examples/DS401_Slave_Gui/TestSlaveGui.cpp
author luis
Mon, 01 Oct 2007 14:43:01 +0200
changeset 296 03f2b8b8cb0b
parent 295 25ff2fadff89
child 302 7ba4302a9999
permissions -rw-r--r--
Solved a small bug in emcy.c (errRegMask was always '1' in EMCY_setError.
EMCY_setError has a new parameter, addInfo, a 16-bit value that will be copied to 16 most significat bits in 1003h (but it is not sent in EMCY message).
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/*
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This file is part of CanFestival, a library implementing CanOpen Stack. 
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Copyright (C): Edouard TISSERANT and Francis DUPIN
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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*/
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#include <wx/wxprec.h>
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#include <wx/wx.h>
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#include <wx/textctrl.h>
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#include <iostream>
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#if defined(WIN32) && !defined(__CYGWIN__)
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	#include <windows.h>
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	extern "C" {
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		#include "getopt.h"
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	}
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	void pause(void)
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	{
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		system("PAUSE");
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	}
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#else
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	#include <stdio.h>
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	#include <string.h>
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	#include <unistd.h>
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	#include <stdlib.h>
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	#include <signal.h>
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#endif
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//#include <can_driver.h>
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//#include <timers_driver.h>
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extern "C" 
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  {
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	#include "canfestival.h"
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  }
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#include "CallBack.h"
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#include "TestSlaveGui.h"
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#include "main.h"
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extern wxTextCtrl 	*textLog;
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extern int			node_id_ext;
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//***************************  INIT  *****************************************
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void InitNodes(CO_Data* d, UNS32 id)
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{
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	//****************************** INITIALISATION SLAVE *******************************
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		/* Defining the node Id */
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		setNodeId(&ObjDict_Data, node_id_ext);
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		/* init */
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		setState(&ObjDict_Data, Initialisation);
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}
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//****************************************************************************
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//***************************  MAIN  *****************************************
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//****************************************************************************
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int main_can(s_BOARD SlaveBoard, char* LibraryPath)
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{
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  printf("Bus name: %s        Freq: %s       Driver: %s\n", SlaveBoard.busname, SlaveBoard.baudrate, LibraryPath);
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  #ifndef NOT_USE_DYNAMIC_LOADING
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	LoadCanDriver(LibraryPath);
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  #endif		
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	// Open CAN devices
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	ObjDict_Data.heartbeatError = Call_heartbeatError;
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	ObjDict_Data.initialisation = Call_initialisation;
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	ObjDict_Data.preOperational = Call_preOperational;
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	ObjDict_Data.operational = Call_operational;
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	ObjDict_Data.stopped = Call_stopped;
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	ObjDict_Data.post_sync = Call_post_sync;
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	ObjDict_Data.post_TPDO = Call_post_TPDO;
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	ObjDict_Data.storeODSubIndex = Call_storeODSubIndex;		
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	if(!canOpen(&SlaveBoard,&ObjDict_Data))
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	  {
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		printf("Cannot open Slave Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate);
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		return (1);
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	  }
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	StartTimerLoop(&InitNodes);
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	return 0;
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}
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void stop_slave()
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{	
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    EnterMutex();
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	setState(&ObjDict_Data, Stopped);
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    StopTimerLoop();
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    canClose(&ObjDict_Data);
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    LeaveMutex();
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	return;
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}