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@145: #if defined(WIN32) && !defined(__CYGWIN__)
etisserant@145: #include <windows.h>
etisserant@145: #include "getopt.h"
etisserant@145: void pause(void)
etisserant@145: {
etisserant@145: system("PAUSE");
etisserant@145: }
etisserant@145: #else
etisserant@0: #include <stdio.h>
etisserant@0: #include <string.h>
etisserant@169: #include <unistd.h>
etisserant@0: #include <stdlib.h>
etisserant@0: #include <signal.h>
etisserant@145: #endif
etisserant@0:
etisserant@156: #include "canfestival.h"
etisserant@156: //#include <can_driver.h>
etisserant@156: //#include <timers_driver.h>
etisserant@0:
etisserant@0: #include "Master.h"
etisserant@0: #include "Slave.h"
etisserant@0: #include "TestMasterSlave.h"
etisserant@0:
etisserant@0: UNS32 OnMasterMap1Update(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
etisserant@0: {
greg@466: eprintf("OnMasterMap1Update:%d\n", MasterMap1);
lbessard@31: return 0;
etisserant@0: }
etisserant@0:
greg@179: s_BOARD SlaveBoard = {"0", "125K"};
greg@179: s_BOARD MasterBoard = {"1", "125K"};
etisserant@145:
etisserant@145: #if !defined(WIN32) || defined(__CYGWIN__)
etisserant@0: void catch_signal(int sig)
etisserant@0: {
etisserant@0: signal(SIGTERM, catch_signal);
etisserant@0: signal(SIGINT, catch_signal);
etisserant@32: eprintf("Got Signal %d\n",sig);
etisserant@32: }
etisserant@145: #endif
etisserant@0:
greg@454: void help(void)
etisserant@0: {
etisserant@0: printf("**************************************************************\n");
etisserant@0: printf("* TestMasterSlave *\n");
etisserant@0: printf("* *\n");
etisserant@0: printf("* A simple example for PC. It does implement 2 CanOpen *\n");
etisserant@0: printf("* nodes in the same process. A master and a slave. Both *\n");
etisserant@36: printf("* communicate together, exchanging periodically NMT, SYNC, *\n");
greg@179: printf("* SDO and PDO. Master configure heartbeat producer time *\n");
greg@179: printf("* at 1000 ms for slave node-id 0x02 by concise DCF. *\n");
etisserant@36: printf("* *\n");
etisserant@36: printf("* Usage: *\n");
etisserant@36: printf("* ./TestMasterSlave [OPTIONS] *\n");
etisserant@36: printf("* *\n");
etisserant@36: printf("* OPTIONS: *\n");
etisserant@145: printf("* -l : Can library [\"libcanfestival_can_virtual.so\"] *\n");
etisserant@145: printf("* *\n");
etisserant@36: printf("* Slave: *\n");
etisserant@36: printf("* -s : bus name [\"0\"] *\n");
etisserant@36: printf("* -S : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) *\n");
etisserant@36: printf("* *\n");
etisserant@36: printf("* Master: *\n");
etisserant@36: printf("* -m : bus name [\"1\"] *\n");
etisserant@36: printf("* -M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) *\n");
etisserant@0: printf("* *\n");
etisserant@0: printf("**************************************************************\n");
etisserant@0: }
etisserant@0:
etisserant@36: /*************************** INIT *****************************************/
etisserant@36: void InitNodes(CO_Data* d, UNS32 id)
etisserant@36: {
etisserant@36: /****************************** INITIALISATION SLAVE *******************************/
greg@179: if(strcmp(SlaveBoard.baudrate, "none")) {
etisserant@36: setNodeId(&TestSlave_Data, 0x02);
etisserant@343:
etisserant@36: /* init */
etisserant@36: setState(&TestSlave_Data, Initialisation);
etisserant@36: }
etisserant@36:
etisserant@36: /****************************** INITIALISATION MASTER *******************************/
greg@179: if(strcmp(MasterBoard.baudrate, "none")){
etisserant@36: RegisterSetODentryCallBack(&TestMaster_Data, 0x2000, 0, &OnMasterMap1Update);
greg@179:
etisserant@36: /* Defining the node Id */
etisserant@36: setNodeId(&TestMaster_Data, 0x01);
etisserant@36:
etisserant@36: /* init */
etisserant@36: setState(&TestMaster_Data, Initialisation);
greg@179:
etisserant@36: }
etisserant@36: }
etisserant@36:
greg@454: /*************************** EXIT *****************************************/
greg@454: void Exit(CO_Data* d, UNS32 id)
greg@454: {
greg@465: if(strcmp(MasterBoard.baudrate, "none")){
greg@465:
greg@465: masterSendNMTstateChange(&TestMaster_Data, 0x02, NMT_Reset_Node);
greg@454:
greg@465: //Stop master
greg@465: setState(&TestMaster_Data, Stopped);
greg@465: }
greg@454: }
greg@454:
etisserant@0: /****************************************************************************/
etisserant@0: /*************************** MAIN *****************************************/
