/*
This file is part of CanFestival, a library implementing CanOpen Stack.
Copyright (C): Edouard TISSERANT and Francis DUPIN
See COPYING file for copyrights details.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#if defined(WIN32) && !defined(__CYGWIN__)
#include <windows.h>
#include "getopt.h"
void pause(void)
{
system("PAUSE");
}
#else
#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <stdlib.h>
#include <signal.h>
#endif
#include "canfestival.h"
//#include <can_driver.h>
//#include <timers_driver.h>
#include "Master.h"
#include "SlaveA.h"
#include "SlaveB.h"
#include "TestMasterSlaveLSS.h"
s_BOARD SlaveBoardA = {"0", "125K"};
s_BOARD SlaveBoardB = {"1", "125K"};
s_BOARD MasterBoard = {"2", "125K"};
#if !defined(WIN32) || defined(__CYGWIN__)
void catch_signal(int sig)
{
signal(SIGTERM, catch_signal);
signal(SIGINT, catch_signal);
eprintf("Got Signal %d\n",sig);
}
#endif
void help()
{
printf("**************************************************************\n");
printf("* TestMasterSlaveLSS *\n");
printf("* *\n");
printf("* A LSS example for PC. It does implement 3 CanOpen *\n");
printf("* nodes in the same process. A master and 2 slaves. All *\n");
printf("* communicate together, exchanging periodically NMT, SYNC, *\n");
printf("* SDO and PDO. Master configure heartbeat producer time *\n");
printf("* at 0 ms for slave node-id 0x02 and 0x03 by concise DCF. *\n");
printf("* *\n");
printf("* Usage: *\n");
printf("* ./TestMasterSlaveLSS [OPTIONS] *\n");
printf("* *\n");
printf("* OPTIONS: *\n");
printf("* -l : Can library [\"libcanfestival_can_virtual.so\"] *\n");
printf("* *\n");
printf("* SlaveA: *\n");
printf("* -a : bus name [\"0\"] *\n");
printf("* -A : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) *\n");
printf("* *\n");
printf("* SlaveB: *\n");
printf("* -b : bus name [\"1\"] *\n");
printf("* -B : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) *\n");
printf("* *\n");
printf("* Master: *\n");
printf("* -m : bus name [\"2\"] *\n");
printf("* -M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) *\n");
printf("* *\n");
printf("**************************************************************\n");
}
/*************************** INIT *****************************************/
void InitNodes(CO_Data* d, UNS32 id)
{
/****************************** INITIALISATION SLAVE_A *******************************/
if(strcmp(SlaveBoardA.baudrate, "none")) {
/* Set an invalid nodeID */
setNodeId(&TestSlaveA_Data, 0xFF);
/* init */
setState(&TestSlaveA_Data, Initialisation);
}
/****************************** INITIALISATION SLAVE_B *******************************/
if(strcmp(SlaveBoardB.baudrate, "none")) {
/* Set an invalid nodeID */
setNodeId(&TestSlaveB_Data, 0xFF);
/* init */
setState(&TestSlaveB_Data, Initialisation);
}
/****************************** INITIALISATION MASTER *******************************/
if(strcmp(MasterBoard.baudrate, "none")){
/* Defining the node Id */
setNodeId(&TestMaster_Data, 0x01);
/* init */
setState(&TestMaster_Data, Initialisation);
}
}
/****************************************************************************/
/*************************** MAIN *****************************************/
/****************************************************************************/
int main(int argc,char **argv)
{
int c;
extern char *optarg;
char* LibraryPath="../../drivers/can_virtual/libcanfestival_can_virtual.so";
while ((c = getopt(argc, argv, "-m:a:b:M:A:B:l:")) != EOF)
{
switch(c)
{
case 'a' :
if (optarg[0] == 0)
{
help();
exit(1);
}
SlaveBoardA.busname = optarg;
break;
case 'b' :
if (optarg[0] == 0)
{
help();
exit(1);
}
SlaveBoardB.busname = optarg;
break;
case 'm' :
