Index: /trunk/MagicSoft/Cosy/Changelog =================================================================== --- /trunk/MagicSoft/Cosy/Changelog (revision 8834) +++ /trunk/MagicSoft/Cosy/Changelog (revision 8835) @@ -80,4 +80,9 @@ - changed to new threading classes - thread doesn't run detached anymore + + * candrv/nodedrv.[h,cc], devdrv/macs.[h,cc], devdrv/shaftencoder.[h,cc]: + - changed from lout to gLog + - added maipulators + - removed MLog from the constructor Index: /trunk/MagicSoft/Cosy/candrv/network.cc =================================================================== --- /trunk/MagicSoft/Cosy/candrv/network.cc (revision 8834) +++ /trunk/MagicSoft/Cosy/candrv/network.cc (revision 8835) @@ -32,6 +32,6 @@ #include "network.h" -#include // cout -#include // setw, setfill +#include "MLog.h" +#include "MLogManip.h" ClassImp(Network); @@ -46,10 +46,10 @@ void Network::Start() { - gLog << "- Starting network." << endl; + gLog << inf << "- Starting network." << endl; CanOpen::Start(); InitNodes(); - gLog << "- Network started." << endl; + gLog << inf << "- Network started." << endl; } @@ -60,10 +60,10 @@ void Network::Stop() { - gLog << "- Stopping network." << endl; + gLog << inf << "- Stopping network." << endl; StopNodes(); CanOpen::Stop(); - gLog << "- Network stopped." << endl; + gLog << inf << "- Network stopped." << endl; } @@ -77,5 +77,5 @@ memset(fNodeInitialized, 0, 32*sizeof(*fNodeInitialized)); - gLog << "- Network initialized." << endl; + gLog << inf << "- Network initialized." << endl; } @@ -115,8 +115,8 @@ } - cout << dec << setfill('0'); - cout << "Network::HandleSDO: Node=" << (int)node << " Cmd=0x" << hex << (int)cmd << ": "; - cout << "Sdo=" << idx << "/" << (int)subidx << ": 0x" << setw(8) << data; - cout << endl; + gLog << warn << dec << setfill('0'); + gLog << "Network::HandleSDO: Node=" << (int)node << " Cmd=0x" << hex << (int)cmd << ": "; + gLog << "Sdo=" << idx << "/" << (int)subidx << ": 0x" << setw(8) << data; + gLog << endl; } @@ -129,8 +129,8 @@ if (!fNodes[node]) { - cout << "Network::HandlePDO1: Node #" << dec << (int)node << " not found - PDO1: " << hex; + gLog << err << "ERROR - Network::HandlePDO1: Node #" << dec << (int)node << " not found - PDO1: " << hex; for (int i=0; i<8; i++) - cout << " 0x" << (int)data[i]; - cout << endl; + gLog << " 0x" << (int)data[i]; + gLog << endl; return; } @@ -147,8 +147,8 @@ if (!fNodes[node]) { - cout << "Network::HandlePDO2: Node #" << dec << (int)node << " not found - PDO2: " << hex; + gLog << err << "ERROR - Network::HandlePDO2: Node #" << dec << (int)node << " not found - PDO2: " << hex; for (int i=0; i<8; i++) - cout << " 0x" << (int)data[i]; - cout << endl; + gLog << " 0x" << (int)data[i]; + gLog << endl; return; } @@ -165,8 +165,8 @@ if (!fNodes[node]) { - cout << "Network::HandlePDO3: Node #" << dec << (int)node << " not found - PDO3: " << hex; + gLog << err << "ERROR - Network::HandlePDO3: Node #" << dec << (int)node << " not found - PDO3: " << hex; for (int i=0; i<8; i++) - cout << " 0x" << (int)data[i]; - cout << endl; + gLog << " 0x" << (int)data[i]; + gLog << endl; return; } @@ -183,8 +183,8 @@ if (!fNodes[node]) { - cout << "Network::HandlePDO4: Node #" << dec << (int)node << " not found - PDO4: " << hex; + gLog << err << "ERROR - Network::HandlePDO4: Node #" << dec << (int)node << " not found - PDO4: " << hex; for (int i=0; i<8; i++) - cout << " 0x" << (int)data[i]; - cout << endl; + gLog << " 0x" << (int)data[i]; + gLog << endl; return; } @@ -202,5 +202,5 @@ if (!fNodes[node]) { - cout << "Network::HandleNodeguard: Node #" << dec << (int)node << " not found: Nodeguard." << endl; + gLog << err << "ERROR - Network::HandleNodeguard: Node #" << dec << (int)node << " not found: Nodeguard." << endl; return; } @@ -218,5 +218,5 @@ if (!fNodes[node]) { - cout << "Network::HandleEmergency: Node #" << dec << (int)node << " not found: Emergency." << endl; + gLog << err << "ERROR - Network::HandleEmergency: Node #" << dec << (int)node << " not found: Emergency." << endl; return; } @@ -236,5 +236,5 @@ if (nodeid>31) { - cout << "SetNode - Error: Only node Numbers < 32 are allowed"<< endl; + gLog << err << "ERROR - Network::SetNode: Only node Numbers < 32 are allowed"<< endl; return; } @@ -252,12 +252,12 @@ if (fNodes[i]) { - gLog << "- Setting up Node #" << dec << i << " ("; + gLog << inf2 << "- Setting up Node #" << dec << i << " ("; gLog << fNodes[i]->GetNodeName() << ")" << endl; if (fNodes[i]->InitDevice(this)) fNodeInitialized[i] = TRUE; else - gLog << "- " << fNodes[i]->GetNodeName() << ": InitDevice failed." << endl; + gLog << err << "- " << fNodes[i]->GetNodeName() << ": InitDevice failed." << endl; } - gLog << "- All Nodes setup." << endl; + gLog << inf << "- All Nodes setup." << endl; } @@ -271,9 +271,9 @@ if (fNodes[i] && fNodeInitialized[i]) { - gLog << "- Stopping Node #" << dec << i; + gLog << inf2 << "- Stopping Node #" << dec << i; gLog << " (" << fNodes[i]->GetNodeName() << ")" << endl; fNodes[i]->StopDevice(); } - gLog << "- All Nodes stopped." << endl; + gLog << inf << "- All Nodes stopped." << endl; } @@ -292,5 +292,5 @@ continue; - gLog << "- Node #" << dec << i << " '" << fNodes[i]->GetNodeName() << "' "; + gLog << err << "- Node #" << dec << i << " '" << fNodes[i]->GetNodeName() << "' "; if (fNodes[i]->GetError() <= 0) @@ -362,6 +362,6 @@ } - if (rc) - gLog << "- All Zombies rebooted." << endl; +// if (rc) +// gLog << inf << "- All Zombies rebooted." << endl; return rc; Index: /trunk/MagicSoft/Cosy/candrv/network.h =================================================================== --- /trunk/MagicSoft/Cosy/candrv/network.h (revision 8834) +++ /trunk/MagicSoft/Cosy/candrv/network.h (revision 8835) @@ -42,5 +42,5 @@ bool HasZombie() const; - bool RebootZombies(); + bool RebootZombies(Int_t max=33); void CheckConnections(); Index: /trunk/MagicSoft/Cosy/candrv/nodedrv.cc =================================================================== --- /trunk/MagicSoft/Cosy/candrv/nodedrv.cc (revision 8834) +++ /trunk/MagicSoft/Cosy/candrv/nodedrv.cc (revision 8835) @@ -52,4 +52,5 @@ #include "MTime.h" #include "network.h" + #include "MLogManip.h" @@ -65,9 +66,9 @@ // and the node name. The name is a name for debug output. // -NodeDrv::NodeDrv(BYTE_t nodeid, const char *name, MLog &out) : Log(out), fNetwork(NULL), fId(32), fError(0), fIsZombie(kTRUE), fGuard(NULL) +NodeDrv::NodeDrv(BYTE_t nodeid, const char *name) : fNetwork(NULL), fId(32), fError(0), fIsZombie(kTRUE), fGuard(NULL) { if (nodeid>0x1f) { - cout << "SetNode - Error: Only node Numbers < 32 are allowed"<< endl; + gLog << err << "ERROR - NodeDrv::NodeDrv: Only node Numbers < 32 are allowed"<< endl; return; } @@ -83,5 +84,5 @@ } - lout << "- Node #" << (int)nodeid << " (" << name << ") initialized." << endl; + gLog << inf2 << "- Node #" << (int)nodeid << " (" << name << ") initialized." << endl; } @@ -149,15 +150,15 @@ void NodeDrv::HandleSDOOK(WORD_t idx, BYTE_t subidx, LWORD_t data, const timeval_t &tv) { - const Bool_t gui = lout.IsOutputDeviceEnabled(MLog::eGui); + const Bool_t gui = gLog.IsOutputDeviceEnabled(MLog::eGui); if (gui) - lout << ddev(MLog::eGui); - - lout << hex << setfill('0'); - lout << "Node #" << dec << (int)fId << ": Sdo=" << hex << idx << "/" << (int)subidx << " set."; - lout << endl; + gLog << ddev(MLog::eGui); + + gLog << warn << setfill('0') << "WARNING - Nodedrv::HandleSDOOK: "; + gLog << "Node #" << dec << (int)fId << ": Sdo=" << hex << idx << "/" << (int)subidx << " set."; + gLog << endl; if (gui) - lout << edev(MLog::eGui); + gLog << edev(MLog::eGui); } @@ -168,7 +169,7 @@ void NodeDrv::HandleSDOError(LWORD_t data) { - lout << "Nodedrv: SDO Error: Entry not found in dictionary (data=0x"; - lout << hex << setfill('0') << setw(4) << data << ")"; - lout << endl; + gLog << warn << "WARNING - Nodedrv::HandleSDOError: Entry not found in dictionary (data=0x"; + gLog << hex << setfill('0') << setw(4) << data << ")"; + gLog << endl; } @@ -179,6 +180,6 @@ void NodeDrv::HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, const timeval_t &tv) { - cout << "SdoRx: Idx=0x"<< hex << idx << "/" << (int)subidx; - cout << ", val=0x" << val << endl; + gLog << warn << "WARNING - Nodedrv::HandleSDO: Idx=0x"<< hex << idx << "/" << (int)subidx; + gLog << ", val=0x" << val << endl; } @@ -426,5 +427,5 @@ return true; - lout << " + " << GetNodeName() << ": NodeDrv::WaitForSdo: 0x" << hex << idx << "/" << dec << (int)subidx << " --> ZOMBIE! " << MTime(-1) << endl; + gLog << inf2 << " + " << GetNodeName() << ": NodeDrv::WaitForSdo: 0x" << hex << idx << "/" << dec << (int)subidx << " --> ZOMBIE! " << MTime(-1) << endl; if (zombie) SetZombie(); @@ -555,6 +556,6 @@ fGuard->RunThread(); - lout << "- " << GetNodeName() << ": Guarding (" << dec; - lout << fLifeTimeFactor << "*" << fGuardTime << "ms) started." << endl; + gLog << inf << "- " << GetNodeName() << ": Guarding (" << dec; + gLog << fLifeTimeFactor << "*" << fGuardTime << "ms) started." << endl; } @@ -563,5 +564,5 @@ if (fGuard) { - lout << "- " << GetNodeName() << ": ERROR - Guarding already started." << endl; + gLog << err << "- " << GetNodeName() << ": ERROR - Guarding already started." << endl; return; } @@ -581,5 +582,5 @@ fGuard=NULL; - lout << "- " << GetNodeName() << ": Guarding stopped." << endl; + gLog << inf << "- " << GetNodeName() << ": Guarding stopped." << endl; } @@ -601,4 +602,4 @@ StopGuarding(); else - lout << " - " << GetNodeName() << ": Zombie set due to timeout." << endl; -} + gLog << warn << " - " << GetNodeName() << ": Zombie set due to timeout." << endl; +} Index: /trunk/MagicSoft/Cosy/candrv/nodedrv.h =================================================================== --- /trunk/MagicSoft/Cosy/candrv/nodedrv.h (revision 8834) +++ /trunk/MagicSoft/Cosy/candrv/nodedrv.h (revision 8835) @@ -4,8 +4,4 @@ #ifndef ROOT_TString #include -#endif - -#ifndef COSY_Log -#include "log.h" #endif @@ -25,5 +21,5 @@ class NodeGuard; -class NodeDrv : public Log +class NodeDrv { private: @@ -50,5 +46,5 @@ public: - NodeDrv(BYTE_t nodeid, const char *name=NULL, MLog &out=gLog); + NodeDrv(BYTE_t nodeid, const char *name=NULL); virtual ~NodeDrv(); Index: /trunk/MagicSoft/Cosy/devdrv/macs.cc =================================================================== --- /trunk/MagicSoft/Cosy/devdrv/macs.cc (revision 8834) +++ /trunk/MagicSoft/Cosy/devdrv/macs.cc (revision 8835) @@ -1,5 +1,4 @@ #include "macs.h" -#include #include // timeval->tv_sec @@ -29,6 +28,6 @@ */ -Macs::Macs(const BYTE_t nodeid, const char *name, MLog &out) - : NodeDrv(nodeid, name, out), fMacId(2*nodeid+1), +Macs::Macs(const BYTE_t nodeid, const char *name) + : NodeDrv(nodeid, name), fMacId(2*nodeid+1), fPos(0), fPdoPos(0), fPosActive(0), fRpmActive(0), fStatusPdo3(0xff) @@ -53,10 +52,10 @@ if (subidx!