen bus void SendPDO1(BYTE_t node, BYTE_t data[8]); void SendPDO2(BYTE_t node, BYTE_t data[8]); @@ -105,4 +118,5 @@ BYTE_t m4=0, BYTE_t m5=0, BYTE_t m6=0, BYTE_t m7=0); + // Send a Service Data Object (SDO) to a CanOpen device (aka. write parameter) void SendSDO(BYTE_t node, WORD_t idx, BYTE_t subidx, BYTE_t val, bool store); void SendSDO(BYTE_t node, WORD_t idx, BYTE_t subidx, WORD_t val, bool store); @@ -113,11 +127,12 @@ void SendSDO(BYTE_t node, WORD_t idx, LWORD_t val, bool store) { SendSDO(node, idx, 0, val, store); } + // Send other objects void SendNMT(BYTE_t node, BYTE_t cmd); void SendNodeguard(BYTE_t node); + // Request a Service Data Object (SDO) from a CanOpen device (aka. read parameter) void RequestSDO(BYTE_t node, WORD_t idx, BYTE_t subidx=0); - void EnableCanMsg(BYTE_t node, BYTE_t fcode, int flag=TRUE); - + // Enable interface for pass-through of a kind of can-object void EnableSdoRx(BYTE_t node); void EnablePdo1Rx(BYTE_t node); @@ -128,4 +143,8 @@ void EnableNodeguard(BYTE_t node); + // Enable interface for pass-through of a can-object + void EnableCanMsg(BYTE_t node, BYTE_t fcode, int flag=TRUE); + + // Wait until the next Pdo object has arrived void WaitForNextPdo1(BYTE_t node) { node -= 1; fPdoCond[node][0].Wait(); } void WaitForNextPdo2(BYTE_t node) { node -= 1; fPdoCond[node][1].Wait(); } @@ -133,81 +152,20 @@ void WaitForNextPdo4(BYTE_t node) { node -= 1; fPdoCond[node][3].Wait(); } - // - // This function must - // + // Wait for arrival of a return to a given Sdo (or all axpected Sdos) + bool WaitForSdos(WORDS_t ms=500); + bool WaitForSdo(BYTE_t node, WORD_t idx, BYTE_t subidx, WORDS_t ms=500); + virtual int StopWaitingForSDO() const { return FALSE; } - bool WaitForSdos(WORDS_t ms=500) - { - // 0: unlimited - // <0: don't do a real wait. - if (ms<0) - { - fSdoList.DelAll(); - return true; - } + // Low level function to send rawcan frames + void SendCanFrame(WORD_t cobid, BYTE_t m[8], BYTE_t rtr=0); + void SendCanFrame(WORD_t cobid, + BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0, + BYTE_t m4=0, BYTE_t m5=0, BYTE_t m6=0, BYTE_t m7=0); - MTimeout t(ms); - while (fSdoList.IsPending() && - !StopWaitingForSDO() && - !t.HasTimedOut()) - usleep(1); + // Extract the CanOpen message from the message delivered by the interface + void HandleMessage(const Message &msg, const timeval_t &tv); - bool rc = true; - if (ms && t.HasTimedOut()) - { - cout << "WaitForSdos timed out." << endl; - rc = false; - } - /* - if (StopWaitingForSDO()) - { - cout << "WaitForSdos stopped." << endl; - rc = false; - } - */ - if ((ms && t.HasTimedOut()) || StopWaitingForSDO()) - fSdoList.DelAll(); - - return rc; - } - - bool WaitForSdo(BYTE_t node, WORD_t idx, BYTE_t subidx, WORDS_t ms=500) - { - // 0: unlimited - // <0: don't do a real wait. - - if (ms<0) - { - fSdoList.Del(node, idx, subidx); - return true; - } - - MTimeout t(ms); - while (fSdoList.IsPending(node, idx, subidx) && - !StopWaitingForSDO() && - !t.HasTimedOut()) - usleep(1); - - bool rc = true; - if (ms && t.HasTimedOut()) - { - cout << "WaitForSdo Node #" << (int)node << " " << idx << "/" << (int)subidx << " timed out." << endl; - rc = false; - } - /* - if (StopWaitingForSDO()) - { - cout << "WaitForSdo Node #" << (int)node << " " << idx << "/" << (int)subidx << " stopped." << endl; - rc = false; - } - */ - if ((ms && t.HasTimedOut()) || StopWaitingForSDO()) - fSdoList.Del(node, idx, subidx); - - return rc; - } - -public: + // Compile CobId from node and function code WORD_t CobId(BYTE_t node, BYTE_t fcode) const; Index: /trunk/MagicSoft/Cosy/candrv/network.cc =================================================================== --- /trunk/MagicSoft/Cosy/candrv/network.cc (revision 8812) +++ /trunk/MagicSoft/Cosy/candrv/network.cc (revision 8813) @@ -16,7 +16,7 @@ ! ! -! Author(s): Thomas Bretz , 2001 -! -! Copyright: MAGIC Software Development, 2000-2001 +! Author(s): Thomas Bretz, 2001 +! +! Copyright: MAGIC Software Development, 2000-2008 ! ! @@ -32,8 +32,10 @@ #include "network.h" -#include // cout -#include // setw, setfill +#include // cout +#include // setw, setfill ClassImp(Network); + +using namespace std; // -------------------------------------------------------------------------- @@ -44,10 +46,10 @@ void Network::Start() { - lout << "- Starting network." << endl; - - VmodIcan::Start(); + gLog << "- Starting network." << endl; + + CanOpen::Start(); InitNodes(); - lout << "- Network started." << endl; + gLog << "- Network started." << endl; } @@ -58,10 +60,10 @@ void Network::Stop() { - lout << "- Stopping network." << endl; + gLog << "- Stopping network." << endl; StopNodes(); - VmodIcan::Stop(); - - lout << "- Network stopped." << endl; + CanOpen::Stop(); + + gLog << "- Network stopped." << endl; } @@ -70,10 +72,10 @@ // Initialize the network, set all nodes to NULL (n/a) // -Network::Network(const char *dev, const int baud, MLog &out) : CanOpen(dev, baud, out) -{ - for (int i=0; i<32; i++) - fNodes[i] = NULL; - - lout << "- Network initialized." << endl; +Network::Network() : CanOpen() +{ + memset(fNodes, 0, 32*sizeof(*fNodes)); + memset(fNodeInitialized, 0, 32*sizeof(*fNodeInitialized)); + + gLog << "- Network initialized." << endl; } @@ -87,5 +89,5 @@ // HandleSDOError: Handles error occursion (see CanOpen standard) // -void Network::HandleSDO(BYTE_t node, BYTE_t cmd, WORD_t idx, BYTE_t subidx, LWORD_t data, timeval_t *tv) +void Network::HandleSDO(BYTE_t node, BYTE_t cmd, WORD_t idx, BYTE_t subidx, LWORD_t data, const timeval_t &tv) { if (fNodes[node]) @@ -123,5 +125,5 @@ // Distributes PDO1 messages to the correspoding node calling HandlePDO1 // -void Network::HandlePDO1(BYTE_t node, BYTE_t *data, timeval_t *tv) +void Network::HandlePDO1(BYTE_t node, const BYTE_t *data, const timeval_t &tv) { if (!fNodes[node]) @@ -141,5 +143,5 @@ // Distributes PDO2 messages to the correspoding node calling HandlePDO2 // -void Network::HandlePDO2(BYTE_t node, BYTE_t *data, timeval_t *tv) +void Network::HandlePDO2(BYTE_t node, const BYTE_t *data, const timeval_t &tv) { if (!fNodes[node]) @@ -159,5 +161,5 @@ // Distributes PDO3 messages to the correspoding node calling HandlePDO3 // -void Network::HandlePDO3(BYTE_t node, BYTE_t *data, timeval_t *tv) +void Network::HandlePDO3(BYTE_t node, const BYTE_t *data, const timeval_t &tv) { if (!fNodes[node]) @@ -177,5 +179,5 @@ // Distributes PDO4 messages to the correspoding node calling HandlePDO4 // -void Network::HandlePDO4(BYTE_t node, BYTE_t *data, timeval_t *tv) +void Network::HandlePDO4(BYTE_t node, const BYTE_t *data, const timeval_t &tv) { if (!fNodes[node]) @@ -196,5 +198,5 @@ // HandleNodeguard // -void Network::HandleNodeguard(BYTE_t node, timeval_t *tv) +void Network::HandleNodeguard(BYTE_t node, const timeval_t &tv) { if (!fNodes[node]) @@ -212,5 +214,5 @@ // HandleEmergency // -void Network::HandleEmergency(BYTE_t node, timeval_t *tv) +void Network::HandleEmergency(BYTE_t node, const timeval_t &tv) { if (!fNodes[node]) @@ -250,12 +252,12 @@ if (fNodes[i]) { - lout << "- Setting up Node #" << dec << i << " ("; - lout << fNodes[i]->GetNodeName() << ")" << endl; + gLog << "- Setting up Node #" << dec << i << " ("; + gLog << fNodes[i]->GetNodeName() << ")" << endl; if (fNodes[i]->InitDevice(this)) fNodeInitialized[i] = TRUE; else - lout << "- " << fNodes[i]->GetNodeName() << ": InitDevice failed." << endl; + gLog << "- " << fNodes[i]->GetNodeName() << ": InitDevice failed." << endl; } - lout << "- All Nodes setup." << endl; + gLog << "- All Nodes setup." << endl; } @@ -269,9 +271,9 @@ if (fNodes[i] && fNodeInitialized[i]) { - lout << "- Stopping Node #" << dec << i; - lout << " (" << fNodes[i]->GetNodeName() << ")" << endl; + gLog << "- Stopping Node #" << dec << i; + gLog << " (" << fNodes[i]->GetNodeName() << ")" << endl; fNodes[i]->StopDevice(); } - lout << "- All Nodes stopped." << endl; + gLog << "- All Nodes stopped." << endl; } @@ -290,10 +292,10 @@ continue; - lout << "- Node #" << dec << i << " '" << fNodes[i]->GetNodeName() << "' "; + gLog << "- Node #" << dec << i << " '" << fNodes[i]->GetNodeName() << "' "; if (fNodes[i]->GetError() <= 0) - lout << "Error occured." << endl; + gLog << "Error occured." << endl; else - lout << "has error #" << fNodes[i]->GetError() << endl; + gLog << "has error #" << fNodes[i]->GetError() << endl; } } @@ -320,6 +322,6 @@ continue; - //lout << "- Node #" << dec << i << " '" << fNodes[i]->GetNodeName(); - //lout << "' has error #" << fNodes[i]->GetError() << endl; + //gLog << "- Node #" << dec << i << " '" << fNodes[i]->GetNodeName(); + //gLog << "' has error #" << fNodes[i]->GetError() << endl; } @@ -350,5 +352,5 @@ bool rc = true; - lout << "- Trying to reboot all Zombies..." << endl; + gLog << "- Trying to reboot all Zombies..." << endl; for (int i=0; i<32; i++) if (fNodes[i]) @@ -356,10 +358,10 @@ if (!fNodes[i]->Reboot()) { - lout << "- Failed to reboot " << fNodes[i]->GetNodeName() << "." << endl; + gLog << "- Failed to reboot " << fNodes[i]->GetNodeName() << "." << endl; rc = false; } if (rc) - lout << "- All Zombies rebooted." << endl; + gLog << "- All Zombies rebooted." << endl; return rc; Index: /trunk/MagicSoft/Cosy/candrv/network.h =================================================================== --- /trunk/MagicSoft/Cosy/candrv/network.h (revision 8812) +++ /trunk/MagicSoft/Cosy/candrv/network.h (revision 8813) @@ -15,11 +15,11 @@ int fNodeInitialized[32]; - void HandleSDO(BYTE_t node, BYTE_t cmd, WORD_t idx, BYTE_t subidx, LWORD_t data, timeval *tv); - void HandlePDO1(BYTE_t node, BYTE_t *data, timeval_t *tv); - void HandlePDO2(BYTE_t node, BYTE_t *data, timeval_t *tv); - void HandlePDO3(BYTE_t node, BYTE_t *data, timeval_t *tv); - void HandlePDO4(BYTE_t node, BYTE_t *data, timeval_t *tv); - void HandleNodeguard(BYTE_t node, timeval_t *tv); - void HandleEmergency(BYTE_t node, timeval_t *tv); + void HandleSDO(BYTE_t node, BYTE_t cmd, WORD_t idx, BYTE_t