if (optarg[0] == 0)
{
help();
exit(1);
}
MasterBoard.busname = optarg;
break;
case 'A' :
if (optarg[0] == 0)
{
help();
exit(1);
}
SlaveBoardA.baudrate = optarg;
break;
case 'B' :
if (optarg[0] == 0)
{
help();
exit(1);
}
SlaveBoardB.baudrate = optarg;
break;
case 'M' :
if (optarg[0] == 0)
{
help();
exit(1);
}
MasterBoard.baudrate = optarg;
break;
case 'l' :
if (optarg[0] == 0)
{
help();
exit(1);
}
LibraryPath = optarg;
break;
default:
help();
exit(1);
}
}
#if !defined(WIN32) || defined(__CYGWIN__)
/* install signal handler for manual break */
signal(SIGTERM, catch_signal);
signal(SIGINT, catch_signal);
#endif
#ifndef NOT_USE_DYNAMIC_LOADING
if (LoadCanDriver(LibraryPath) == NULL)
printf("Unable to load library: %s\n",LibraryPath);
#endif
// Open CAN devices
if(strcmp(SlaveBoardA.baudrate, "none")){
TestSlaveA_Data.heartbeatError = TestSlaveA_heartbeatError;
TestSlaveA_Data.initialisation = TestSlaveA_initialisation;
TestSlaveA_Data.preOperational = TestSlaveA_preOperational;
TestSlaveA_Data.operational = TestSlaveA_operational;
TestSlaveA_Data.stopped = TestSlaveA_stopped;
TestSlaveA_Data.post_sync = TestSlaveA_post_sync;
TestSlaveA_Data.post_TPDO = TestSlaveA_post_TPDO;
TestSlaveA_Data.storeODSubIndex = TestSlaveA_storeODSubIndex;
TestSlaveA_Data.post_emcy = TestSlaveA_post_emcy;
/* in this example the slave doesn't support Store configuration*/
TestSlaveA_Data.lss_StoreConfiguration = TestSlaveA_StoreConfiguration;
if(!canOpen(&SlaveBoardA,&TestSlaveA_Data)){
eprintf("Cannot open SlaveA Board (%s,%s)\n",SlaveBoardA.busname, SlaveBoardA.baudrate);
goto fail_slaveA;
}
}
if(strcmp(SlaveBoardB.baudrate, "none")){
TestSlaveB_Data.heartbeatError = TestSlaveB_heartbeatError;
TestSlaveB_Data.initialisation = TestSlaveB_initialisation;
TestSlaveB_Data.preOperational = TestSlaveB_preOperational;
TestSlaveB_Data.operational = TestSlaveB_operational;
TestSlaveB_Data.stopped = TestSlaveB_stopped;
TestSlaveB_Data.post_sync = TestSlaveB_post_sync;
TestSlaveB_Data.post_TPDO = TestSlaveB_post_TPDO;
TestSlaveB_Data.storeODSubIndex = TestSlaveB_storeODSubIndex;
TestSlaveB_Data.post_emcy = TestSlaveB_post_emcy;
TestSlaveB_Data.lss_StoreConfiguration = TestSlaveB_StoreConfiguration;
if(!canOpen(&SlaveBoardB,&TestSlaveB_Data)){
eprintf("Cannot open SlaveB Board (%s,%s)\n",SlaveBoardB.busname, SlaveBoardB.baudrate);
goto fail_slaveB;
}
}
if(strcmp(MasterBoard.baudrate, "none")){
TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
TestMaster_Data.initialisation = TestMaster_initialisation;
TestMaster_Data.preOperational = TestMaster_preOperational;
TestMaster_Data.operational = TestMaster_operational;
TestMaster_Data.stopped = TestMaster_stopped;
TestMaster_Data.post_sync = TestMaster_post_sync;
TestMaster_Data.post_TPDO = TestMaster_post_TPDO;
TestMaster_Data.post_emcy = TestMaster_post_emcy;
TestMaster_Data.post_SlaveBootup=TestMaster_post_SlaveBootup;
if(!canOpen(&MasterBoard,&TestMaster_Data)){
eprintf("Cannot open Master Board (%s,%s)\n",MasterBoard.busname, MasterBoard.baudrate);
goto fail_master;
}
}
// Start timer thread
StartTimerLoop(&InitNodes);
// wait Ctrl-C
pause();
eprintf("Finishing.\n");
EnterMutex();
masterSendNMTstateChange (&TestMaster_Data, 0x00, NMT_Stop_Node);
LeaveMutex();
eprintf("reset\n");
// Stop master
EnterMutex();
setState(&TestMaster_Data, Stopped);
LeaveMutex();
// Stop timer thread
StopTimerLoop();
// Close CAN devices (and can threads)
if(strcmp(MasterBoard.baudrate, "none")) canClose(&TestMaster_Data);
fail_master:
if(strcmp(SlaveBoardB.baudrate, "none")) canClose(&TestSlaveB_Data);
fail_slaveB:
if(strcmp(SlaveBoardA.baudrate, "none")) canClose(&TestSlaveA_Data);
fail_slaveA:
return 0;
}