=2) return; - lout << "- " << GetNodeName() << ": Error[0]=" << dec << val << endl; + gLog << inf2 << "- " << GetNodeName() << ": Error[0]=" << dec << val << endl; SetError(val); return; case 0x100a: - lout << "- " << GetNodeName() << ": Using Software Version V" << dec << (int)(val>>16) << "." << (int)(val&0xff) << endl; + gLog << inf2 << "- " << GetNodeName() << ": Using Software Version V" << dec << (int)(val>>16) << "." << (int)(val&0xff) << endl; fSoftVersion = val; return; @@ -68,13 +67,13 @@ case 0x100c: - lout << "- " << GetNodeName() << ": Guard time:" << dec << val << endl; + gLog << inf2 << "- " << GetNodeName() << ": Guard time:" << dec << val << endl; return; case 0x100d: - lout << "- " << GetNodeName() << ": Life time factor:" << dec << val << endl; + gLog << inf2 << "- " << GetNodeName() << ": Life time factor:" << dec << val << endl; return; case 0x2002: - cout << GetNodeName() << ": Current velocity: " << dec << val << endl; + gLog << inf2 << GetNodeName() << ": Current velocity: " << dec << val << endl; fVel = val; return; @@ -123,15 +122,18 @@ case 0x6002: - lout << "- " << GetNodeName() << ": Velocity resolution = " << dec << val << " ticks/min" << endl; + gLog << inf2 << "- " << GetNodeName() << ": Velocity resolution = " << dec << val << " ticks/min" << endl; fVelRes = val; return; case 0x6501: - lout << "- " << GetNodeName() << ": Encoder resolution = " << dec << val << " ticks/min" << endl; + gLog << inf2 << "- " << GetNodeName() << ": Encoder resolution = " << dec << val << " ticks/min" << endl; fRes = val; return; } - cout << "Macs: SDO, idx=0x"<< hex << idx << "/" << (int)subidx; - cout << ", val=0x"< ZOMBIE!" << endl; + gLog << err << "Macs::Init: " << GetNodeName() << " has error --> ZOMBIE!" << endl; SetZombie(); } @@ -353,5 +355,5 @@ StopGuarding(); - lout << "- " << GetNodeName() << ": Requesting Mac Software Version." << endl; + gLog << inf2 << "- " << GetNodeName() << ": Requesting Mac Software Version." << endl; RequestSDO(0x100a); WaitForSdo(0x100a); @@ -360,5 +362,5 @@ if (fSoftVersion<0x00000045) // 00.69 { - lout << GetNodeName() << " - Software Version too old!" << endl; + gLog << err << GetNodeName() << " - Software Version too old!" << endl; SetZombie(); return; @@ -431,5 +433,5 @@ void Macs::ReqPos() { - lout << "- " << GetNodeName() << ": Requesting Position." << endl; + gLog << inf2 << "- " << GetNodeName() << ": Requesting Position." << endl; RequestSDO(0x6004); WaitForSdo(0x6004); @@ -438,5 +440,5 @@ void Macs::ReqVel() { - lout << "- " << GetNodeName() << ": Requesting Velocity." << endl; + gLog << inf2 << "- " << GetNodeName() << ": Requesting Velocity." << endl; RequestSDO(0x2002); WaitForSdo(0x2002); @@ -523,5 +525,5 @@ // or by a positioning command (POSA, ...) // - lout << "- " << GetNodeName() << ": Starting RPM Sync Mode." << endl; + gLog << inf2 << "- " << GetNodeName() << ": Starting RPM Sync Mode." << endl; SendSDO(0x3007, 0, string('s', 'y', 'n', 'c')); WaitForSdo(0x3007, 0); @@ -534,5 +536,5 @@ // or by a positioning command (POSA, ...) // - lout << "- " << GetNodeName() << ": Starting Position Sync Mode." << endl; + gLog << inf2 << "- " << GetNodeName() << ": Starting Position Sync Mode." << endl; SendSDO(0x3007, 1, string('s', 'y', 'n', 'c')); WaitForSdo(0x3007, 1); @@ -591,6 +593,6 @@ if (!errnum) { - lout << "- " << GetNodeName() << ": reports Error occursion." << endl; - lout << "Macs::HandlePDO2: " << GetNodeName() << " --> ZOMBIE!" << endl; + gLog << err << "- " << GetNodeName() << ": reports Error occursion." << endl; + gLog << "Macs::HandlePDO2: " << GetNodeName() << " --> ZOMBIE!" << endl; SetZombie(); SetError(-1); @@ -604,5 +606,5 @@ if (GetError()>0) { - lout << GetNodeName() << ": WARNING! Error #" << GetError() << " unhandled (not cleared) by software." << endl; + gLog << warn << GetNodeName() << ": WARNING! Error #" << GetError() << " unhandled (not cleared) by software." << endl; // @@ -615,12 +617,12 @@ SetError(errnum); - lout << GetNodeName() << " reports: "; + gLog << err << GetNodeName() << " reports: "; switch (errnum) { case 3: - lout << "Axis does not existing." << endl; + gLog << "Axis does not existing." << endl; return; case 5: - lout << "Error not cleared (while trying to move axis)" << endl; + gLog << "Error not cleared (while trying to move