doc/doxygen/html/dcf_8c-source.html
author lbessard
Tue, 05 Jun 2007 17:34:33 +0200
changeset 209 2cb34a4ac65a
parent 207 b6572d0336c3
child 210 6b5a4c21e061
permissions -rw-r--r--
Bug on RefreshStatusBar corrected
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<html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1">
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<title>CanFestival: /home/epimerde/documents/tc11/CanFestival-3/src/dcf.c Source File</title>
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    <li><a href="files.html"><span>File&nbsp;List</span></a></li>
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<h1>/home/epimerde/documents/tc11/CanFestival-3/src/dcf.c</h1><a href="dcf_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
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<a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
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<a name="l00003"></a>00003 <span class="comment"></span>
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<a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
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<a name="l00005"></a>00005 <span class="comment"></span>
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<a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
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<a name="l00007"></a>00007 <span class="comment"></span>
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<a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
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<a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
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<a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
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<a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
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<a name="l00012"></a>00012 <span class="comment"></span>
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<a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
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<a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
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<a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU</span>
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<a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
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<a name="l00017"></a>00017 <span class="comment"></span>
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<a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
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<a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
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<a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA</span>
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<a name="l00021"></a>00021 <span class="comment">*/</span>
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<a name="l00022"></a>00022 
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<a name="l00023"></a>00023 <span class="preprocessor">#include "objacces.h"</span>
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<a name="l00024"></a>00024 <span class="preprocessor">#include "sdo.h"</span>
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<a name="l00025"></a>00025 <span class="preprocessor">#include "dcf.h"</span>
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<a name="l00026"></a>00026 <span class="preprocessor">#include "sysdep.h"</span>
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<a name="l00027"></a>00027 
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<a name="l00028"></a>00028 
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<a name="l00029"></a>00029 
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<a name="l00030"></a>00030 <span class="keyword">extern</span> UNS8 <a class="code" href="dcf_8c.html#3c07605ffe3ea197aa36e583ef87a20a">_writeNetworkDict</a> (CO_Data* d, UNS8 nodeId, UNS16 index, 
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<a name="l00031"></a>00031                        UNS8 subIndex, UNS8 count, UNS8 dataType, <span class="keywordtype">void</span> *data, SDOCallback_t Callback, UNS8 endianize);
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<a name="l00032"></a>00032 
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<a name="l00033"></a><a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">00033</a> <span class="keyword">const</span> indextable *<a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a>;
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<a name="l00034"></a>00034 
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<a name="l00035"></a>00035 <span class="keyword">static</span> <span class="keywordtype">void</span> CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
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<a name="l00036"></a>00036 {
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<a name="l00037"></a>00037         UNS32 abortCode;
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<a name="l00038"></a>00038         
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<a name="l00039"></a>00039         <span class="keywordflow">if</span>(<a class="code" href="sdo_8c.html#8671e306873f19362c60bb50ab930d1d">getWriteResultNetworkDict</a> (d, nodeId, &amp;abortCode) != SDO_FINISHED)
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<a name="l00040"></a>00040         {
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<a name="l00041"></a>00041                 MSG_ERR(0x1A01, <span class="stringliteral">"SDO error in consise DCF"</span>, abortCode);
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<a name="l00042"></a>00042                 MSG_WAR(0x2A02, <span class="stringliteral">"server node : "</span>, nodeId);
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<a name="l00043"></a>00043         }
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<a name="l00044"></a>00044 
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<a name="l00045"></a>00045         <a class="code" href="sdo_8c.html#555a772d3a88a29c495f33513f8b2d58">closeSDOtransfer</a>(d, nodeId, SDO_CLIENT);
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<a name="l00046"></a>00046         <a class="code" href="dcf_8c.html#8452e163e7649968ad6dae1601a5fb0d">decompo_dcf</a>(d,nodeId);
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<a name="l00047"></a>00047 }
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<a name="l00048"></a>00048 
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<a name="l00049"></a><a class="code" href="dcf_8c.html#8452e163e7649968ad6dae1601a5fb0d">00049</a> UNS32 <a class="code" href="dcf_8c.html#8452e163e7649968ad6dae1601a5fb0d">decompo_dcf</a>(CO_Data* d,UNS8 nodeId)
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<a name="l00050"></a>00050 {
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<a name="l00051"></a>00051                 UNS32 errorCode;
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<a name="l00052"></a>00052                 UNS16 target_Index;
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<a name="l00053"></a>00053                 UNS8 target_Subindex;
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<a name="l00054"></a>00054                 UNS32 target_Size;
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<a name="l00055"></a>00055                 UNS32 res;
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<a name="l00056"></a>00056                 ODCallback_t *Callback;
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<a name="l00057"></a>00057 
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<a name="l00058"></a>00058                 <a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a> = (*d-&gt;scanIndexOD)(0x1F22, &amp;errorCode, &amp;Callback);
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<a name="l00059"></a>00059                 <span class="keywordflow">if</span> (errorCode != OD_SUCCESSFUL)
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<a name="l00060"></a>00060                 {
