examples/TestMasterSlaveLSS/TestMasterSlaveLSS.c
author Christian Taedcke <hacking@taedcke.com>
Mon, 23 Jan 2012 21:35:32 +0100
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permissions -rw-r--r--
can_uvccm_win32:
- remove depricated OptimizeForWindows98 from project file
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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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#if defined(WIN32) && !defined(__CYGWIN__)
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#include <windows.h>
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#include "getopt.h"
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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 "canfestival.h"
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//#include <can_driver.h>
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//#include <timers_driver.h>
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#include "Master.h"
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#include "SlaveA.h"
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#include "SlaveB.h"
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#include "TestMasterSlaveLSS.h"
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s_BOARD SlaveBoardA = {"0", "125K"};
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s_BOARD SlaveBoardB = {"1", "125K"};
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s_BOARD MasterBoard = {"2", "125K"};
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#if !defined(WIN32) || defined(__CYGWIN__)
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void catch_signal(int sig)
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{
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  signal(SIGTERM, catch_signal);
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  signal(SIGINT, catch_signal);
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  eprintf("Got Signal %d\n",sig);
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}
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#endif
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void help(void)
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{
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  printf("**************************************************************\n");
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  printf("*  TestMasterSlaveLSS                                        *\n");
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  printf("*                                                            *\n");
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  printf("*  A LSS example for PC. It does implement 3 CanOpen         *\n");
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  printf("*  nodes in the same process. A master and 2 slaves. All     *\n");
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  printf("*  communicate together, exchanging periodically NMT, SYNC,  *\n");
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  printf("*  SDO and PDO. Master configure heartbeat producer time     *\n");
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  printf("*  at 1000 ms for the slaves by concise DCF.                 *\n");                                  
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  printf("*                                                            *\n");
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  printf("*   Usage:                                                   *\n");
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  printf("*   ./TestMasterSlaveLSS  [OPTIONS]                          *\n");
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  printf("*                                                            *\n");
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  printf("*   OPTIONS:                                                 *\n");
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  printf("*     -l : Can library [\"libcanfestival_can_virtual.so\"]     *\n");
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  printf("*                                                            *\n");
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  printf("*    SlaveA:                                                 *\n");
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  printf("*     -a : bus name [\"0\"]                                    *\n");
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  printf("*     -A : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable)  *\n");
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  printf("*                                                            *\n");
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  printf("*    SlaveB:                                                 *\n");
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  printf("*     -b : bus name [\"1\"]                                    *\n");
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  printf("*     -B : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable)  *\n");
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  printf("*                                                            *\n");
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  printf("*    Master:                                                 *\n");
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  printf("*     -m : bus name [\"2\"]                                    *\n");
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  printf("*     -M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable)  *\n");
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  printf("*                                                            *\n");
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  printf("**************************************************************\n");
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}
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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_A *******************************/
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	if(strcmp(SlaveBoardA.baudrate, "none")) {
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		/* Set an invalid nodeID */
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		setNodeId(&TestSlaveA_Data, 0xFF);
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		/* init */
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		setState(&TestSlaveA_Data, Initialisation);
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	}
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	/****************************** INITIALISATION SLAVE_B *******************************/
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	if(strcmp(SlaveBoardB.baudrate, "none")) {
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		/* Set an invalid nodeID */
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		setNodeId(&TestSlaveB_Data, 0xFF);
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		/* init */
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		setState(&TestSlaveB_Data, Initialisation);
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	}
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	/****************************** INITIALISATION MASTER *******************************/
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	if(strcmp(MasterBoard.baudrate, "none")){
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		/* Defining the node Id */
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		setNodeId(&TestMaster_Data, 0x01);
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		/* init */
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		setState(&TestMaster_Data, Initialisation);		
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	}
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}
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/***************************  EXIT  *****************************************/
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void Exit(CO_Data* d, UNS32 id)
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{
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	if(strcmp(MasterBoard.baudrate, "none")){
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	eprintf("Finishing.\n");
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	masterSendNMTstateChange (&TestMaster_Data, 0x00, NMT_Stop_Node);
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	eprintf("reset\n");
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	// Stop master
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	setState(&TestMaster_Data, Stopped);
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	}
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}
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/****************************************************************************/
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/***************************  MAIN  *****************************************/
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/****************************************************************************/
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int main(int argc,char **argv)
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{
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  int c;
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  extern char *optarg;
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  char* LibraryPath="../../drivers/can_virtual/libcanfestival_can_virtual.so";
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  while ((c = getopt(argc, argv, "-m:a:b:M:A:B:l:")) != EOF)
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  {
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    switch(c)
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    {
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      case 'a' :
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        if (optarg[0] == 0)
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        {
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          help();
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          exit(1);
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        }
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        SlaveBoardA.busname = optarg;
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        break;
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      case 'b' :
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        if (optarg[0] == 0)
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   163
        {
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   164
          help();
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   165
          exit(1);
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   166
        }
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   167
        SlaveBoardB.busname = optarg;
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   168
        break;
381
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   169
      case 'm' :
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   170
        if (optarg[0] == 0)
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   171
        {
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   172
          help();
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          exit(1);
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   174
        }
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        MasterBoard.busname = optarg;
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   176
        break;
387
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   177
      case 'A' :
381
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   178
        if (optarg[0] == 0)
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   179
        {
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          help();
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          exit(1);
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   182
        }
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        SlaveBoardA.baudrate = optarg;
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        break;
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   185
      case 'B' :
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   186
        if (optarg[0] == 0)
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   187
        {
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   188
          help();
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   189
          exit(1);
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   190
        }
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   191
        SlaveBoardB.baudrate = optarg;
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   192
        break;
381
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   193
      case 'M' :
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   194
        if (optarg[0] == 0)
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   195
        {
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   196
          help();
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   197
          exit(1);
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   198
        }
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   199
        MasterBoard.baudrate = optarg;
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   200
        break;
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   201
      case 'l' :
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   202
        if (optarg[0] == 0)
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   203
        {
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   204
          help();
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   205
          exit(1);
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   206
        }
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   207
        LibraryPath = optarg;
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   208
        break;
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   209
      default:
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   210
        help();
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   211
        exit(1);
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   212
    }
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   213
  }
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854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   215
#if !defined(WIN32) || defined(__CYGWIN__)
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   216
  /* install signal handler for manual break */
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   217
	signal(SIGTERM, catch_signal);
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   218
	signal(SIGINT, catch_signal);
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bc000083297a - add RTAI support
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   219
	TimerInit();
381
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   220
#endif
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   221
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   222
#ifndef NOT_USE_DYNAMIC_LOADING
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   223
	if (LoadCanDriver(LibraryPath) == NULL)
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   224
	    printf("Unable to load library: %s\n",LibraryPath);
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   225
#endif		
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	// Open CAN devices
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   227
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   228
	if(strcmp(SlaveBoardA.baudrate, "none")){
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   229
		