axis)" << endl; return; case 6: @@ -630,16 +632,16 @@ // from reporting this error a thousands of times. // - lout << "Home position not the first positioning command." << endl; + gLog << "Home position not the first positioning command." << endl; SetError(0); return; case 8: - lout << "Control deviation overflow." << endl; + gLog << "Control deviation overflow." << endl; return; case 9: - lout << "Zero index not found." << endl; + gLog << "Zero index not found." << endl; return; case 10: - lout << "Unknown command, syntax error." << endl; - lout << "Please recompile and reload program." << endl; + gLog << "Unknown command, syntax error." << endl; + gLog << "Please recompile and reload program." << endl; return; case 11: @@ -648,71 +650,71 @@ { case -1: - lout << "Negative"; + gLog << "Negative"; break; case 1: - lout << "Positive"; + gLog << "Positive"; break; default: - lout << "-unknown-"; + gLog << "-unknown-"; } switch (errnum) { case 11: - lout << " software"; + gLog << " software"; break; case 25: - lout << " hardware"; + gLog << " hardware"; break; } - lout << " endswitch activated." << endl; + gLog << " endswitch activated." << endl; return; case 12: - lout << "Wrong parameter number used in SET command." << endl; + gLog << "Wrong parameter number used in SET command." << endl; return; case 14: - lout << " Too many LOOP calls." << endl; + gLog << " Too many LOOP calls." << endl; return; case 16: - lout << "Parameter in EEPROM broken (means: EEPROM broken, or saving not finished)" << endl; - lout << "Please use APOSS to 'Reset' the MACS and reload the parameters." << endl; + gLog << "Parameter in EEPROM broken (means: EEPROM broken, or saving not finished)" << endl; + gLog << "Please use APOSS to 'Reset' the MACS and reload the parameters." << endl; return; case 17: - lout << "Program in EEPROM broken (means: EEPROM broken, or saving not finished)" << endl; - lout << "Please use APOSS to delete all Programs restore the programs." << endl; + gLog << "Program in EEPROM broken (means: EEPROM broken, or saving not finished)" << endl; + gLog << "Please use APOSS to delete all Programs restore the programs." << endl; return; case 18: - lout << "Reset by CPU (reset called by Watch-dog cause of CPU halted)" << endl; - lout << "Possible reasons: short under-/overvoltage or shortcut." << endl; + gLog << "Reset by CPU (reset called by Watch-dog cause of CPU halted)" << endl; + gLog << "Possible reasons: short under-/overvoltage or shortcut." << endl; return; case 19: - lout << "User break (autostart program stopped by user)" << endl; + gLog << "User break (autostart program stopped by user)" << endl; return; case 51: - lout << "Too many (>=10) GOSUB calls." << endl; + gLog << "Too many (>=10) GOSUB calls." << endl; return; case 52: - lout << "Too many RETURN calls." << endl; + gLog << "Too many RETURN calls." << endl; return; case 62: - lout << "Error veryfiing EEPROM after access (Try again savaing parameters or program)" << endl; + gLog << "Error veryfiing EEPROM after access (Try again savaing parameters or program)" << endl; return; case 70: - lout << "Error in DIM call (call to DIM doesn't fit existing DIM call)" << endl; + gLog << "Error in DIM call (call to DIM doesn't fit existing DIM call)" << endl; return; case 71: - lout << "Array out of bound." << endl; + gLog << "Array out of bound." << endl; return; case 79: - lout << "Timeout waiting for index (WAITNDX)." << endl; + gLog << "Timeout waiting for index (WAITNDX)." << endl; return; case 84: - lout << "Too many (>12) ON TIME calls." << endl; + gLog << "Too many (>12) ON TIME calls." << endl; return; case 87: - lout << "Out of memory for variables - Check APOSS predifined number of" << endl; - lout << "variables and try deleting the array by doing a 