examples/TestMasterSlave/TestMasterSlave.c
author etisserant
Tue, 17 Apr 2007 10:50:28 +0200
changeset 163 212a9ea3b968
parent 161 c4908cc776a9
child 169 90c0a676e631
permissions -rw-r--r--
Added SDO network dictionnary access callback when aborded.
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     1
/*
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     2
This file is part of CanFestival, a library implementing CanOpen Stack. 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     3
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     4
Copyright (C): Edouard TISSERANT and Francis DUPIN
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     5
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     6
See COPYING file for copyrights details.
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     7
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     8
This library is free software; you can redistribute it and/or
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     9
modify it under the terms of the GNU Lesser General Public
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    10
License as published by the Free Software Foundation; either
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    11
version 2.1 of the License, or (at your option) any later version.
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    12
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    13
This library is distributed in the hope that it will be useful,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    14
but WITHOUT ANY WARRANTY; without even the implied warranty of
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    15
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    16
Lesser General Public License for more details.
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    17
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    18
You should have received a copy of the GNU Lesser General Public
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    19
License along with this library; if not, write to the Free Software
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    20
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    21
*/
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    22
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
    23
#if defined(WIN32) && !defined(__CYGWIN__)
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
    24
#include <windows.h>
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
    25
#include "getopt.h"
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
    26
void pause(void)
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
    27
{
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
    28
	system("PAUSE");
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
    29
}
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
    30
#else
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    31
#include <stdio.h>
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    32
#include <string.h>
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
    33
//#include <sys/time.h>
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
    34
//#include <unistd.h>
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    35
#include <stdlib.h>
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    36
#include <signal.h>
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
    37
#endif
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    38
156
515d11cb496e Removed dead code.
etisserant
parents: 149
diff changeset
    39
#include "canfestival.h"
515d11cb496e Removed dead code.
etisserant
parents: 149
diff changeset
    40
//#include <can_driver.h>
515d11cb496e Removed dead code.
etisserant
parents: 149
diff changeset
    41
//#include <timers_driver.h>
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    42
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    43
#include "Master.h"
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    44
#include "Slave.h"
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    45
#include "TestMasterSlave.h"
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    46
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    47
UNS32 OnMasterMap1Update(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    48
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    49
	eprintf("OnSlaveMap1Update:%d\n", SlaveMap1);
31
a82b70738e5c Code clean-up and fixed xenomai compile problem
lbessard
parents: 0
diff changeset
    50
	return 0;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    51
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    52
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
    53
s_BOARD SlaveBoard = {"0", "500K"};
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
    54
s_BOARD MasterBoard = {"1", "500K"};
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
    55
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
    56
#if !defined(WIN32) || defined(__CYGWIN__)
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    57
void catch_signal(int sig)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    58
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    59
  signal(SIGTERM, catch_signal);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    60
  signal(SIGINT, catch_signal);
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
    61
  eprintf("Got Signal %d\n",sig);
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
    62
}
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
    63
#endif
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    64
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    65
void help()
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    66
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    67
  printf("**************************************************************\n");
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    68
  printf("*  TestMasterSlave                                           *\n");
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    69
  printf("*                                                            *\n");
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    70
  printf("*  A simple example for PC. It does implement 2 CanOpen      *\n");
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    71
  printf("*  nodes in the same process. A master and a slave. Both     *\n");
36
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
    72
  printf("*  communicate together, exchanging periodically NMT, SYNC,  *\n");
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
    73
  printf("*  SDO and PDO.                                              *\n");
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
    74
  printf("*                                                            *\n");
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
    75
  printf("*   Usage:                                                   *\n");
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
    76
  printf("*   ./TestMasterSlave  [OPTIONS]                             *\n");
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
    77
  printf("*                                                            *\n");
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
    78
  printf("*   OPTIONS:                                                 *\n");
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
    79
  printf("*     -l : Can library [\"libcanfestival_can_virtual.so\"]     *\n");
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
    80
  printf("*                                                            *\n");
36
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
    81
  printf("*    Slave:                                                  *\n");
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
    82
  printf("*     -s : bus name [\"0\"]                                    *\n");
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
    83
  printf("*     -S : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable)  *\n");
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
    84
  printf("*                                                            *\n");
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
    85
  printf("*    Master:                                                 *\n");
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
    86
  printf("*     -m : bus name [\"1\"]                                    *\n");
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
    87
  printf("*     -M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable)  *\n");
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    88
  printf("*                                                            *\n");
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    89
  printf("**************************************************************\n");
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    90
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    91
36
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
    92
/***************************  INIT  *****************************************/
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
    93
void InitNodes(CO_Data* d, UNS32 id)
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
    94
{
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
    95
	/****************************** INITIALISATION SLAVE *******************************/
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
    96
	if(SlaveBoard.baudrate) {
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
    97
		/* Defining the node Id */
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
    98
		setNodeId(&TestSlave_Data, 0x02);
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
    99
		/* init */
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   100
		setState(&TestSlave_Data, Initialisation);
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   101
	}
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   102
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   103
	/****************************** INITIALISATION MASTER *******************************/
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   104
	if(MasterBoard.baudrate){
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   105
 		RegisterSetODentryCallBack(&TestMaster_Data, 0x2000, 0, &OnMasterMap1Update);
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   106
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   107
		/* Defining the node Id */
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   108
		setNodeId(&TestMaster_Data, 0x01);
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   109
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   110
		/* init */
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   111
		setState(&TestMaster_Data, Initialisation);
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   112
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   113
		/****************************** START *******************************/
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   114
		/* Put the master in operational mode */
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   115
		setState(&TestMaster_Data, Operational);
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   116
  
