CanFestival: examples/TestMasterSlave/TestMasterSlave.c Source File

00001 /*
nico@215: 00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
nico@215: 00003 
nico@215: 00004 Copyright (C): Edouard TISSERANT and Francis DUPIN
nico@215: 00005 
nico@215: 00006 See COPYING file for copyrights details.
nico@215: 00007 
nico@215: 00008 This library is free software; you can redistribute it and/or
nico@215: 00009 modify it under the terms of the GNU Lesser General Public
nico@215: 00010 License as published by the Free Software Foundation; either
nico@215: 00011 version 2.1 of the License, or (at your option) any later version.
nico@215: 00012 
nico@215: 00013 This library is distributed in the hope that it will be useful,
nico@215: 00014 but WITHOUT ANY WARRANTY; without even the implied warranty of
nico@215: 00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
nico@215: 00016 Lesser General Public License for more details.
nico@215: 00017 
nico@215: 00018 You should have received a copy of the GNU Lesser General Public
nico@215: 00019 License along with this library; if not, write to the Free Software
nico@215: 00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
nico@215: 00021 */
nico@215: 00022 
nico@215: 00023 #if defined(WIN32) && !defined(__CYGWIN__)
nico@215: 00024 #include <windows.h>
nico@215: 00025 #include "getopt.h"
nico@215: 00026 void pause(void)
nico@215: 00027 {
nico@215: 00028         system("PAUSE");
nico@215: 00029 }
nico@215: 00030 #else
nico@215: 00031 #include <stdio.h>
nico@215: 00032 #include <string.h>
nico@215: 00033 #include <unistd.h>
nico@215: 00034 #include <stdlib.h>
nico@215: 00035 #include <signal.h>
nico@215: 00036 #endif
nico@215: 00037 
nico@215: 00038 #include "canfestival.h"
nico@215: 00039 //#include <can_driver.h>
nico@215: 00040 //#include <timers_driver.h>
nico@215: 00041 
nico@215: 00042 #include "Master.h"
nico@215: 00043 #include "Slave.h"
nico@215: 00044 #include "TestMasterSlave.h"
nico@215: 00045 
etisserant@240: 00046 UNS32 OnMasterMap1Update(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
nico@215: 00047 {
etisserant@240: 00048         eprintf("OnSlaveMap1Update:%d\n", SlaveMap1);
nico@215: 00049         return 0;
nico@215: 00050 }
nico@215: 00051 
etisserant@240: 00052 s_BOARD SlaveBoard = {"0", "125K"};
etisserant@240: 00053 s_BOARD MasterBoard = {"1", "125K"};
nico@215: 00054 
nico@215: 00055 #if !defined(WIN32) || defined(__CYGWIN__)
etisserant@240: 00056 void catch_signal(int sig)
nico@215: 00057 {
etisserant@240: 00058   signal(SIGTERM, catch_signal);
etisserant@240: 00059   signal(SIGINT, catch_signal);
etisserant@240: 00060   eprintf("Got Signal %d\n",sig);
nico@215: 00061 }
nico@215: 00062 #endif
nico@215: 00063 
etisserant@240: 00064 void help()
nico@215: 00065 {
nico@215: 00066   printf("**************************************************************\n");
nico@215: 00067   printf("*  TestMasterSlave                                           *\n");
nico@215: 00068   printf("*                                                            *\n");
nico@215: 00069   printf("*  A simple example for PC. It does implement 2 CanOpen      *\n");
nico@215: 00070   printf("*  nodes in the same process. A master and a slave. Both     *\n");
nico@215: 00071   printf("*  communicate together, exchanging periodically NMT, SYNC,  *\n");
nico@215: 00072   printf("*  SDO and PDO. Master configure heartbeat producer time     *\n");
nico@215: 00073   printf("*  at 1000 ms for slave node-id 0x02 by concise DCF.         *\n");                                  
nico@215: 00074   printf("*                                                            *\n");
nico@215: 00075   printf("*   Usage:                                                   *\n");
nico@215: 00076   printf("*   ./TestMasterSlave  [OPTIONS]                             *\n");
nico@215: 00077   printf("*                                                            *\n");
nico@215: 00078   printf("*   OPTIONS:                                                 *\n");
nico@215: 00079   printf("*     -l : Can library [\"libcanfestival_can_virtual.so\"]     *\n");
nico@215: 00080   printf("*                                                            *\n");
