CanFestival: examples/TestMasterSlave/TestMasterSlave.c Source File

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