subidx, LWORD_t data, const timeval &tv); + void HandlePDO1(BYTE_t node, const BYTE_t *data, const timeval_t &tv); + void HandlePDO2(BYTE_t node, const BYTE_t *data, const timeval_t &tv); + void HandlePDO3(BYTE_t node, const BYTE_t *data, const timeval_t &tv); + void HandlePDO4(BYTE_t node, const BYTE_t *data, const timeval_t &tv); + void HandleNodeguard(BYTE_t node, const timeval_t &tv); + void HandleEmergency(BYTE_t node, const timeval_t &tv); void InitNodes(); @@ -27,5 +27,5 @@ public: - Network(const char *dev, const int baud, MLog &out=gLog); + Network(); void SetNode(NodeDrv *drv); @@ -34,6 +34,6 @@ NodeDrv *GetNode(int i) { return fNodes[i]; } - virtual void Start(); - virtual void Stop(); + void Start(); + void Stop(); void PrintError() const; Index: /trunk/MagicSoft/Cosy/candrv/nodedrv.cc =================================================================== --- /trunk/MagicSoft/Cosy/candrv/nodedrv.cc (revision 8812) +++ /trunk/MagicSoft/Cosy/candrv/nodedrv.cc (revision 8813) @@ -54,4 +54,6 @@ #include "MLogManip.h" +#include "MThread.h" + ClassImp(NodeDrv); @@ -145,5 +147,5 @@ // it in the 'non-standard' CANOpen communication with the MACS) // -void NodeDrv::HandleSDOOK(WORD_t idx, BYTE_t subidx, LWORD_t data, timeval_t *tv) +void NodeDrv::HandleSDOOK(WORD_t idx, BYTE_t subidx, LWORD_t data, const timeval_t &tv) { const Bool_t gui = lout.IsOutputDeviceEnabled(MLog::eGui); @@ -175,5 +177,5 @@ // Prints the received SDo from this device // -void NodeDrv::HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, timeval_t *tv) +void NodeDrv::HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, const timeval_t &tv) { cout << "SdoRx: Idx=0x"<< hex << idx << "/" << (int)subidx; @@ -496,5 +498,5 @@ : MThread(false), fGuardTime(guard/1000.), fLifeTimeFactor(ltf), fIsCanOpen(canopen), fDrv(drv) { } - void Reset(timeval_t *tv=NULL) + void Reset(const timeval_t *tv=NULL) { MTime t; @@ -587,8 +589,8 @@ // guard time times lifetimefactor. // -void NodeDrv::HandleNodeguard(timeval_t *tv) +void NodeDrv::HandleNodeguard(const timeval_t &tv) { if (fGuard) - fGuard->Reset(tv); + fGuard->Reset(&tv); } Index: /trunk/MagicSoft/Cosy/candrv/nodedrv.h =================================================================== --- /trunk/MagicSoft/Cosy/candrv/nodedrv.h (revision 8812) +++ /trunk/MagicSoft/Cosy/candrv/nodedrv.h (revision 8813) @@ -69,14 +69,14 @@ void SetZombie(bool stopguard=true); - virtual void HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, timeval_t *tv); - virtual void HandleSDOOK(WORD_t idx, BYTE_t subidx, LWORD_t data, timeval_t *tv); + virtual void HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, const timeval_t &tv); + virtual void HandleSDOOK(WORD_t idx, BYTE_t subidx, LWORD_t data, const 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 HandleNodeguard(timeval_t *tv); - virtual void HandleEmergency(timeval_t *tv) {} + virtual void HandlePDO1(const BYTE_t *data, const timeval_t &tv) {} + virtual void HandlePDO2(const BYTE_t *data, const timeval_t &tv) {} + virtual void HandlePDO3(const BYTE_t *data, const timeval_t &tv) {} + virtual void HandlePDO4(const BYTE_t *data, const timeval_t &tv) {} + virtual void HandleNodeguard(const timeval_t &tv); + virtual void HandleEmergency(const timeval_t &tv) {} bool SendPDO1(BYTE_t data[8]);