etisserant@0: /****************************************************************************/
etisserant@0: int main(int argc,char **argv)
etisserant@0: {
etisserant@0:
etisserant@191: int c;
etisserant@0: extern char *optarg;
etisserant@343: char* LibraryPath="../../drivers/can_virtual/libcanfestival_can_virtual.so";
etisserant@145:
etisserant@145: while ((c = getopt(argc, argv, "-m:s:M:S:l:")) != EOF)
etisserant@0: {
etisserant@0: switch(c)
etisserant@0: {
etisserant@0: case 's' :
etisserant@0: if (optarg[0] == 0)
etisserant@0: {
etisserant@0: help();
etisserant@0: exit(1);
etisserant@0: }
etisserant@0: SlaveBoard.busname = optarg;
etisserant@0: break;
etisserant@0: case 'm' :
etisserant@0: if (optarg[0] == 0)
etisserant@0: {
etisserant@0: help();
etisserant@0: exit(1);
etisserant@0: }
etisserant@0: MasterBoard.busname = optarg;
etisserant@0: break;
etisserant@36: case 'S' :
etisserant@36: if (optarg[0] == 0)
etisserant@36: {
etisserant@36: help();
etisserant@36: exit(1);
etisserant@36: }
etisserant@145: SlaveBoard.baudrate = optarg;
etisserant@36: break;
etisserant@36: case 'M' :
etisserant@36: if (optarg[0] == 0)
etisserant@36: {
etisserant@36: help();
etisserant@36: exit(1);
etisserant@36: }
etisserant@145: MasterBoard.baudrate = optarg;
etisserant@145: break;
etisserant@145: case 'l' :
etisserant@145: if (optarg[0] == 0)
etisserant@145: {
etisserant@145: help();
etisserant@145: exit(1);
etisserant@145: }
etisserant@145: LibraryPath = optarg;
etisserant@36: break;
etisserant@0: default:
etisserant@0: help();
etisserant@0: exit(1);
etisserant@0: }
etisserant@0: }
etisserant@0:
etisserant@145: #if !defined(WIN32) || defined(__CYGWIN__)
etisserant@145: /* install signal handler for manual break */
etisserant@0: signal(SIGTERM, catch_signal);
etisserant@0: signal(SIGINT, catch_signal);
greg@454: TimerInit();
etisserant@145: #endif
etisserant@145:
etisserant@145: #ifndef NOT_USE_DYNAMIC_LOADING
etisserant@331: if (LoadCanDriver(LibraryPath) == NULL)
etisserant@331: printf("Unable to load library: %s\n",LibraryPath);
etisserant@145: #endif
etisserant@0: // Open CAN devices
greg@179:
greg@179: if(strcmp(SlaveBoard.baudrate, "none")){
etisserant@149:
etisserant@149: TestSlave_Data.heartbeatError = TestSlave_heartbeatError;
etisserant@149: TestSlave_Data.initialisation = TestSlave_initialisation;
etisserant@149: TestSlave_Data.preOperational = TestSlave_preOperational;
etisserant@149: TestSlave_Data.operational = TestSlave_operational;
etisserant@149: TestSlave_Data.stopped = TestSlave_stopped;
etisserant@149: TestSlave_Data.post_sync = TestSlave_post_sync;
etisserant@149: TestSlave_Data.post_TPDO = TestSlave_post_TPDO;
luis@284: TestSlave_Data.storeODSubIndex = TestSlave_storeODSubIndex;
luis@284: TestSlave_Data.post_emcy = TestSlave_post_emcy;
etisserant@149:
etisserant@149: if(!canOpen(&SlaveBoard,&TestSlave_Data)){
etisserant@145: eprintf("Cannot open Slave Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate);
etisserant@145: goto fail_slave;
etisserant@145: }
etisserant@145: }
greg@179: if(strcmp(MasterBoard.baudrate, "none")){
etisserant@149:
etisserant@149: TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
etisserant@149: TestMaster_Data.initialisation = TestMaster_initialisation;
etisserant@149: TestMaster_Data.preOperational = TestMaster_preOperational;
etisserant@149: TestMaster_Data.operational = TestMaster_operational;
etisserant@149: TestMaster_Data.stopped = TestMaster_stopped;
etisserant@149: TestMaster_Data.post_sync = TestMaster_post_sync;
etisserant@149: TestMaster_Data.post_TPDO = TestMaster_post_TPDO;
luis@284: TestMaster_Data.post_emcy = TestMaster_post_emcy;
etisserant@343: TestMaster_Data.post_SlaveBootup=TestMaster_post_SlaveBootup;
etisserant@149:
etisserant@149: if(!canOpen(&MasterBoard,&TestMaster_Data)){
greg@179: eprintf("Cannot open Master Board (%s,%s)\n",MasterBoard.busname, MasterBoard.baudrate);
etisserant@145: goto fail_master;
etisserant@145: }
etisserant@145: }
etisserant@194:
etisserant@32: // Start timer thread
etisserant@32: StartTimerLoop(&InitNodes);
etisserant@32:
etisserant@32: // wait Ctrl-C
etisserant@32: pause();
etisserant@262:
etisserant@32: // Stop timer thread
greg@454: StopTimerLoop(&Exit);
etisserant@32:
etisserant@32: // Close CAN devices (and can threads)
greg@454: if(strcmp(MasterBoard.baudrate, "none")) canClose(&TestMaster_Data);
greg@454: fail_master:
greg@179: if(strcmp(SlaveBoard.baudrate, "none")) canClose(&TestSlave_Data);
etisserant@36: fail_slave:
greg@454: TimerCleanup();
greg@179: return 0;
greg@179: }