etisserant@0: /*
nico@207:   This file is part of CanFestival, a library implementing CanOpen
nico@207:   Stack.
nico@207: 
nico@207:   Copyright (C): Edouard TISSERANT and Francis DUPIN
nico@207: 
nico@207:   See COPYING file for copyrights details.
nico@207: 
nico@207:   This library is free software; you can redistribute it and/or
nico@207:   modify it under the terms of the GNU Lesser General Public
nico@207:   License as published by the Free Software Foundation; either
nico@207:   version 2.1 of the License, or (at your option) any later version.
nico@207: 
nico@207:   This library is distributed in the hope that it will be useful,
nico@207:   but WITHOUT ANY WARRANTY; without even the implied warranty of
nico@207:   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
nico@207:   Lesser General Public License for more details.
nico@207: 
nico@207:   You should have received a copy of the GNU Lesser General Public
nico@207:   License along with this library; if not, write to the Free Software
nico@207:   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307
nico@207:   USA
nico@207: */
nico@207: 
nico@207: /*!
nico@208: ** @file   lifegrd.c
nico@207: ** @author Edouard TISSERANT
nico@207: ** @date   Mon Jun  4 17:19:24 2007
nico@207: **
nico@207: ** @brief
nico@207: **
nico@207: **
etisserant@0: */
etisserant@0: 
etisserant@0: #include <data.h>
etisserant@0: #include "lifegrd.h"
etisserant@149: #include "canfestival.h"
etisserant@357: #include "dcf.h"
etisserant@370: #include "sysdep.h"
etisserant@0: 
nico@208: 
mwildbolz@750: void ConsumerHeartbeatAlarm(CO_Data* d, UNS32 id);
mwildbolz@750: void ProducerHeartbeatAlarm(CO_Data* d, UNS32 id);
mwildbolz@750: UNS32 OnHearbeatProducerUpdate(CO_Data* d, const indextable * unused_indextable, UNS8 unused_bSubindex);
mwildbolz@750: 
mwildbolz@750: void GuardTimeAlarm(CO_Data* d, UNS32 id);
mwildbolz@750: UNS32 OnNodeGuardUpdate(CO_Data* d, const indextable * unused_indextable, UNS8 unused_bSubindex);
mwildbolz@750: 
mwildbolz@750: 
etisserant@0: e_nodeState getNodeState (CO_Data* d, UNS8 nodeId)
etisserant@0: {
Mongo@668:   e_nodeState networkNodeState = Unknown_state;
Mongo@668:   #if NMT_MAX_NODE_ID>0
Mongo@668:   if(nodeId < NMT_MAX_NODE_ID)
Mongo@668:     networkNodeState = d->NMTable[nodeId];
Mongo@668:   #endif
nico@207:   return networkNodeState;
nico@207: }
nico@207: 
nico@208: /*! 
nico@208: ** The Consumer Timer Callback
nico@207: **
nico@207: ** @param d
nico@207: ** @param id
mwildbolz@750:  * @ingroup heartbeato
nico@207: **/
mwildbolz@750: void ConsumerHeartbeatAlarm(CO_Data* d, UNS32 id)
etisserant@0: {
Christian@635:   UNS8 nodeId = (UNS8)(((d->ConsumerHeartbeatEntries[id]) & (UNS32)0x00FF0000) >> (UNS8)16);
nico@207:   /*MSG_WAR(0x00, "ConsumerHearbeatAlarm", 0x00);*/
nico@207: 
etisserant@352:   /* timer have been notified and is now free (non periodic)*/
etisserant@352:   /* -> avoid deleting re-assigned timer if message is received too late*/
etisserant@352:   d->ConsumerHeartBeatTimers[id]=TIMER_NONE;
Christian@635:   
Christian@635:   /* set node state */
Christian@635:   d->NMTable[nodeId] = Disconnected;
nico@207:   /*! call heartbeat error with NodeId */
Christian@635:   (*d->heartbeatError)(d, nodeId);
nico@207: }
nico@207: 
etisserant@0: void proceedNODE_GUARD(CO_Data* d, Message* m )
etisserant@0: {
etisserant@0:   UNS8 nodeId = (UNS8) GET_NODE_ID((*m));
nico@207: 
nico@207:   if((m->rtr == 1) )
nico@207:     /*!
nico@207:     ** Notice that only the master can have sent this
nico@207:     ** node guarding request
nico@207:     */
nico@207:     {
nico@207:       /*!
