Changeset 8862 for trunk/MagicSoft/Cosy/candrv

Timestamp:

02/13/08 19:44:39 (17 years ago)

Author:

tbretz

Message:

*** empty log message ***

Location:

trunk/MagicSoft/Cosy/candrv

Files:

• canopen.cc (modified) (2 diffs)
• ethernet.cc (modified) (8 diffs)
• ethernet.h (modified) (1 diff)
• interface.cc (modified) (1 diff)
• network.cc (modified) (4 diffs)

trunk/MagicSoft/Cosy/candrv/canopen.cc

@@ -88 +88 @@
 // In case of a PDO the conditional semaphore corresponding to this PDO
 // is raised (WaitForNextPDO)
-//  HandleSDO:       handles a SDO message
-//  HandlePDO1/2/3/4:handles received PDOs
+//  HandleSDO:        handles a SDO message
+//  HandlePDO1/2/3/4: handles received PDOs
 //
 void CanOpen::HandleCanMessage(WORD_t cobid, const BYTE_t *data, const timeval_t &tv)
@@ -127 +127 @@
             const WORD_t  subidx = data[3];
 
-            cout << "SND NODE: " << (int)node << " " << flush;
+            //cout << "SDO_rx: node=" << (int)node << hex << " cmd=0x" << (int)cmd << " idx=0x" << idx << " subidx=0x" << subidx << dec << endl;
             HandleSDO(node, cmd, idx, subidx, dat, tv);
 

trunk/MagicSoft/Cosy/candrv/ethernet.cc

@@ -39 +39 @@
 ClassImp(Ethernet);
 
+#undef DEBUG
+
 using namespace std;
 
@@ -54 +56 @@
 //
 Ethernet::Ethernet(const char *addr, const int tx, const int rx, CanOpen *receiver)
-    : MTcpIpI(rx), Interface(receiver), fTxAddress(addr), fTxPort(tx)
+    : MTcpIpI(rx),/* MTcpIpO(addr, tx),*/ Interface(receiver), fTxAddress(addr), fTxPort(tx)
 {
     gLog << inf2 << "- Ethernet initialized." << endl;
@@ -81 +83 @@
     msg.data[1] = 0;
 
+    const TString address = MTcpIpO::GetSocketAddress(rx);
+
     while (!IsThreadCanceled())
     {
@@ -100 +104 @@
         if (len==0)
         {
-            // THIS MEANS CONNECTIION LOST!!!!
-            cout << "============> LEN==0 (CONNECTION LOST?)" << endl;
-            break; // This break is for TEST PURPOSE FIXME!!!
+            gLog << warn << "WARNING - Connection lost (received 0bytes) to " << address << endl;
+            //break; // This break is for TEST PURPOSE FIXME!!!
             continue;
         }
@@ -109 +112 @@
         if (len>1)
         {
-            cout << "Data too long!!!" << endl;
+            gLog << err << "Data received from " << address << " is more than one byte!" << endl;
             break;
         }
@@ -117 +120 @@
             if (c>=MSGLEN)
             {
-                cout << "Received data too long (> " << MSGLEN << ")" << endl;
+                cout << "Data received from " << address << " too long (> " << MSGLEN << ")" << endl;
                 break;
             }
@@ -133 +136 @@
             continue;
 
+#ifdef DEBUG
         cout << "*** RcvdCanFrame len=" << dec << msg.len << ": ";
         for (int i=0; i<msg.len; i++)
             cout << "0x" << setfill('0') << setw(2) << hex << (int)((msg.data+2)[i]) << " ";
-        cout << endl;
+        cout << dec << endl;
+#endif
 
         pos = -1;
@@ -192 +197 @@
     */
 
+#ifdef DEBUG
     // FIXME: MUST BECOME NON-BLOCKING!!!!!
-    cout << "*** Send CanFrame over IP" << endl;
+    cout << "*** Send CanFrame over IP " << endl;
     // FIXME: MUST BECOME NON-BLOCKING!!!!!
+#endif
 
     MTcpIpO::SendFrame(fTxAddress, fTxPort, (char*)(msg.data+1), msg.len-1);
+    //Send((char*)(msg.data+1), msg.len-1);
 
     /*

trunk/MagicSoft/Cosy/candrv/ethernet.h

@@ -10 +10 @@
 #endif
 
-class Ethernet : public MTcpIpI, public Interface
+class Ethernet : public MTcpIpI, /*public MTcpIpO,*/ public Interface
 {
 private:

trunk/MagicSoft/Cosy/candrv/interface.cc

@@ -56 +56 @@
 void Interface::HandleMessage(const Message &msg) const
 {
-    if (fReceiver)
+    if (!fReceiver)
         return;
 

trunk/MagicSoft/Cosy/candrv/network.cc

@@ -132 +132 @@
         for (int i=0; i<8; i++)
             gLog << " 0x" << (int)data[i];
-        gLog << endl;
+        gLog << dec << endl;
         return;
     }
@@ -150 +150 @@
         for (int i=0; i<8; i++)
             gLog << " 0x" << (int)data[i];
-        gLog << endl;
+        gLog << dec << endl;
         return;
     }
@@ -168 +168 @@
         for (int i=0; i<8; i++)
             gLog << " 0x" << (int)data[i];
-        gLog << endl;
+        gLog << dec << endl;
         return;
     }
@@ -186 +186 @@
         for (int i=0; i<8; i++)
             gLog << " 0x" << (int)data[i];
-        gLog << endl;
+        gLog << dec << endl;
         return;
     }