nico@215: 00081   printf("*    Slave:                                                  *\n");
nico@215: 00082   printf("*     -s : bus name [\"0\"]                                    *\n");
nico@215: 00083   printf("*     -S : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable)  *\n");
nico@215: 00084   printf("*                                                            *\n");
nico@215: 00085   printf("*    Master:                                                 *\n");
nico@215: 00086   printf("*     -m : bus name [\"1\"]                                    *\n");
nico@215: 00087   printf("*     -M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable)  *\n");
nico@215: 00088   printf("*                                                            *\n");
nico@215: 00089   printf("**************************************************************\n");
nico@215: 00090 }
nico@215: 00091 
nico@215: 00092 /***************************  INIT  *****************************************/
etisserant@240: 00093 void InitNodes(CO_Data* d, UNS32 id)
nico@215: 00094 {
nico@215: 00095         /****************************** INITIALISATION SLAVE *******************************/
etisserant@240: 00096         if(strcmp(SlaveBoard.baudrate, "none")) {
nico@215: 00097                 /* Defining the node Id */
etisserant@240: 00098                 setNodeId(&TestSlave_Data, 0x02);
nico@215: 00099                 /* init */
etisserant@240: 00100                 setState(&TestSlave_Data, Initialisation);
nico@215: 00101         }
nico@215: 00102 
nico@215: 00103         /****************************** INITIALISATION MASTER *******************************/
etisserant@240: 00104         if(strcmp(MasterBoard.baudrate, "none")){
etisserant@240: 00105                 RegisterSetODentryCallBack(&TestMaster_Data, 0x2000, 0, &OnMasterMap1Update);
nico@215: 00106                 
nico@215: 00107                 /* Defining the node Id */
etisserant@240: 00108                 setNodeId(&TestMaster_Data, 0x01);
nico@215: 00109 
nico@215: 00110                 /* init */
etisserant@240: 00111                 setState(&TestMaster_Data, Initialisation);
nico@215: 00112                         
nico@215: 00113         }
nico@215: 00114 }
nico@215: 00115 
nico@215: 00116 /****************************************************************************/
nico@215: 00117 /***************************  MAIN  *****************************************/
nico@215: 00118 /****************************************************************************/
etisserant@240: 00119 int main(int argc,char **argv)
nico@215: 00120 {
nico@215: 00121 
nico@215: 00122   int c;
etisserant@240: 00123   extern char *optarg;
nico@215: 00124   char* LibraryPath="libcanfestival_can_virtual.so";
nico@215: 00125 
etisserant@240: 00126   while ((c = getopt(argc, argv, "-m:s:M:S:l:")) != EOF)
nico@215: 00127   {
nico@215: 00128     switch(c)
nico@215: 00129     {
nico@215: 00130       case 's' :
nico@215: 00131         if (optarg[0] == 0)
nico@215: 00132         {
etisserant@240: 00133           help();
nico@215: 00134           exit(1);
nico@215: 00135         }
etisserant@240: 00136         SlaveBoard.busname = optarg;
nico@215: 00137         break;
nico@215: 00138       case 'm' :
nico@215: 00139         if (optarg[0] == 0)
nico@215: 00140         {
etisserant@240: 00141           help();
nico@215: 00142           exit(1);
nico@215: 00143         }
etisserant@240: 00144         MasterBoard.busname = optarg;
nico@215: 00145         break;
nico@215: 00146       case 'S' :
nico@215: 00147         if (optarg[0] == 0)
nico@215: 00148         {
etisserant@240: 00149           help();
nico@215: 00150           exit(1);
nico@215: 00151         }
etisserant@240: 00152         SlaveBoard.baudrate = optarg;
nico@215: 00153         break;
nico@215: 00154       case 'M' :
nico@215: 00155         if (optarg[0] == 0)
nico@215: 00156         {
etisserant@240: 00157           help();
nico@215: 00158           exit(1);
nico@215: 00159         }
etisserant@240: 00160         MasterBoard.baudrate = optarg;
nico@215: 00161         break;
nico@215: 00162       case 'l' :
nico@215: 00163         if (optarg[0] == 0)
nico@215: 00164         {