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   117
		/* Ask slave node to go in operational mode */
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   118
		masterSendNMTstateChange (&TestMaster_Data, 0x02, NMT_Start_Node);
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   119
	}
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   120
}
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   121
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   122
/****************************************************************************/
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   123
/***************************  MAIN  *****************************************/
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   124
/****************************************************************************/
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   125
int main(int argc,char **argv)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   126
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   127
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   128
  char c;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   129
  extern char *optarg;
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   130
  char* LibraryPath="libcanfestival_can_virtual.so";
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   131
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   132
  while ((c = getopt(argc, argv, "-m:s:M:S:l:")) != EOF)
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   133
  {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   134
    switch(c)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   135
    {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   136
      case 's' :
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   137
        if (optarg[0] == 0)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   138
        {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   139
          help();
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   140
          exit(1);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   141
        }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   142
        SlaveBoard.busname = optarg;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   143
        break;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   144
      case 'm' :
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   145
        if (optarg[0] == 0)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   146
        {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   147
          help();
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   148
          exit(1);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   149
        }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   150
        MasterBoard.busname = optarg;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   151
        break;
36
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   152
      case 'S' :
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   153
        if (optarg[0] == 0)
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   154
        {
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   155
          help();
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   156
          exit(1);
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   157
        }
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   158
        SlaveBoard.baudrate = optarg;
36
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   159
        break;
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   160
      case 'M' :
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   161
        if (optarg[0] == 0)
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   162
        {
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   163
          help();
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   164
          exit(1);
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   165
        }
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   166
        MasterBoard.baudrate = optarg;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   167
        break;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   168
      case 'l' :
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   169
        if (optarg[0] == 0)
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   170
        {
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   171
          help();
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   172
          exit(1);
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   173
        }
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   174
        LibraryPath = optarg;
36
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   175
        break;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   176
      default:
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   177
        help();
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   178
        exit(1);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   179
    }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   180
  }
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   181
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   182
#if !defined(WIN32) || defined(__CYGWIN__)
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   183
  /* install signal handler for manual break */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   184
	signal(SIGTERM, catch_signal);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   185
	signal(SIGINT, catch_signal);
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   186
#endif
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   187
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   188
#ifndef NOT_USE_DYNAMIC_LOADING
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   189
	LoadCanDriver(LibraryPath);
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   190
#endif		
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   191
	// Open CAN devices
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   192
	if(SlaveBoard.baudrate){
149
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   193
		
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   194
		TestSlave_Data.heartbeatError = TestSlave_heartbeatError;
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   195
		TestSlave_Data.SDOtimeoutError = TestSlave_SDOtimeoutError;
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   196
		TestSlave_Data.initialisation = TestSlave_initialisation;
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   197
		TestSlave_Data.preOperational = TestSlave_preOperational;
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   198
		TestSlave_Data.operational = TestSlave_operational;
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   199
		TestSlave_Data.stopped = TestSlave_stopped;
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   200
		TestSlave_Data.post_sync = TestSlave_post_sync;
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   201
		TestSlave_Data.post_TPDO = TestSlave_post_TPDO;
161
c4908cc776a9 SetODEntry now call CO_data->storeODSubEntry(Index,SubIndex) for variables to be Stored (when column Save==True in GUI)
etisserant
parents: 156
diff changeset
   202
		TestSlave_Data.storeODSubIndex = TestSlave_storeODSubIndex;		
149
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   203
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   204
		if(!canOpen(&SlaveBoard,&TestSlave_Data)){
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   205
			eprintf("Cannot open Slave Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate);
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   206
			goto fail_slave;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   207
		}
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   208
	}
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   209
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   210
	if(MasterBoard.baudrate){
149
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   211
		
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   212
		TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   213
		TestMaster_Data.SDOtimeoutError = TestMaster_SDOtimeoutError;
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   214
		TestMaster_Data.initialisation = TestMaster_initialisation;
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   215
		TestMaster_Data.preOperational = TestMaster_preOperational;
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   216
		TestMaster_Data.operational = TestMaster_operational;
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   217
		TestMaster_Data.stopped = TestMaster_stopped;
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   218
		TestMaster_Data.post_sync = TestMaster_post_sync;
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   219
		TestMaster_Data.post_TPDO = TestMaster_post_TPDO;
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   220
		
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   221
		if(!canOpen(&MasterBoard,&TestMaster_Data)){
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   222
			eprintf("Cannot open Master Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate);
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   223
			goto fail_master;
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   224
		}
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents: 40
diff changeset
   225
	}
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   226
	
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
   227
	// Start timer thread
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
   228
	StartTimerLoop(&InitNodes);
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
   229
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
   230
	// wait Ctrl-C
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
   231
	pause();
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
   232
	eprintf("Finishing.\n");
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
   233
	
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
   234
	// Stop timer thread
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
   235
	StopTimerLoop();
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
   236
	
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
   237
	// Close CAN devices (and can threads)
149
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   238
	if(SlaveBoard.baudrate) canClose(&TestSlave_Data);
36
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   239
fail_master:
149
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   240
	if(MasterBoard.baudrate) canClose(&TestMaster_Data);	
36
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   241
fail_slave:
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   242
	
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   243
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   244
  return 0;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   245
}