--- a/src/lifegrd.c Mon Oct 01 16:58:35 2012 +0200
+++ b/src/lifegrd.c Mon Oct 01 17:01:36 2012 +0200
@@ -39,21 +39,14 @@
#include "sysdep.h"
-void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id);
-
-
-void ProducerHearbeatAlarm(CO_Data* d, UNS32 id);
-
-UNS32 OnHearbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex);
-
-/*!
-**
-**
-** @param d
-** @param nodeId
-**
-** @return
-**/
+void ConsumerHeartbeatAlarm(CO_Data* d, UNS32 id);
+void ProducerHeartbeatAlarm(CO_Data* d, UNS32 id);
+UNS32 OnHearbeatProducerUpdate(CO_Data* d, const indextable * unused_indextable, UNS8 unused_bSubindex);
+
+void GuardTimeAlarm(CO_Data* d, UNS32 id);
+UNS32 OnNodeGuardUpdate(CO_Data* d, const indextable * unused_indextable, UNS8 unused_bSubindex);
+
+
e_nodeState getNodeState (CO_Data* d, UNS8 nodeId)
{
e_nodeState networkNodeState = Unknown_state;
@@ -69,8 +62,9 @@
**
** @param d
** @param id
+ * @ingroup heartbeato
**/
-void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id)
+void ConsumerHeartbeatAlarm(CO_Data* d, UNS32 id)
{
UNS8 nodeId = (UNS8)(((d->ConsumerHeartbeatEntries[id]) & (UNS32)0x00FF0000) >> (UNS8)16);
/*MSG_WAR(0x00, "ConsumerHearbeatAlarm", 0x00);*/
@@ -85,12 +79,6 @@
(*d->heartbeatError)(d, nodeId);
}
-/*!
-**
-**
-** @param d
-** @param m
-**/
void proceedNODE_GUARD(CO_Data* d, Message* m )
{
UNS8 nodeId = (UNS8) GET_NODE_ID((*m));
@@ -133,6 +121,11 @@
MSG_WAR(0x3110, "Received NMT nodeId : ", nodeId);
+ /*!
+ ** Record node response for node guarding service
+ */
+ d->nodeGuardStatus[nodeId] = *d->LifeTimeFactor;
+
if (d->NMTable[nodeId] != newNodeState)
{
(*d->post_SlaveStateChange)(d, nodeId, newNodeState);
@@ -154,29 +147,30 @@
}
if( d->NMTable[nodeId] != Unknown_state ) {
- UNS8 index, ConsummerHeartBeat_nodeId ;
+ UNS8 index, ConsumerHeartBeat_nodeId ;
for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
{
- ConsummerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (UNS8)16 );
- if ( nodeId == ConsummerHeartBeat_nodeId )
+ ConsumerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (UNS8)16 );
+ if ( nodeId == ConsumerHeartBeat_nodeId )
{
TIMEVAL time = ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
/* Renew alarm for next heartbeat. */
DelAlarm(d->ConsumerHeartBeatTimers[index]);
- d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
+ d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHeartbeatAlarm, MS_TO_TIMEVAL(time), 0);
}
}
}
}
}
-/*! The Consumer Timer Callback
+/*! The Producer Timer Callback
**
**
** @param d
** @param id
+ * @ingroup heartbeato
**/
-void ProducerHearbeatAlarm(CO_Data* d, UNS32 id)
+void ProducerHeartbeatAlarm(CO_Data* d, UNS32 id)
{
if(*d->ProducerHeartBeatTime)
{
@@ -200,27 +194,97 @@
}
}
+/**
+ * @brief The guardTime - Timer Callback.
+ *
+ * This function is called every GuardTime (OD 0x100C) ms <br>
+ * On every call, a NodeGuard-Request is sent to all nodes which have a
+ * node-state not equal to "Unknown" (according to NMTable). If the node has
+ * not responded within the lifetime, the nodeguardError function is called and
+ * the status of this node is set to "Disconnected"
+ *
+ * @param d Pointer on a CAN object data structure
+ * @param id
+ * @ingroup nodeguardo
+ */
+void GuardTimeAlarm(CO_Data* d, UNS32 id)
+{
+ if (*d->GuardTime) {
+ UNS8 i;
+
+ MSG_WAR(0x00, "Producing nodeguard-requests: ", 0);
+
+ for (i = 0; i < NMT_MAX_NODE_ID; i++) {
+ /** Send node guard request to all nodes except this node, if the
+ * node state is not "Unknown_state"
+ */
+ if (d->NMTable[i] != Unknown_state && i != *d->bDeviceNodeId) {
+
+ /** Check if the node has confirmed the guarding request within
+ * the LifeTime (GuardTime x LifeTimeFactor)
+ */
+ if (d->nodeGuardStatus[i] <= 0) {
+
+ MSG_WAR(0x00, "Node Guard alarm for nodeId : ", i);
+
+ // Call error-callback function
+ if (*d->nodeguardError) {
+ (*d->nodeguardError)(d, i);
+ }
+
+ // Mark node as disconnected
+ d->NMTable[i] = Disconnected;
+
+ }
+
+ d->nodeGuardStatus[i]--;
+
+ masterSendNMTnodeguard(d, i);
+
+ }
+ }
+ } else {
+ d->GuardTimeTimer = DelAlarm(d->GuardTimeTimer);
+ }
+
+
+
+}
+
+/**
+ * This function is called, if index 0x100C or 0x100D is updated to
+ * restart the node-guarding service with the new parameters
+ *
+ * @param d Pointer on a CAN object data structure
+ * @param unused_indextable
+ * @param unused_bSubindex
+ * @ingroup nodeguardo
+ */
+UNS32 OnNodeGuardUpdate(CO_Data* d, const indextable * unused_indextable, UNS8 unused_bSubindex)
+{
+ nodeguardStop(d);
+ nodeguardInit(d);
+ return 0;
+}
+
+
/*! This is called when Index 0x1017 is updated.
**
**
** @param d
-** @param unsused_indextable
-** @param unsused_bSubindex
+** @param unused_indextable
+** @param unused_bSubindex
**
** @return
+ * @ingroup heartbeato
**/
-UNS32 OnHeartbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
+UNS32 OnHeartbeatProducerUpdate(CO_Data* d, const indextable * unused_indextable, UNS8 unused_bSubindex)
{
heartbeatStop(d);
heartbeatInit(d);
return 0;
}
-/*!
-**
-**
-** @param d
-**/
void heartbeatInit(CO_Data* d)
{
@@ -232,25 +296,45 @@
for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
{
TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
- /* MSG_WAR(0x3121, "should_time : ", should_time ) ; */
if ( time )
{
- d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
+ d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHeartbeatAlarm, MS_TO_TIMEVAL(time), 0);
}
}
if ( *d->ProducerHeartBeatTime )
{
TIMEVAL time = *d->ProducerHeartBeatTime;
- d->ProducerHeartBeatTimer = SetAlarm(d, 0, &ProducerHearbeatAlarm, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time));
- }
-}
-
-/*!
-**
-**
-** @param d
-**/
+ d->ProducerHeartBeatTimer = SetAlarm(d, 0, &ProducerHeartbeatAlarm, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time));
+ }
+}
+
+
+void nodeguardInit(CO_Data* d)
+{
+
+ RegisterSetODentryCallBack(d, 0x100C, 0x00, &OnNodeGuardUpdate);
+ RegisterSetODentryCallBack(d, 0x100D, 0x00, &OnNodeGuardUpdate);
+
+ if (*d->GuardTime && *d->LifeTimeFactor) {
+ UNS8 i;
+
+ TIMEVAL time = *d->GuardTime;
+ d->GuardTimeTimer = SetAlarm(d, 0, &GuardTimeAlarm, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time));
+ MSG_WAR(0x0, "GuardTime: ", time);
+
+ for (i = 0; i < NMT_MAX_NODE_ID; i++) {
+ /** Set initial value for the nodes */
+ if (d->NMTable[i] != Unknown_state && i != *d->bDeviceNodeId) {
+ d->nodeGuardStatus[i] = *d->LifeTimeFactor;
+ }
+ }
+
+ MSG_WAR(0x0, "Timer for node-guarding startet", 0);
+ }
+
+}
+
void heartbeatStop(CO_Data* d)
{
UNS8 index;
@@ -262,12 +346,28 @@
d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);
}
-/*!
-**
-**
-** @param heartbeatID
-**/
+void nodeguardStop(CO_Data* d)
+{
+ d->GuardTimeTimer = DelAlarm(d->GuardTimeTimer);
+}
+
+
+void lifeGuardInit(CO_Data* d)
+{
+ heartbeatInit(d);
+ nodeguardInit(d);
+}
+
+
+void lifeGuardStop(CO_Data* d)
+{
+ heartbeatStop(d);
+ nodeguardStop(d);
+}
+
+
void _heartbeatError(CO_Data* d, UNS8 heartbeatID){}
void _post_SlaveBootup(CO_Data* d, UNS8 SlaveID){}
void _post_SlaveStateChange(CO_Data* d, UNS8 nodeId, e_nodeState newNodeState){}
-
+void _nodeguardError(CO_Data* d, UNS8 id){}
+