etisserant@240: 00165           help();
nico@215: 00166           exit(1);
nico@215: 00167         }
nico@215: 00168         LibraryPath = optarg;
nico@215: 00169         break;
nico@215: 00170       default:
etisserant@240: 00171         help();
nico@215: 00172         exit(1);
nico@215: 00173     }
nico@215: 00174   }
nico@215: 00175 
nico@215: 00176 #if !defined(WIN32) || defined(__CYGWIN__)
nico@215: 00177   /* install signal handler for manual break */
etisserant@240: 00178         signal(SIGTERM, catch_signal);
etisserant@240: 00179         signal(SIGINT, catch_signal);
nico@215: 00180 #endif
nico@215: 00181 
nico@215: 00182 #ifndef NOT_USE_DYNAMIC_LOADING
etisserant@240: 00183         LoadCanDriver(LibraryPath);
nico@215: 00184 #endif          
nico@215: 00185         // Open CAN devices
nico@215: 00186 
etisserant@240: 00187         if(strcmp(SlaveBoard.baudrate, "none")){
nico@215: 00188                 
etisserant@240: 00189                 TestSlave_Data.heartbeatError = TestSlave_heartbeatError;
etisserant@240: 00190                 TestSlave_Data.initialisation = TestSlave_initialisation;
etisserant@240: 00191                 TestSlave_Data.preOperational = TestSlave_preOperational;
etisserant@240: 00192                 TestSlave_Data.operational = TestSlave_operational;
etisserant@240: 00193                 TestSlave_Data.stopped = TestSlave_stopped;
etisserant@240: 00194                 TestSlave_Data.post_sync = TestSlave_post_sync;
etisserant@240: 00195                 TestSlave_Data.post_TPDO = TestSlave_post_TPDO;
etisserant@240: 00196                 TestSlave_Data.storeODSubIndex = TestSlave_storeODSubIndex;             
nico@215: 00197 
etisserant@240: 00198                 if(!canOpen(&SlaveBoard,&TestSlave_Data)){
etisserant@240: 00199                         eprintf("Cannot open Slave Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate);
nico@215: 00200                         goto fail_slave;
nico@215: 00201                 }
nico@215: 00202         }
etisserant@240: 00203         if(strcmp(MasterBoard.baudrate, "none")){
nico@215: 00204                 
etisserant@240: 00205                 TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
etisserant@240: 00206                 TestMaster_Data.initialisation = TestMaster_initialisation;
etisserant@240: 00207                 TestMaster_Data.preOperational = TestMaster_preOperational;
etisserant@240: 00208                 TestMaster_Data.operational = TestMaster_operational;
etisserant@240: 00209                 TestMaster_Data.stopped = TestMaster_stopped;
etisserant@240: 00210                 TestMaster_Data.post_sync = TestMaster_post_sync;
etisserant@240: 00211                 TestMaster_Data.post_TPDO = TestMaster_post_TPDO;
nico@215: 00212                 
etisserant@240: 00213                 if(!canOpen(&MasterBoard,&TestMaster_Data)){
etisserant@240: 00214                         eprintf("Cannot open Master Board (%s,%s)\n",MasterBoard.busname, MasterBoard.baudrate);
nico@215: 00215                         goto fail_master;
nico@215: 00216                 }
nico@215: 00217         }
nico@215: 00218 
nico@215: 00219         // Start timer thread
etisserant@240: 00220         StartTimerLoop(&InitNodes);
nico@215: 00221 
nico@215: 00222         // wait Ctrl-C
nico@215: 00223         
nico@215: 00224         pause();
etisserant@240: 00225         eprintf("Finishing.\n");
nico@215: 00226         
etisserant@240: 00227         masterSendNMTstateChange (&TestMaster_Data, 0x02, NMT_Reset_Node);
etisserant@240: 00228         eprintf("reset\n");
nico@215: 00229         // Stop master
etisserant@240: 00230         setState(&TestMaster_Data, Stopped);
nico@215: 00231         
nico@215: 00232         // Stop timer thread
etisserant@240: 00233         StopTimerLoop();
nico@215: 00234         
nico@215: 00235         // Close CAN devices (and can threads)
etisserant@240: 00236         if(strcmp(SlaveBoard.baudrate, "none")) canClose(&TestSlave_Data);
nico@215: 00237 fail_master:
etisserant@240: 00238         if(strcmp(MasterBoard.baudrate, "none")) canClose(&TestMaster_Data);    
nico@215: 00239 fail_slave:
nico@215: 00240         return 0;
nico@215: 00241 }
etisserant@240: