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<h1>/home/epimerde/documents/tc11/CanFestival-3/src/dcf.c</h1><a href="dcf_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
<a name="l00003"></a>00003 <span class="comment"></span>
<a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
<a name="l00005"></a>00005 <span class="comment"></span>
<a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
<a name="l00007"></a>00007 <span class="comment"></span>
<a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
<a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
<a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
<a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
<a name="l00012"></a>00012 <span class="comment"></span>
<a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
<a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
<a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
<a name="l00017"></a>00017 <span class="comment"></span>
<a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
<a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
<a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00021"></a>00021 <span class="comment">*/</span>
<a name="l00022"></a>00022
<a name="l00023"></a>00023 <span class="preprocessor">#include "objacces.h"</span>
<a name="l00024"></a>00024 <span class="preprocessor">#include "sdo.h"</span>
<a name="l00025"></a>00025 <span class="preprocessor">#include "dcf.h"</span>
<a name="l00026"></a>00026 <span class="preprocessor">#include "sysdep.h"</span>
<a name="l00027"></a>00027
<a name="l00028"></a>00028
<a name="l00029"></a>00029
<a name="l00030"></a>00030 <span class="keyword">extern</span> UNS8 <a class="code" href="dcf_8c.html#3c07605ffe3ea197aa36e583ef87a20a">_writeNetworkDict</a> (CO_Data* d, UNS8 nodeId, UNS16 index,
<a name="l00031"></a>00031 UNS8 subIndex, UNS8 count, UNS8 dataType, <span class="keywordtype">void</span> *data, SDOCallback_t Callback, UNS8 endianize);
<a name="l00032"></a>00032
<a name="l00033"></a><a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">00033</a> <span class="keyword">const</span> indextable *<a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a>;
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="keyword">static</span> <span class="keywordtype">void</span> CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
<a name="l00036"></a>00036 {
<a name="l00037"></a>00037 UNS32 abortCode;
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="keywordflow">if</span>(<a class="code" href="sdo_8c.html#8671e306873f19362c60bb50ab930d1d">getWriteResultNetworkDict</a> (d, nodeId, &abortCode) != SDO_FINISHED)
<a name="l00040"></a>00040 {
<a name="l00041"></a>00041 MSG_ERR(0x1A01, <span class="stringliteral">"SDO error in consise DCF"</span>, abortCode);
<a name="l00042"></a>00042 MSG_WAR(0x2A02, <span class="stringliteral">"server node : "</span>, nodeId);
<a name="l00043"></a>00043 }
<a name="l00044"></a>00044
<a name="l00045"></a>00045 <a class="code" href="sdo_8c.html#555a772d3a88a29c495f33513f8b2d58">closeSDOtransfer</a>(d, nodeId, SDO_CLIENT);
<a name="l00046"></a>00046 <a class="code" href="dcf_8c.html#8452e163e7649968ad6dae1601a5fb0d">decompo_dcf</a>(d,nodeId);
<a name="l00047"></a>00047 }
<a name="l00048"></a>00048
<a name="l00049"></a><a class="code" href="dcf_8c.html#8452e163e7649968ad6dae1601a5fb0d">00049</a> UNS32 <a class="code" href="dcf_8c.html#8452e163e7649968ad6dae1601a5fb0d">decompo_dcf</a>(CO_Data* d,UNS8 nodeId)
<a name="l00050"></a>00050 {
<a name="l00051"></a>00051 UNS32 errorCode;
<a name="l00052"></a>00052 UNS16 target_Index;
<a name="l00053"></a>00053 UNS8 target_Subindex;
<a name="l00054"></a>00054 UNS32 target_Size;
<a name="l00055"></a>00055 UNS32 res;
<a name="l00056"></a>00056 ODCallback_t *Callback;
<a name="l00057"></a>00057
