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include/nmtMaster.h
author Robert Lehmann <robert.lehmann@sitec-systems.de>
Tue, 28 Jul 2015 16:36:55 +0200
changeset 793 72e9e1064432
parent 631 08b6b903f84a
permissions -rwxr-xr-x
timers_unix: Fix termination problem of WaitReceiveTaskEnd

The function pthread_kill sends the Signal thread and to the own process.
If you use this construct than the application which calls uses the
canfestival api will terminate at the call of canClose. To avoid that
use pthread_cancel instead of pthread_kill. To use the pthread_cancel call
you need to set the cancel ability in the thread function. That means
you need to call pthread_setcancelstate and pthread_setcanceltype.
For the termination of the thread at any time it is important to set the
cancel type to PTHREAD_CANCEL_ASYNCHRONOUS. 
/*
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
*/

/** @defgroup networkmanagement Network Management
 *  @ingroup userapi
 */
/** @defgroup nmtmaster NMT Master
 *  @brief NMT master provides mechanisms that control and monitor the state of nodes and their behavior in the network.
 *  @ingroup networkmanagement
 */
 
#ifndef __nmtMaster_h__
#define __nmtMaster_h__

#include "data.h"

/** 
 * @ingroup nmtmaster
 * @brief Transmit a NMT message on the network to the slave whose nodeId is node ID.
 * 
 * @param *d Pointer to a CAN object data structure
 * @param nodeId Id of the slave node
 * @param cs The order of state changement \n\n
 * 
 * Allowed states :
 *  - cs =  NMT_Start_Node               // Put the node in operational mode             
 *  - cs =	NMT_Stop_Node		         // Put the node in stopped mode
 *  - cs =	NMT_Enter_PreOperational     // Put the node in pre_operational mode  
 *  - cs =  NMT_Reset_Node		         // Put the node in initialization mode 
 *  - cs =  NMT_Reset_Comunication	     // Put the node in initialization mode
 *  
 * The mode is changed according to the slave state machine mode :
 *  - initialisation  ---> pre-operational (Automatic transition)
 *  - pre-operational <--> operational
 *  - pre-operational <--> stopped
 *  - pre-operational, operational, stopped -> initialisation
 * \n\n
 * @return errorcode
 *                   - 0 if the NMT message was send
 *                   - 1 if an error occurs 
 */
UNS8 masterSendNMTstateChange (CO_Data* d, UNS8 nodeId, UNS8 cs);

/**
 * @ingroup nmtmaster 
 * @brief Transmit a NodeGuard message on the network to the slave whose nodeId is node ID
 * 
 * @param *d Pointer to a CAN object data structure
 * @param nodeId Id of the slave node
 * @return
 *         - 0 is returned if the NodeGuard message was send.
 *         - 1 is returned if an error occurs.
 */
UNS8 masterSendNMTnodeguard (CO_Data* d, UNS8 nodeId);

/** 
 * @ingroup nmtmaster
 * @brief Ask the state of the slave node whose nodeId is node Id.
 * 
 * To ask states of all nodes on the network (NMT broadcast), nodeId must be equal to 0
 * @param *d Pointer to a CAN object data structure
 * @param nodeId Id of the slave node
 */
UNS8 masterRequestNodeState (CO_Data* d, UNS8 nodeId);


#endif /* __nmtMaster_h__ */
canfestival