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   230
		TestSlaveA_Data.heartbeatError = TestSlaveA_heartbeatError;
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   231
		TestSlaveA_Data.initialisation = TestSlaveA_initialisation;
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   232
		TestSlaveA_Data.preOperational = TestSlaveA_preOperational;
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   233
		TestSlaveA_Data.operational = TestSlaveA_operational;
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   234
		TestSlaveA_Data.stopped = TestSlaveA_stopped;
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   235
		TestSlaveA_Data.post_sync = TestSlaveA_post_sync;
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   236
		TestSlaveA_Data.post_TPDO = TestSlaveA_post_TPDO;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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		TestSlaveA_Data.storeODSubIndex = TestSlaveA_storeODSubIndex;
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   238
		TestSlaveA_Data.post_emcy = TestSlaveA_post_emcy;
517
003679edc437 FastScan review
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   239
		/* in this example the slave doesn't implement NMT_Slave_Communications_Reset_Callback */
003679edc437 FastScan review
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   240
		//TestSlaveA_Data.NMT_Slave_Communications_Reset_Callback = TestSlaveA_NMT_Slave_Communications_Reset_Callback;
381
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   241
		TestSlaveA_Data.lss_StoreConfiguration = TestSlaveA_StoreConfiguration;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   242
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   243
		if(!canOpen(&SlaveBoardA,&TestSlaveA_Data)){
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   244
			eprintf("Cannot open SlaveA Board (%s,%s)\n",SlaveBoardA.busname, SlaveBoardA.baudrate);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   245
			goto fail_slaveA;
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   246
		}
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   247
	}
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   248
	
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   249
	if(strcmp(SlaveBoardB.baudrate, "none")){
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   250
		
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   251
		TestSlaveB_Data.heartbeatError = TestSlaveB_heartbeatError;
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   252
		TestSlaveB_Data.initialisation = TestSlaveB_initialisation;
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   253
		TestSlaveB_Data.preOperational = TestSlaveB_preOperational;
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   254
		TestSlaveB_Data.operational = TestSlaveB_operational;
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   255
		TestSlaveB_Data.stopped = TestSlaveB_stopped;
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   256
		TestSlaveB_Data.post_sync = TestSlaveB_post_sync;
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   257
		TestSlaveB_Data.post_TPDO = TestSlaveB_post_TPDO;
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   258
		TestSlaveB_Data.storeODSubIndex = TestSlaveB_storeODSubIndex;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   259
		TestSlaveB_Data.post_emcy = TestSlaveB_post_emcy;
517
003679edc437 FastScan review
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   260
		TestSlaveB_Data.NMT_Slave_Communications_Reset_Callback = TestSlaveB_NMT_Slave_Communications_Reset_Callback;
381
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   261
		TestSlaveB_Data.lss_StoreConfiguration = TestSlaveB_StoreConfiguration;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   262
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   263
		if(!canOpen(&SlaveBoardB,&TestSlaveB_Data)){
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   264
			eprintf("Cannot open SlaveB Board (%s,%s)\n",SlaveBoardB.busname, SlaveBoardB.baudrate);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   265
			goto fail_slaveB;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   266
		}
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   267
	}
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   268
	
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   269
	if(strcmp(MasterBoard.baudrate, "none")){
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   270
		
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   271
		TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   272
		TestMaster_Data.initialisation = TestMaster_initialisation;
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   273
		TestMaster_Data.preOperational = TestMaster_preOperational;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   274
		TestMaster_Data.operational = TestMaster_operational;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   275
		TestMaster_Data.stopped = TestMaster_stopped;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   276
		TestMaster_Data.post_sync = TestMaster_post_sync;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   277
		TestMaster_Data.post_TPDO = TestMaster_post_TPDO;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   278
		TestMaster_Data.post_emcy = TestMaster_post_emcy;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   279
		TestMaster_Data.post_SlaveBootup=TestMaster_post_SlaveBootup;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   280
		
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   281
		if(!canOpen(&MasterBoard,&TestMaster_Data)){
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   282
			eprintf("Cannot open Master Board (%s,%s)\n",MasterBoard.busname, MasterBoard.baudrate);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   283
			goto fail_master;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   284
		}
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   285
	}
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   286
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   287
	// Start timer thread
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   288
	StartTimerLoop(&InitNodes);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   289
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   290
	// wait Ctrl-C
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   291
	
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   292
	pause();
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   293
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   294
	// Stop timer thread
454
bc000083297a - add RTAI support
greg
parents: 387
diff changeset
   295
	StopTimerLoop(&Exit);
381
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   296
	
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   297
	// Close CAN devices (and can threads)
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   298
	if(strcmp(MasterBoard.baudrate, "none")) canClose(&TestMaster_Data);	
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   299
fail_master:
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   300
	if(strcmp(SlaveBoardB.baudrate, "none")) canClose(&TestSlaveB_Data);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   301
fail_slaveB:
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   302
	if(strcmp(SlaveBoardA.baudrate, "none")) canClose(&TestSlaveA_Data);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   303
fail_slaveA:
454
bc000083297a - add RTAI support
greg
parents: 387
diff changeset
   304
	TimerCleanup();
381
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   305
	return 0;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   306
}