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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 "Master.h"

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#include "Slave.h"

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#include "TestMasterSlave.h"

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/*****************************************************************************/

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void TestMaster_heartbeatError(UNS8 heartbeatID)

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{

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	eprintf("TestMaster_heartbeatError %d\n", heartbeatID);

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}

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/*****************************************************************************/

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void TestMaster_SDOtimeoutError (UNS8 line)

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{

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	eprintf("TestMaster_SDOtimeoutError %d\n", line);

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}

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/*****************************************************************************/

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// CanSend store message in a FIFO, for Slave

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UNS8 TestMaster_canSend(Message *m)

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{

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	eprintf("M->S ");

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	print_message(m);

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	canSend(MasterCanHandle, m);

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	return 0;

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}

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void TestMaster_initialisation()

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{

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	eprintf("TestMaster_initialisation\n");

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}

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void TestMaster_preOperational()

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{

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	eprintf("TestMaster_preOperational\n");

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}

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void TestMaster_operational()

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{

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	eprintf("TestMaster_operational\n");

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}

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void TestMaster_stopped()

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{

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	eprintf("TestMaster_stopped\n");

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}

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void TestMaster_post_sync()

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{

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	eprintf("TestMaster_post_sync\n");

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	eprintf("Master: %d %d %d %d\n",MasterMap1, MasterMap2, MasterMap3, MasterMap4);

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}

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char query_result = 0;

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char waiting_answer = 0;

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void TestMaster_post_TPDO()

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{

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	eprintf("TestMaster_post_TPDO\n");

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//	{

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//		char zero = 0;

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//		if(MasterMap4 > 0x80){

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//			writeNetworkDict (

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//				&TestMaster_Data,

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//				TestSlave_Data->bDeviceNodeId,

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//				0x2002,

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//				0x00,

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//				1,

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//				0,

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//				&zero); 

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//		}

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//	}

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	if(waiting_answer){

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		UNS32 abortCode;			

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		UNS8 size;			

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		switch(getReadResultNetworkDict (

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			&TestMaster_Data, 

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			*TestSlave_Data.bDeviceNodeId,

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			&query_result,

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			&size,

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			&abortCode))

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		{

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			case SDO_FINISHED:

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				/* Do something with result here !!*/

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				eprintf("Got SDO answer (0x2002, 0x00), %d %d\n",query_result,size);

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			case SDO_ABORTED_RCV:

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			case SDO_ABORTED_INTERNAL:

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			case SDO_RESET:

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				waiting_answer = 0;

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				closeSDOtransfer(

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					&TestMaster_Data,

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					*TestSlave_Data.	bDeviceNodeId,

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					SDO_CLIENT);

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			break;

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			case SDO_DOWNLOAD_IN_PROGRESS:

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			case SDO_UPLOAD_IN_PROGRESS:

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			break;

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		}

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	}else if(MasterMap1 % 10 == 0){

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		readNetworkDict (

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			&TestMaster_Data,

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			*TestSlave_Data.bDeviceNodeId,

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			0x2002,

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			0x00,

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			0);

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		waiting_answer = 1;

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	}

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}