etisserant@0: /*
etisserant@0: This file is part of CanFestival, a library implementing CanOpen Stack. 
etisserant@0: 
etisserant@0: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@0: 
etisserant@0: See COPYING file for copyrights details.
etisserant@0: 
etisserant@0: This library is free software; you can redistribute it and/or
etisserant@0: modify it under the terms of the GNU Lesser General Public
etisserant@0: License as published by the Free Software Foundation; either
etisserant@0: version 2.1 of the License, or (at your option) any later version.
etisserant@0: 
etisserant@0: This library is distributed in the hope that it will be useful,
etisserant@0: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@0: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@0: Lesser General Public License for more details.
etisserant@0: 
etisserant@0: You should have received a copy of the GNU Lesser General Public
etisserant@0: License along with this library; if not, write to the Free Software
etisserant@0: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@0: */
etisserant@0: 
etisserant@0: #include "Master.h"
etisserant@0: #include "Slave.h"
etisserant@0: #include "TestMasterSlave.h"
etisserant@0: 
etisserant@0: /*****************************************************************************/
etisserant@0: void TestMaster_heartbeatError(UNS8 heartbeatID)
etisserant@0: {
etisserant@0: 	eprintf("TestMaster_heartbeatError %d\n", heartbeatID);
etisserant@0: }
etisserant@0: 
etisserant@0: /*****************************************************************************/
etisserant@0: void TestMaster_SDOtimeoutError (UNS8 line)
etisserant@0: {
etisserant@0: 	eprintf("TestMaster_SDOtimeoutError %d\n", line);
etisserant@0: }
etisserant@0: 
etisserant@0: /*****************************************************************************/
etisserant@0: // CanSend store message in a FIFO, for Slave
etisserant@0: UNS8 TestMaster_canSend(Message *m)
etisserant@0: {
etisserant@0: 	eprintf("M->S ");
etisserant@0: 	print_message(m);
etisserant@0: 	canSend(MasterCanHandle, m);
etisserant@0: 	return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: void TestMaster_initialisation()
etisserant@0: {
etisserant@0: 	eprintf("TestMaster_initialisation\n");
etisserant@0: }
etisserant@0: 
etisserant@0: void TestMaster_preOperational()
etisserant@0: {
etisserant@0: 	eprintf("TestMaster_preOperational\n");
etisserant@0: }
etisserant@0: 
etisserant@0: void TestMaster_operational()
etisserant@0: {
etisserant@0: 	eprintf("TestMaster_operational\n");
etisserant@0: }
etisserant@0: 
etisserant@0: void TestMaster_stopped()
etisserant@0: {
etisserant@0: 	eprintf("TestMaster_stopped\n");
etisserant@0: }
etisserant@0: 
etisserant@0: void TestMaster_post_sync()
etisserant@0: {
etisserant@0: 	eprintf("TestMaster_post_sync\n");
etisserant@0: 	eprintf("Master: %d %d %d %d\n",MasterMap1, MasterMap2, MasterMap3, MasterMap4);
etisserant@0: }
etisserant@0: 
etisserant@0: char query_result = 0;
etisserant@0: char waiting_answer = 0;
etisserant@0: 
etisserant@0: void TestMaster_post_TPDO()
etisserant@0: {
etisserant@0: 	eprintf("TestMaster_post_TPDO\n");
etisserant@0: 
etisserant@0: //	{
etisserant@0: //		char zero = 0;
etisserant@0: //		if(MasterMap4 > 0x80){
etisserant@0: //			writeNetworkDict (
etisserant@0: //				&TestMaster_Data,
etisserant@0: //				TestSlave_Data->bDeviceNodeId,
etisserant@0: //				0x2002,
etisserant@0: //				0x00,
etisserant@0: //				1,
etisserant@0: //				0,
etisserant@0: //				&zero); 
etisserant@0: //		}
etisserant@0: //	}
etisserant@0: 
etisserant@0: 	if(waiting_answer){
etisserant@0: 		UNS32 abortCode;			
etisserant@0: 		UNS8 size;			
etisserant@0: 		switch(getReadResultNetworkDict (
etisserant@0: 			&TestMaster_Data, 
etisserant@0: 			*TestSlave_Data.bDeviceNodeId,
etisserant@0: 			&query_result,
etisserant@0: 			&size,
etisserant@0: 			&abortCode))
etisserant@0: 		{
etisserant@0: 			case SDO_FINISHED:
etisserant@0: 				/* Do something with result here !!*/
etisserant@0: 				eprintf("Got SDO answer (0x2002, 0x00), %d %d\n",query_result,size);
etisserant@0: 			case SDO_ABORTED_RCV:
etisserant@0: 			case SDO_ABORTED_INTERNAL:
etisserant@0: 			case SDO_RESET:
etisserant@0: 				waiting_answer = 0;
etisserant@0: 				closeSDOtransfer(
etisserant@0: 					&TestMaster_Data,
etisserant@0: 					*TestSlave_Data.	bDeviceNodeId,
etisserant@0: 					SDO_CLIENT);
etisserant@0: 			break;
etisserant@0: 			case SDO_DOWNLOAD_IN_PROGRESS:
etisserant@0: 			case SDO_UPLOAD_IN_PROGRESS:
etisserant@0: 			break;
etisserant@0: 		}
etisserant@0: 	}else if(MasterMap1 % 10 == 0){
etisserant@0: 		readNetworkDict (
etisserant@0: 			&TestMaster_Data,
etisserant@0: 			*TestSlave_Data.bDeviceNodeId,
etisserant@0: 			0x2002,
etisserant@0: 			0x00,
etisserant@0: 			0);
etisserant@0: 		waiting_answer = 1;
etisserant@0: 	}
etisserant@0: 		
etisserant@0: }