<a name="l00058"></a>00058 <a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a> = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback);
<a name="l00059"></a>00059 <span class="keywordflow">if</span> (errorCode != OD_SUCCESSFUL)
<a name="l00060"></a>00060 {
<a name="l00061"></a>00061 <span class="keywordflow">return</span> errorCode;
<a name="l00062"></a>00062 }
<a name="l00063"></a>00063
<a name="l00064"></a>00064 <span class="comment">/*Loop on all Nodes supported in DCF subindexes*/</span>
<a name="l00065"></a>00065 <span class="keywordflow">while</span> (nodeId < ptrTable->bSubCount){
<a name="l00066"></a>00066 UNS32 nb_targets;
<a name="l00067"></a>00067
<a name="l00068"></a>00068 UNS8 szData = <a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a>->pSubindex[nodeId].size;
<a name="l00069"></a>00069 UNS8* dcfend;
<a name="l00070"></a>00070
<a name="l00071"></a>00071 {
<a name="l00072"></a>00072 UNS8* dcf = *((UNS8**)<a class="code" href="dcf_8c.html#8bddcdce84393146515136d33d063060">ptrTable</a>->pSubindex[nodeId].pObject);
<a name="l00073"></a>00073 dcfend = dcf + szData;
<a name="l00074"></a>00074 <span class="keywordflow">if</span> (!d->dcf_cursor) {
<a name="l00075"></a>00075 d->dcf_cursor = (UNS8*)dcf + 4;
<a name="l00076"></a>00076 d->dcf_count_targets = 0;
<a name="l00077"></a>00077 }
<a name="l00078"></a>00078 nb_targets = UNS32_LE(*((UNS32*)dcf));
<a name="l00079"></a>00079 }
<a name="l00080"></a>00080
<a name="l00081"></a>00081 <span class="comment">// condition on consise DCF string for NodeID, if big enough</span>
<a name="l00082"></a>00082 <span class="keywordflow">if</span>((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_count_targets < nb_targets)
<a name="l00083"></a>00083 {
<a name="l00084"></a>00084 <span class="comment">// pointer to the DCF string for NodeID</span>
<a name="l00085"></a>00085 target_Index = UNS16_LE(*((UNS16*)(d->dcf_cursor))); d->dcf_cursor += 2;
<a name="l00086"></a>00086 target_Subindex = *((UNS8*)(((UNS8*)d->dcf_cursor)++));
<a name="l00087"></a>00087 target_Size = UNS32_LE(*((UNS32*)(d->dcf_cursor))); d->dcf_cursor += 4;
<a name="l00088"></a>00088
<a name="l00089"></a>00089 <span class="comment">/*printf("Master : ConfigureSlaveNode %2.2x (Concise DCF)\n",nodeId);*/</span>
<a name="l00090"></a>00090 res = <a class="code" href="dcf_8c.html#3c07605ffe3ea197aa36e583ef87a20a">_writeNetworkDict</a>(d, <span class="comment">/*CO_Data* d*/</span>
<a name="l00091"></a>00091 nodeId, <span class="comment">/*UNS8 nodeId*/</span>
<a name="l00092"></a>00092 target_Index, <span class="comment">/*UNS16 index*/</span>
<a name="l00093"></a>00093 target_Subindex, <span class="comment">/*UNS8 subindex*/</span>
<a name="l00094"></a>00094 target_Size, <span class="comment">/*UNS8 count*/</span>
<a name="l00095"></a>00095 0, <span class="comment">/*UNS8 dataType*/</span>
<a name="l00096"></a>00096 d->dcf_cursor,<span class="comment">/*void *data*/</span>
<a name="l00097"></a>00097 CheckSDOAndContinue,<span class="comment">/*SDOCallback_t Callback*/</span>
<a name="l00098"></a>00098 0); <span class="comment">/* no endianize */</span>
<a name="l00099"></a>00099 <span class="comment">/*Push d->dcf_cursor to the end of data*/</span>
<a name="l00100"></a>00100
<a name="l00101"></a>00101 d->dcf_cursor += target_Size;
<a name="l00102"></a>00102 d->dcf_count_targets++;
<a name="l00103"></a>00103
<a name="l00104"></a>00104 return ;
<a name="l00105"></a>00105 }
<a name="l00106"></a>00106 nodeId++;
<a name="l00107"></a>00107 d->dcf_cursor = NULL;
<a name="l00108"></a>00108 }
<a name="l00109"></a>00109 <span class="comment">/* Switch Master to preOperational state */</span>
<a name="l00110"></a>00110 (*d->preOperational)();
<a name="l00111"></a>00111
<a name="l00112"></a>00112 }
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