nico@207:       ** Receiving a NMT NodeGuarding (request of the state by the
nico@207:       ** master)
nico@207:       ** Only answer to the NMT NodeGuarding request, the master is
nico@207:       ** not checked (not implemented)
nico@207:       */
nico@207:       if (nodeId == *d->bDeviceNodeId )
nico@207:         {
nico@207:           Message msg;
etisserant@370:           UNS16 tmp = *d->bDeviceNodeId + 0x700;
etisserant@370:           msg.cob_id = UNS16_LE(tmp);
nico@207:           msg.len = (UNS8)0x01;
nico@207:           msg.rtr = 0;
nico@207:           msg.data[0] = d->nodeState;
nico@207:           if (d->toggle)
nico@207:             {
nico@207:               msg.data[0] |= 0x80 ;
nico@207:               d->toggle = 0 ;
nico@207:             }
nico@207:           else
nico@207:             d->toggle = 1 ;
nico@215:           /* send the nodeguard response. */
nico@207:           MSG_WAR(0x3130, "Sending NMT Nodeguard to master, state: ", d->nodeState);
nico@207:           canSend(d->canHandle,&msg );
nico@207:         }
nico@207: 
nico@215:     }else{ /* Not a request CAN */
Christian@635:       /* The state is stored on 7 bit */
Christian@635:       e_nodeState newNodeState = (e_nodeState) ((*m).data[0] & 0x7F);
nico@207: 
nico@207:       MSG_WAR(0x3110, "Received NMT nodeId : ", nodeId);
Christian@635:       
mwildbolz@750:       /*!
mwildbolz@750:       ** Record node response for node guarding service
mwildbolz@750:       */
mwildbolz@750:       d->nodeGuardStatus[nodeId] = *d->LifeTimeFactor;
mwildbolz@750: 
Christian@635:       if (d->NMTable[nodeId] != newNodeState)
Christian@635:       {
Christian@635:         (*d->post_SlaveStateChange)(d, nodeId, newNodeState);
Christian@635:         /* the slave's state receievd is stored in the NMTable */
Christian@635:         d->NMTable[nodeId] = newNodeState;
Christian@635:       }
nico@207: 
nico@215:       /* Boot-Up frame reception */
nico@207:       if ( d->NMTable[nodeId] == Initialisation)
Mongo@669:       {
nico@215:           /*
nico@207:           ** The device send the boot-up message (Initialisation)
nico@207:           ** to indicate the master that it is entered in
nico@207:           ** pre_operational mode
nico@207:           */
nico@207:           MSG_WAR(0x3100, "The NMT is a bootup from node : ", nodeId);
Mongo@669:           /* call post SlaveBootup with NodeId */
Mongo@669: 		  (*d->post_SlaveBootup)(d, nodeId);
Mongo@669:       }
nico@207: 
nico@207:       if( d->NMTable[nodeId] != Unknown_state ) {
mwildbolz@750:         UNS8 index, ConsumerHeartBeat_nodeId ;
nico@207:         for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
nico@207:           {
mwildbolz@750:             ConsumerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (UNS8)16 );
mwildbolz@750:             if ( nodeId == ConsumerHeartBeat_nodeId )
nico@207:               {
nico@207:                 TIMEVAL time = ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
nico@207:                 /* Renew alarm for next heartbeat. */
nico@207:                 DelAlarm(d->ConsumerHeartBeatTimers[index]);
mwildbolz@750:                 d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHeartbeatAlarm, MS_TO_TIMEVAL(time), 0);
nico@207:               }
nico@207:           }
nico@207:       }
nico@207:     }
nico@207: }
nico@207: 
mwildbolz@750: /*! The Producer Timer Callback
nico@207: **
nico@207: **
nico@207: ** @param d
nico@207: ** @param id
mwildbolz@750:  * @ingroup heartbeato
nico@207: **/
mwildbolz@750: void ProducerHeartbeatAlarm(CO_Data* d, UNS32 id)
nico@207: {
nico@207:   if(*d->ProducerHeartBeatTime)
etisserant@0:     {
etisserant@0:       Message msg;
nico@215:       /* Time expired, the heartbeat must be sent immediately
nico@207:       ** generate the correct node-id: this is done by the offset 1792
nico@207:       ** (decimal) and additionaly
nico@207:       ** the node-id of this device.
nico@207:       */
etisserant@370:       UNS16 tmp = *d->bDeviceNodeId + 0x700;
etisserant@370:       msg.cob_id = UNS16_LE(tmp);
etisserant@0:       msg.len = (UNS8)0x01;
etisserant@0:       msg.rtr = 0;
nico@215:       msg.data[0] = d->nodeState; /* No toggle for heartbeat !*/
nico@215:       /* send the heartbeat */
nico@207:       MSG_WAR(0x3130, "Producing heartbeat: ", d->nodeState);
etisserant@149:       canSend(d->canHandle,&msg );
nico@207: 
nico@207:     }else{
nico@207:       d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);
nico@207:     }
nico@207: }
nico@207: 
mwildbolz@750: /**
mwildbolz@750:  * @brief The guardTime - Timer Callback.