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<a name="l00061"></a>00061                 <span class="keywordflow">return</span> errorCode;
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<a name="l00062"></a>00062                 }
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<a name="l00063"></a>00063 
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<a name="l00064"></a>00064                 <span class="comment">/*Loop on all Nodes supported in DCF subindexes*/</span>
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<a name="l00065"></a>00065                 <span class="keywordflow">while</span> (nodeId &lt; ptrTable-&gt;bSubCount){
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<a name="l00066"></a>00066                         UNS32 nb_targets;
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<a name="l00067"></a>00067                         
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<a name="l00068"></a>00068                         UNS8 szData = <a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a>-&gt;pSubindex[nodeId].size;
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<a name="l00069"></a>00069                         UNS8* dcfend;
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<a name="l00070"></a>00070                         
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<a name="l00071"></a>00071                         {
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<a name="l00072"></a>00072                                 UNS8* dcf = *((UNS8**)<a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a>-&gt;pSubindex[nodeId].pObject);
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<a name="l00073"></a>00073                                 dcfend = dcf + szData;
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<a name="l00074"></a>00074                                 <span class="keywordflow">if</span> (!d-&gt;dcf_cursor)     {
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<a name="l00075"></a>00075                                         d-&gt;dcf_cursor = (UNS8*)dcf + 4;
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<a name="l00076"></a>00076                                         d-&gt;dcf_count_targets = 0;
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<a name="l00077"></a>00077                                 }
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<a name="l00078"></a>00078                                 nb_targets = UNS32_LE(*((UNS32*)dcf));
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<a name="l00079"></a>00079                         }
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<a name="l00080"></a>00080                         
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<a name="l00081"></a>00081                         <span class="comment">// condition on consise DCF string for NodeID, if big enough</span>
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<a name="l00082"></a>00082                         <span class="keywordflow">if</span>((UNS8*)d-&gt;dcf_cursor + 7 &lt; (UNS8*)dcfend &amp;&amp; d-&gt;dcf_count_targets &lt; nb_targets)
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<a name="l00083"></a>00083                         {
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<a name="l00084"></a>00084                                 <span class="comment">// pointer to the DCF string for NodeID</span>
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<a name="l00085"></a>00085                                 target_Index = UNS16_LE(*((UNS16*)(d-&gt;dcf_cursor))); d-&gt;dcf_cursor += 2;
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<a name="l00086"></a>00086                                 target_Subindex = *((UNS8*)(((UNS8*)d-&gt;dcf_cursor)++));
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<a name="l00087"></a>00087                                 target_Size = UNS32_LE(*((UNS32*)(d-&gt;dcf_cursor))); d-&gt;dcf_cursor += 4;
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<a name="l00088"></a>00088                                         
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<a name="l00089"></a>00089                                         <span class="comment">/*printf("Master : ConfigureSlaveNode %2.2x (Concise DCF)\n",nodeId);*/</span>
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<a name="l00090"></a>00090                                         res = <a class="code" href="dcf_8c.html#3c07605ffe3ea197aa36e583ef87a20a">_writeNetworkDict</a>(d, <span class="comment">/*CO_Data* d*/</span>
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<a name="l00091"></a>00091                                                         nodeId, <span class="comment">/*UNS8 nodeId*/</span>
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<a name="l00092"></a>00092                                                         target_Index, <span class="comment">/*UNS16 index*/</span>
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<a name="l00093"></a>00093                                                         target_Subindex, <span class="comment">/*UNS8 subindex*/</span>
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<a name="l00094"></a>00094                                                         target_Size, <span class="comment">/*UNS8 count*/</span>
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<a name="l00095"></a>00095                                                         0, <span class="comment">/*UNS8 dataType*/</span>
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<a name="l00096"></a>00096                                                         d-&gt;dcf_cursor,<span class="comment">/*void *data*/</span>
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<a name="l00097"></a>00097                                                         CheckSDOAndContinue,<span class="comment">/*SDOCallback_t Callback*/</span>  
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<a name="l00098"></a>00098                                                         0); <span class="comment">/* no endianize             */</span>
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<a name="l00099"></a>00099                                         <span class="comment">/*Push d-&gt;dcf_cursor to the end of data*/</span>
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<a name="l00100"></a>00100                                         
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<a name="l00101"></a>00101                                         d-&gt;dcf_cursor += target_Size;
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<a name="l00102"></a>00102                                         d-&gt;dcf_count_targets++;
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<a name="l00103"></a>00103                                         
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<a name="l00104"></a>00104                                         return ;
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<a name="l00105"></a>00105                         }                       
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<a name="l00106"></a>00106                                 nodeId++;
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<a name="l00107"></a>00107                                 d-&gt;dcf_cursor = NULL;
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<a name="l00108"></a>00108                 }
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<a name="l00109"></a>00109                 <span class="comment">/* Switch Master to preOperational state */</span>
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<a name="l00110"></a>00110                 (*d-&gt;preOperational)();
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<a name="l00111"></a>00111                 
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<a name="l00112"></a>00112 }
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</pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jun 4 17:09:26 2007 for CanFestival by&nbsp;
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<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
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