'Reset' from APOSS." << endl; + gLog << "Out of memory for variables - Check APOSS predifined number of" << endl; + gLog << "variables and try deleting the array by doing a 'Reset' from APOSS." << endl; return; case 89: - lout << "CAN I/O error (REOPEN=" << dec << errinf << " " << (errinf==0?"OK":"ERR") << ")" << endl; + gLog << "CAN I/O error (REOPEN=" << dec << errinf << " " << (errinf==0?"OK":"ERR") << ")" << endl; return; @@ -723,5 +725,5 @@ default: - lout << "Error Nr. " << errnum << ", " << errinf << endl; + gLog << "Error Nr. " << errnum << ", " << errinf << endl; } } @@ -737,5 +739,5 @@ time.Now(); - lout << time << ": " << GetNodeName() << " - PDO3 = "; + gLog << inf << time << ": " << GetNodeName() << " - PDO3 = "; const Bool_t ready = data[3]&0x01; const Bool_t fuse = data[3]&0x02; @@ -745,12 +747,12 @@ const Bool_t rf = data[3]&0x20; const Bool_t brake = data[3]&0x40; - if (ready) lout << "DKC-Ready "; - if (fuse) lout << "FuseOk "; - if (emcy) lout << "EmcyOk "; - if (vltg) lout << "OvervoltOk "; - if (mode) lout << "SwitchToManualMode "; - if (rf) lout << "RF "; - if (brake) lout << "BrakeOpen "; - lout << endl; + if (ready) gLog << "DKC-Ready "; + if (fuse) gLog << "FuseOk "; + if (emcy) gLog << "EmcyOk "; + if (vltg) gLog << "OvervoltOk "; + if (mode) gLog << "SwitchToManualMode "; + if (rf) gLog << "RF "; + if (brake) gLog << "BrakeOpen "; + gLog << endl; fStatusPdo3 = data[3]; @@ -780,5 +782,5 @@ // we can go on working 'as usual' Eg. Initialize a Display Update // - cout << GetNodeName() << " Handling Error #" << dec << GetError() << endl; + gLog << inf << GetNodeName() << " Handling Error #" << dec << GetError() << endl; switch (GetError()) { @@ -787,10 +789,10 @@ case 9: // zero idx case 84: // ON TIME - lout << "- " << GetNodeName() << ": Cannot handle error #" << GetError() << endl; + gLog << "- " << GetNodeName() << ": Cannot handle error #" << GetError() << endl; return; case 11: // software endswitch case 25: // hardware endswitch - lout << "- " << GetNodeName() << ": Cannot handle error 'Endswitch!'" << endl; + gLog << "- " << GetNodeName() << ": Cannot handle error 'Endswitch!'" << endl; return; @@ -805,5 +807,5 @@ */ default: - lout << "- " << GetNodeName() << ": Cannot handle error #" << GetError() << endl; + gLog << "- " << GetNodeName() << ": Cannot handle error #" << GetError() << endl; } @@ -850,6 +852,6 @@ WaitForSdo(0x100d); - lout << "- " << GetNodeName() << ": Hostguarding started (" << dec; - lout << GetLifeTimeFactor() << "*" << GetGuardTime() << "ms)" << endl; + gLog << inf2 << "- " << GetNodeName() << ": Hostguarding started (" << dec; + gLog << GetLifeTimeFactor() << "*" << GetGuardTime() << "ms)" << endl; } @@ -866,5 +868,5 @@ WaitForSdo(0x100d); - lout << "- " << GetNodeName() << ": Hostguarding stopped." << endl; -} - + gLog << inf2 << "- " << GetNodeName() << ": Hostguarding stopped." << endl; +} + Index: /trunk/MagicSoft/Cosy/devdrv/macs.h =================================================================== --- /trunk/MagicSoft/Cosy/devdrv/macs.h (revision 8834) +++ /trunk/MagicSoft/Cosy/devdrv/macs.h (revision 8835) @@ -68,5 +68,5 @@ }; - Macs(const BYTE_t nodeid, const char *name=NULL, MLog &out=gLog); + Macs(const BYTE_t nodeid, const char *name=NULL); virtual ~Macs(); Index: /trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc =================================================================== --- /trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc (revision 8834) +++ /trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc (revision 8835) @@ -1,19 +1,18 @@ #include "shaftencoder.h" +#include // TGLabel->SetText + +#include "MLog.h" +#include "MLogManip.h" + +#include "macs.h" #include "network.h" -#include // cout -#include // setw, setfill - -#include // TGLabel->SetText - -#include "macs.h" - ClassImp(ShaftEncoder); using namespace std; -ShaftEncoder::ShaftEncoder(const BYTE_t nodeid, const char *name, MLog &out) - : NodeDrv(nodeid, name, out), +ShaftEncoder::ShaftEncoder(const BYTE_t nodeid, const char *name) + : NodeDrv(nodeid, name), fPos(0), fVel(0), fAcc(0), fTurn(0), fTicks(0), fDirection(kUndefined), fHysteresisPos(0), fHysteresisNeg(0), @@ -40,24 +39,24 @@ { case 0x1000: - lout << "- Model: "; + gLog << inf2 << "- Model: "; switch (val&0xffff) { case 0x0196: - lout << "Shaft Encoder Type: "; + gLog << inf2 << "Shaft Encoder Type: "; switch ((val>>16)&0xff) { case 0x01: - lout << "Singleturn" << endl; + gLog << "Singleturn" << endl; return; case 0x02: - lout << "Multiturn" << endl; + gLog << "Multiturn" << endl; return; default: - lout << "?" << endl; + gLog << err << "?" << endl; SetZombie(); return; } default: - lout << "???" << endl; + gLog << err << "???" << endl; SetZombie(); return; @@ -69,29 +68,29 @@ case 0x100c: - lout << "- Guardtime: " << dec << val << "ms" << endl; + gLog << inf2 << "- Guardtime: " << dec << val << "ms" << endl; return; case 0x100d: - lout << "- Lifetimefactor: " << dec << val << endl; + gLog << inf2 << "- Lifetimefactor: " << dec << val << endl; return; case 0x100e: - lout << "- CobId for guarding: 0x" << hex << val << endl; + gLog << inf2 << "- CobId for guarding: 0x" << hex << val << endl; return; case 0x6000: case 0x6500: - lout << "- Counting: " << (val&1 ?"anti-clockwise":"clockwise") << " "; - lout << "HwTest: " << (val&2 ?"on":"off") << " "; - lout << "Scaling: " << (val&4 ?"on":"off") << " "; - lout << "Modulo: " << (val&4096?"on":"off") << endl; + gLog << inf2 << "- Counting: " << (val&1 ?"anti-clockwise":"clockwise") << " "; + gLog << "HwTest: " << (val&2 ?"on":"off") << " "; + gLog << "Scaling: " << (val&4 ?"on":"off") << " "; + gLog << "Modulo: " << (val&4096?"on":"off") << endl; return; case 0x6001: - lout << "- Logical Ticks/Revolution: " << dec << val << endl; + gLog << inf2 << "- Logical Ticks/Revolution: " << dec << val << endl; return; case 0x6004: - lout << "- Position: " << dec << val << endl; + gLog << inf2 << "- Position: " << dec << val << endl; fPos = val; fTurn = 0; @@ -107,5 +106,5 @@ case 0x6501: - lout << "- Phys. Ticks/Revolution: " << dec << val << endl; + gLog << inf2 << "- Phys. Ticks/Revolution: " << dec << val << endl; fTicks = val; return; @@ -114,5 +113,5 @@ //if (val==0) // val = 1; // Single Turn = Multiturn with one turn - lout << "- Number of Revolutions: " << dec << val << endl; + gLog << inf2 << "- Number of Revolutions: " << dec << val << endl; fTurns = val; return; @@ -120,7 +119,10 @@ } - cout << hex << setfill('0'); - cout << "Sdo=" << idx << "/" << (int)subidx << ": 0x" << setw(8) << val; - cout << endl; + + NodeDrv::HandleSDO(idx, subidx, val, tv); + +// gLog << err << hex << setfill('0'); +// gLog << "Sdo=" << idx << "/" << (int)subidx << ": 0x" << setw(8) << val; +// gLog << endl; } @@ -134,5 +136,5 @@ case 1: //lout << ddev(MLog::eGui); - lout << "- " << GetNodeName() << ": PDOs configured." << endl; + gLog << inf2 << "- " << GetNodeName() << ": PDOs configured." << endl; //lout << edev(MLog::eGui); return; @@ -145,5 +147,5 @@ case 0: //lout << ddev(MLog::eGui); - lout << "- " << GetNodeName() << ": Log.ticks/revolution set." << endl; + gLog << inf2 << "- " << GetNodeName() << ": Log.ticks/revolution set." << endl; //lout << edev(MLog::eGui); return; @@ -156,5 +158,5 @@ case 0: //lout << ddev(MLog::eGui); - lout << "- " << GetNodeName() << ": Max number of ticks set." << endl; + gLog << inf2 << "- " << GetNodeName() << ": Max number of ticks set." << endl; //lout << edev(MLog::eGui); return; @@ -167,5 +169,5 @@ case 0: //lout << ddev(MLog::eGui); - lout << "- " << GetNodeName() << ": Preset value set." << endl; + gLog << inf2 << "- " << GetNodeName() << ": Preset value set." << endl; //lout << edev(MLog::eGui); return; @@ -356,5 +358,5 @@ // Requesting and checking (FIXME) type of encoder // - lout << "- " << GetNodeName() << ": Requesting Hardware Type (0x1000)." << endl; + gLog << inf2 << "- " << GetNodeName() << ": Requesting Hardware Type (0x1000)." << endl; RequestSDO(0x1000); WaitForSdo(0x1000); @@ -365,5 +367,5 @@ // Read physical ticks per revolution // - lout << "- " << GetNodeName() << ": Requesting physical ticks/revolution (SDO 0x6501)." << endl; + gLog << inf2 << "- " << GetNodeName() << ": Requesting physical ticks/revolution (SDO 0x6501)." << endl; RequestSDO(0x6501); WaitForSdo(0x6501); @@ -372,5 +374,5 @@ // Read number of possible ticks per revolution // - lout << "- " << GetNodeName() << ": Requesting possible ticks/revolution (SDO 0x6502)." << endl; + gLog << inf2 << "- " << GetNodeName() << ": Requesting possible ticks/revolution (SDO 0x6502)." << endl; RequestSDO(0x6502); WaitForSdo(0x6502); @@ -389,5 +391,5 @@ // Set logic ticks/revolution = physical ticks/revolution => scale factor = 1 // - lout << "- " << GetNodeName() << ": Configuring log. tick/rev (0x6001)." << endl; + gLog << inf2 << "- " << GetNodeName() << ": Configuring log. tick/rev (0x6001)." << endl; SendSDO(0x6001, fTicks); WaitForSdo(0x6001); @@ -396,5 +398,5 @@ // Set maximum number of ticks (ticks * turns) // - lout << "- " << GetNodeName() << ": Configuring max number of ticks (0x6002)." << endl; + gLog << inf2 << "- " << GetNodeName() << ": Configuring max number of ticks (0x6002)." << endl; SendSDO(0x6002, (LWORD_t)(fTicks*fTurns)); WaitForSdo(0x6002); @@ -403,5 +405,5 @@ // Delete preset Value // - lout << "- " << GetNodeName() << ": Delete preset value (0x6003)." << endl; + gLog << inf2 << "- " << GetNodeName() << ": Delete preset value (0x6003)." << endl; SendSDO(0x6003, (LWORD_t)0xffffffff); WaitForSdo(0x6003); @@ -410,5 +412,5 @@ // Configure PDOs // - lout << "- " << GetNodeName() << ": Configuring PDOs (0x1802)." << endl; + gLog << inf2 << "- " << GetNodeName() << ": Configuring PDOs (0x1802)." << endl; SendSDO(0x1802, 1, (LWORD_t)0x281); WaitForSdo(0x1802, 1); @@ -417,5 +419,5 @@ // Request Parameter // - lout << "- " << GetNodeName() << ": Requesting SDO 0x6000." << endl; + gLog << inf2 << "- " << GetNodeName() << ": Requesting SDO 0x6000." << endl; RequestSDO(0x6000); WaitForSdo(0x6000); @@ -423,5 +425,5 @@ ReqPos(); - lout << "- " << GetNodeName() << ": Start Node (NMT)." << endl; + gLog << inf2 << "- " << GetNodeName() << ": Start Node (NMT)." << endl; SendNMT(kNMT_START); @@ -450,5 +452,5 @@ // Request Position // - lout << "- " << GetNodeName() << ": Requesting Position." << endl; + gLog << inf2 << "- " << GetNodeName() << ": Requesting Position." << endl; RequestSDO(0x6004); WaitForSdo(0x6004); @@ -457,5 +459,5 @@ void ShaftEncoder::SetPreset(LWORD_t pre) { - lout << "- " << GetNodeName() << ": Setting Preset." << endl; + gLog << inf2 << "- " << GetNodeName() << ": Setting Preset." << endl; SendSDO(0x6003, (LWORD_t)pre); @@ -476,5 +478,5 @@ void ShaftEncoder::StopDevice() { - lout << "- " << GetNodeName() << ": Stop Node (NMT)." << endl; + gLog << inf2 << "- " << GetNodeName() << ": Stop Node (NMT)." << endl; SendNMT(kNMT_STOP); } Index: /trunk/MagicSoft/Cosy/devdrv/shaftencoder.h =================================================================== --- /trunk/MagicSoft/Cosy/devdrv/shaftencoder.h (revision 8834) +++ /trunk/MagicSoft/Cosy/devdrv/shaftencoder.h (revision 8835) @@ -56,5 +56,5 @@ public: - ShaftEncoder(const BYTE_t nodeid, const char *name=NULL, MLog &out=gLog); + ShaftEncoder(const BYTE_t nodeid, const char *name=NULL); void StopDevice();