examples/TestMasterSlave/TestMasterSlave.c
author etisserant
Fri, 06 Apr 2007 16:49:28 +0200
changeset 149 fe50ada8020b
parent 145 e747d2e26af0
child 156 515d11cb496e
permissions -rw-r--r--
Changes in the API:
- No more mandatory callbacks declared for each node anymore
heartbeatError
SDOtimeoutError
initialisation
preOperational
operational
stopped
post_sync
post_TPDO
canSend

- Fill function ptr to declare callbacks
CO_Data.heartbeatError
CO_Data.SDOtimeoutError
CO_Data.initialisation
CO_Data.preOperational
CO_Data.operational
CO_Data.stopped
CO_Data.post_sync
CO_Data.post_TPDO

- CanClose now takes CO_Data* as parameter
- canSend is provided to the stack directly by OS interface, no specific callback.
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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 <sys/time.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 <applicfg.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 "Slave.h"
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#include "TestMasterSlave.h"
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#define MyCase(fc) case fc: eprintf(#fc);break;
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void print_message(Message *m)
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{
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	int i;
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	switch(m->cob_id.w >> 7)
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	{
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		MyCase(SYNC)
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		MyCase(TIME_STAMP)
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		MyCase(PDO1tx)
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		MyCase(PDO1rx)
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		MyCase(PDO2tx)
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		MyCase(PDO2rx)
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		MyCase(PDO3tx)
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		MyCase(PDO3rx)
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		MyCase(PDO4tx)
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		MyCase(PDO4rx)
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		MyCase(SDOtx)
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		MyCase(SDOrx)
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		MyCase(NODE_GUARD)
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		MyCase(NMT)
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	}
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	eprintf(" rtr:%d", m->rtr);
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	eprintf(" len:%d", m->len);
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	for (i = 0 ; i < m->len ; i++)
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		eprintf(" %02x", m->data[i]);
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	eprintf("\n");
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}
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UNS32 OnMasterMap1Update(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
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{
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	eprintf("OnSlaveMap1Update:%d\n", SlaveMap1);
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	return 0;
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}
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s_BOARD SlaveBoard = {"0", "500K"};
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s_BOARD MasterBoard = {"1", "500K"};
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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()
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{
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  printf("**************************************************************\n");
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  printf("*  TestMasterSlave                                           *\n");
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  printf("*                                                            *\n");
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  printf("*  A simple example for PC. It does implement 2 CanOpen      *\n");
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  printf("*  nodes in the same process. A master and a slave. Both     *\n");
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  printf("*  communicate together, exchanging periodically NMT, SYNC,  *\n");
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  printf("*  SDO and PDO.                                              *\n");
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  printf("*                                                            *\n");
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  printf("*   Usage:                                                   *\n");
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  printf("*   ./TestMasterSlave  [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("*    Slave:                                                  *\n");
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  printf("*     -s : bus name [\"0\"]                                    *\n");
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  printf("*     -S : 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 [\"1\"]                                    *\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 *******************************/
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	if(SlaveBoard.baudrate) {
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		/* Defining the node Id */
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		setNodeId(&TestSlave_Data, 0x02);
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		/* init */
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		setState(&TestSlave_Data, Initialisation);
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	}
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	/****************************** INITIALISATION MASTER *******************************/
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	if(MasterBoard.baudrate){
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 		RegisterSetODentryCallBack(&TestMaster_Data, 0x2000, 0, &OnMasterMap1Update);
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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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		/****************************** START *******************************/
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		/* Put the master in operational mode */
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		setState(&TestMaster_Data, Operational);
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		/* Ask slave node to go in operational mode */
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		masterSendNMTstateChange (&TestMaster_Data, 0x02, NMT_Start_Node);
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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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  char c;
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  extern char *optarg;
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  char* LibraryPath="libcanfestival_can_virtual.so";
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  while ((c = getopt(argc, argv, "-m:s:M:S:l:")) != EOF)
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  {
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    switch(c)
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    {
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      case 's' :
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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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        SlaveBoard.busname = optarg;
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        break;
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      case 'm' :
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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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        MasterBoard.busname = optarg;
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        break;
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      case 'S' :
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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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        SlaveBoard.baudrate = optarg;
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        break;
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      case 'M' :
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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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        MasterBoard.baudrate = optarg;
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        break;
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      case 'l' :
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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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        LibraryPath = optarg;
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        break;
0
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      default:
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        help();
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        exit(1);
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    }
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  }
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#if !defined(WIN32) || defined(__CYGWIN__)
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  /* install signal handler for manual break */
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	signal(SIGTERM, catch_signal);
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	signal(SIGINT, catch_signal);
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#endif
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#ifndef NOT_USE_DYNAMIC_LOADING
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	LoadCanDriver(LibraryPath);
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#endif		
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	// Open CAN devices
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	if(SlaveBoard.baudrate){
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		TestSlave_Data.heartbeatError = TestSlave_heartbeatError;
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		TestSlave_Data.SDOtimeoutError = TestSlave_SDOtimeoutError;
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		TestSlave_Data.initialisation = TestSlave_initialisation;
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		TestSlave_Data.preOperational = TestSlave_preOperational;
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		TestSlave_Data.operational = TestSlave_operational;
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		TestSlave_Data.stopped = TestSlave_stopped;
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		TestSlave_Data.post_sync = TestSlave_post_sync;
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		TestSlave_Data.post_TPDO = TestSlave_post_TPDO;
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		if(!canOpen(&SlaveBoard,&TestSlave_Data)){
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			eprintf("Cannot open Slave Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate);
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			goto fail_slave;
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		}
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	}
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	if(MasterBoard.baudrate){
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		TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
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		TestMaster_Data.SDOtimeoutError = TestMaster_SDOtimeoutError;
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		TestMaster_Data.initialisation = TestMaster_initialisation;
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		TestMaster_Data.preOperational = TestMaster_preOperational;
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		TestMaster_Data.operational = TestMaster_operational;
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		TestMaster_Data.stopped = TestMaster_stopped;
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		TestMaster_Data.post_sync = TestMaster_post_sync;
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		TestMaster_Data.post_TPDO = TestMaster_post_TPDO;
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		if(!canOpen(&MasterBoard,&TestMaster_Data)){
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			eprintf("Cannot open Master Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate);
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			goto fail_master;
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		}
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	}
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	// Start timer thread
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	StartTimerLoop(&InitNodes);
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	// wait Ctrl-C
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	pause();
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	eprintf("Finishing.\n");
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	// Stop timer thread
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	StopTimerLoop();
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	// Close CAN devices (and can threads)
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	if(SlaveBoard.baudrate) canClose(&TestSlave_Data);
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fail_master:
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	if(MasterBoard.baudrate) canClose(&TestMaster_Data);	
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fail_slave:
0
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  return 0;
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}