examples/DS401_Slave_Gui/TestSlaveGui.cpp
author etisserant
Thu, 24 Apr 2008 14:08:34 +0200
changeset 447 c9d01296d6d9
parent 382 860e858685d3
child 454 bc000083297a
permissions -rw-r--r--
Endianess patch from Edward Karpicz, Lithuania :-)
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
     1
/*
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
     2
This file is part of CanFestival, a library implementing CanOpen Stack. 
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
     3
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
     4
Copyright (C): Edouard TISSERANT and Francis DUPIN
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
     5
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
     6
See COPYING file for copyrights details.
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
     7
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
     8
This library is free software; you can redistribute it and/or
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
     9
modify it under the terms of the GNU Lesser General Public
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    10
License as published by the Free Software Foundation; either
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    11
version 2.1 of the License, or (at your option) any later version.
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    12
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    13
This library is distributed in the hope that it will be useful,
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    14
but WITHOUT ANY WARRANTY; without even the implied warranty of
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    15
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    16
Lesser General Public License for more details.
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    17
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    18
You should have received a copy of the GNU Lesser General Public
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    19
License along with this library; if not, write to the Free Software
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    20
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    21
*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    22
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    23
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    24
#include <wx/wxprec.h>
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    25
#include <wx/wx.h>
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    26
#include <wx/textctrl.h>
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    27
#include <iostream>
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    28
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    29
#if defined(WIN32) && !defined(__CYGWIN__)
382
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    30
#include <windows.h>
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    31
#else
382
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    32
#include <stdio.h>
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    33
#include <string.h>
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    34
#include <unistd.h>
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    35
#include <stdlib.h>
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    36
#include <signal.h>
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    37
#endif
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    38
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    39
//#include <can_driver.h>
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    40
//#include <timers_driver.h>
382
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    41
extern "C"
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    42
{
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    43
#include "canfestival.h"
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    44
}
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    45
#include "CallBack.h"
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    46
#include "TestSlaveGui.h"
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    47
#include "main.h"
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    48
382
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    49
extern wxTextCtrl *textLog;
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    50
extern int node_id_ext;
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    51
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    52
//***************************  INIT  *****************************************
382
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    53
void
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    54
InitNodes (CO_Data * d, UNS32 id)
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    55
{
382
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    56
  //****************************** INITIALISATION SLAVE *******************************
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    57
  /* Defining the node Id */
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    58
  setNodeId (&ObjDict_Data, node_id_ext);
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    59
  /* init */
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    60
  setState (&ObjDict_Data, Initialisation);
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    61
}
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    62
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    63
//****************************************************************************
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    64
//***************************  MAIN  *****************************************
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    65
//****************************************************************************
382
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    66
int
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    67
main_can (s_BOARD SlaveBoard, char *LibraryPath)
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    68
{
382
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    69
  printf ("Bus name: %s        Freq: %s       Driver: %s\n",
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    70
	  SlaveBoard.busname, SlaveBoard.baudrate, LibraryPath);
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    71
382
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    72
#ifndef NOT_USE_DYNAMIC_LOADING
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    73
  if (LoadCanDriver (LibraryPath) == NULL)
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    74
    *textLog << wxT ("Unable to load library\n");
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    75
#endif
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    76
  // Open CAN devices
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    77
382
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    78
  ObjDict_Data.heartbeatError = Call_heartbeatError;
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    79
  ObjDict_Data.initialisation = Call_initialisation;
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    80
  ObjDict_Data.preOperational = Call_preOperational;
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    81
  ObjDict_Data.operational = Call_operational;
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    82
  ObjDict_Data.stopped = Call_stopped;
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    83
  ObjDict_Data.post_sync = Call_post_sync;
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    84
  ObjDict_Data.post_TPDO = Call_post_TPDO;
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    85
  ObjDict_Data.storeODSubIndex = Call_storeODSubIndex;
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    86
382
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    87
  if (!canOpen (&SlaveBoard, &ObjDict_Data))
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    88
    {
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    89
      printf ("Cannot open Slave Board (%s,%s)\n", SlaveBoard.busname,
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    90
	      SlaveBoard.baudrate);
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    91
      return (1);
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    92
    }
295
25ff2fadff89 DS401 Slave GUI : Added command line interface, cleaned up parts of code, added EDS.
etisserant
parents: 246
diff changeset
    93
382
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    94
  StartTimerLoop (&InitNodes);
295
25ff2fadff89 DS401 Slave GUI : Added command line interface, cleaned up parts of code, added EDS.
etisserant
parents: 246
diff changeset
    95
382
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    96
  return 0;
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    97
}
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    98
382
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
    99
void
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
   100
stop_slave ()
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
   101
{
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
   102
  EnterMutex ();
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
   103
  setState (&ObjDict_Data, Stopped);
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
   104
  LeaveMutex ();
295
25ff2fadff89 DS401 Slave GUI : Added command line interface, cleaned up parts of code, added EDS.
etisserant
parents: 246
diff changeset
   105
382
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
   106
  StopTimerLoop ();
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
   107
  canClose (&ObjDict_Data);
295
25ff2fadff89 DS401 Slave GUI : Added command line interface, cleaned up parts of code, added EDS.
etisserant
parents: 246
diff changeset
   108
382
860e858685d3 Cleaned re-indented code of DS401_Slave_Gui
etisserant
parents: 331
diff changeset
   109
  return;
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   110
}