mwildbolz@750:  * 
mwildbolz@750:  * This function is called every GuardTime (OD 0x100C) ms <br>
mwildbolz@750:  * On every call, a NodeGuard-Request is sent to all nodes which have a
mwildbolz@750:  * node-state not equal to "Unknown" (according to NMTable). If the node has
mwildbolz@750:  * not responded within the lifetime, the nodeguardError function is called and
mwildbolz@750:  * the status of this node is set to "Disconnected"
mwildbolz@750:  *
mwildbolz@750:  * @param d 	Pointer on a CAN object data structure 
mwildbolz@750:  * @param id
mwildbolz@750:  * @ingroup nodeguardo
mwildbolz@750:  */
mwildbolz@750: void GuardTimeAlarm(CO_Data* d, UNS32 id)
mwildbolz@750: {
mwildbolz@750:   if (*d->GuardTime) {
mwildbolz@750:     UNS8 i;
mwildbolz@750: 
mwildbolz@750:     MSG_WAR(0x00, "Producing nodeguard-requests: ", 0);
mwildbolz@750: 
mwildbolz@750:     for (i = 0; i < NMT_MAX_NODE_ID; i++) {
mwildbolz@750:       /** Send node guard request to all nodes except this node, if the 
mwildbolz@750:       * node state is not "Unknown_state"
mwildbolz@750:       */
mwildbolz@750:       if (d->NMTable[i] != Unknown_state && i != *d->bDeviceNodeId) {
mwildbolz@750: 
mwildbolz@750:         /** Check if the node has confirmed the guarding request within
mwildbolz@750:         * the LifeTime (GuardTime x LifeTimeFactor)
mwildbolz@750:         */
mwildbolz@750:         if (d->nodeGuardStatus[i] <= 0) {
mwildbolz@750: 
mwildbolz@750:           MSG_WAR(0x00, "Node Guard alarm for nodeId : ", i);
mwildbolz@750: 
mwildbolz@750:           // Call error-callback function
mwildbolz@750:           if (*d->nodeguardError) {
mwildbolz@750:             (*d->nodeguardError)(d, i);
mwildbolz@750:           }
mwildbolz@750: 
mwildbolz@750:           // Mark node as disconnected
mwildbolz@750:           d->NMTable[i] = Disconnected;
mwildbolz@750: 
mwildbolz@750:         }
mwildbolz@750: 
mwildbolz@750:         d->nodeGuardStatus[i]--;
mwildbolz@750: 
mwildbolz@750:         masterSendNMTnodeguard(d, i);
mwildbolz@750: 
mwildbolz@750:       }
mwildbolz@750:     }
mwildbolz@750:   } else {
mwildbolz@750:     d->GuardTimeTimer = DelAlarm(d->GuardTimeTimer);
mwildbolz@750:   }
mwildbolz@750: 
mwildbolz@750: 
mwildbolz@750: 
mwildbolz@750: }
mwildbolz@750: 
mwildbolz@750: /**
mwildbolz@750:  * This function is called, if index 0x100C or 0x100D is updated to
mwildbolz@750:  * restart the node-guarding service with the new parameters
mwildbolz@750:  *
mwildbolz@750:  * @param d 	Pointer on a CAN object data structure 
mwildbolz@750:  * @param unused_indextable
mwildbolz@750:  * @param unused_bSubindex
mwildbolz@750:  * @ingroup nodeguardo
mwildbolz@750:  */
mwildbolz@750: UNS32 OnNodeGuardUpdate(CO_Data* d, const indextable * unused_indextable, UNS8 unused_bSubindex)
mwildbolz@750: {
mwildbolz@750:   nodeguardStop(d);
mwildbolz@750:   nodeguardInit(d);
mwildbolz@750:   return 0;
mwildbolz@750: }
mwildbolz@750: 
mwildbolz@750: 
nico@207: /*! This is called when Index 0x1017 is updated.
nico@207: **
nico@207: **
nico@207: ** @param d
mwildbolz@750: ** @param unused_indextable
mwildbolz@750: ** @param unused_bSubindex
nico@207: **
nico@207: ** @return
mwildbolz@750:  * @ingroup heartbeato
nico@207: **/
mwildbolz@750: UNS32 OnHeartbeatProducerUpdate(CO_Data* d, const indextable * unused_indextable, UNS8 unused_bSubindex)
nico@207: {
nico@207:   heartbeatStop(d);
nico@207:   heartbeatInit(d);
nico@207:   return 0;
nico@207: }
nico@207: 
nico@207: void heartbeatInit(CO_Data* d)
nico@207: {
nico@207: 
nico@215:   UNS8 index; /* Index to scan the table of heartbeat consumers */
nico@207:   RegisterSetODentryCallBack(d, 0x1017, 0x00, &OnHeartbeatProducerUpdate);
nico@207: 
nico@207:   d->toggle = 0;
nico@207: 
nico@207:   for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
nico@207:     {
nico@207:       TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
nico@207:       if ( time )
etisserant@0:         {
mwildbolz@750:           d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHeartbeatAlarm, MS_TO_TIMEVAL(time), 0);
etisserant@0:         }
etisserant@0:     }
nico@207: 
nico@207:   if ( *d->ProducerHeartBeatTime )
nico@207:     {
nico@207:       TIMEVAL time = *d->ProducerHeartBeatTime;
mwildbolz@750:       d->ProducerHeartBeatTimer = SetAlarm(d, 0, &ProducerHeartbeatAlarm, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time));
mwildbolz@750:     }
mwildbolz@750: }
mwildbolz@750: 
mwildbolz@750: 
mwildbolz@750: void nodeguardInit(CO_Data* d)
mwildbolz@750: {
mwildbolz@750: 
mwildbolz@750:   RegisterSetODentryCallBack(d, 0x100C, 0x00, &OnNodeGuardUpdate);
mwildbolz@750:   RegisterSetODentryCallBack(d, 0x100D, 0x00, &OnNodeGuardUpdate);
mwildbolz@750: 
mwildbolz@750:   if (*d->GuardTime && *d->LifeTimeFactor) {
mwildbolz@750:     UNS8 i;
mwildbolz@750: 
mwildbolz@750:     TIMEVAL time = *d->GuardTime;
mwildbolz@750:     d->GuardTimeTimer = SetAlarm(d, 0, &GuardTimeAlarm, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time));
mwildbolz@750:     MSG_WAR(0x0, "GuardTime: ", time);
mwildbolz@750: 
mwildbolz@750:     for (i = 0; i < NMT_MAX_NODE_ID; i++) {
mwildbolz@750:       /** Set initial value for the nodes */
mwildbolz@750:       if (d->NMTable[i] != Unknown_state && i != *d->bDeviceNodeId) { 
mwildbolz@750:         d->nodeGuardStatus[i] = *d->LifeTimeFactor;
mwildbolz@750:       }
mwildbolz@750:     }
mwildbolz@750: 
mwildbolz@750:     MSG_WAR(0x0, "Timer for node-guarding startet", 0);
mwildbolz@750:   }
mwildbolz@750: 
mwildbolz@750: }
mwildbolz@750: 
etisserant@0: void heartbeatStop(CO_Data* d)
etisserant@0: {
nico@207:   UNS8 index;
nico@207:   for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
nico@207:     {
etisserant@423:       d->ConsumerHeartBeatTimers[index] = DelAlarm(d->ConsumerHeartBeatTimers[index]);
etisserant@423:     }
etisserant@423: 
etisserant@423:   d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);
nico@207: }
nico@207: 
mwildbolz@750: void nodeguardStop(CO_Data* d)
mwildbolz@750: {
mwildbolz@750:   d->GuardTimeTimer = DelAlarm(d->GuardTimeTimer);
mwildbolz@750: }
mwildbolz@750: 
mwildbolz@750: 
mwildbolz@750: void lifeGuardInit(CO_Data* d)
mwildbolz@750: {
mwildbolz@750:   heartbeatInit(d);
mwildbolz@750:   nodeguardInit(d);
mwildbolz@750: }
mwildbolz@750: 
mwildbolz@750: 
mwildbolz@750: void lifeGuardStop(CO_Data* d)
mwildbolz@750: {
mwildbolz@750:   heartbeatStop(d);
mwildbolz@750:   nodeguardStop(d);
mwildbolz@750: }
mwildbolz@750: 
mwildbolz@750: 
etisserant@378: void _heartbeatError(CO_Data* d, UNS8 heartbeatID){}
etisserant@378: void _post_SlaveBootup(CO_Data* d, UNS8 SlaveID){}
Christian@635: void _post_SlaveStateChange(CO_Data* d, UNS8 nodeId, e_nodeState newNodeState){}
mwildbolz@750: void _nodeguardError(CO_Data* d, UNS8 id){}
mwildbolz@750: