00001
00002
00003
@@ -64,25 +64,25 @@
00043 #include "Slave.h"
00044 #include "TestMasterSlave.h"
00045
-00046 UNS32 OnMasterMap1Update(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
+00046 UNS32 OnMasterMap1Update(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
00047 {
-00048 eprintf("OnSlaveMap1Update:%d\n", SlaveMap1);
+00048 eprintf("OnSlaveMap1Update:%d\n", SlaveMap1);
00049 return 0;
00050 }
00051
-00052 s_BOARD SlaveBoard = {"0", "125K"};
-00053 s_BOARD MasterBoard = {"1", "125K"};
+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)
+00056 void catch_signal(int sig)
00057 {
-00058 signal(SIGTERM, catch_signal);
-00059 signal(SIGINT, catch_signal);
-00060 eprintf("Got Signal %d\n",sig);
+00058 signal(SIGTERM, catch_signal);
+00059 signal(SIGINT, catch_signal);
+00060 eprintf("Got Signal %d\n",sig);
00061 }
00062 #endif
00063
-00064 void help()
+00064 void help()
00065 {
00066 printf("**************************************************************\n");
00067 printf("* TestMasterSlave *\n");
@@ -111,25 +111,25 @@
00090 }
00091
00092
-00093 void InitNodes(CO_Data* d, UNS32 id)
+00093 void InitNodes(CO_Data* d, UNS32 id)
00094 {
00095
-00096 if(strcmp(SlaveBoard.baudrate, "none")) {
+00096 if(strcmp(SlaveBoard.baudrate, "none")) {
00097
-00098 setNodeId(&TestSlave_Data, 0x02);
+00098 setNodeId(&TestSlave_Data, 0x02);
00099
-00100 setState(&TestSlave_Data, Initialisation);
+00100 setState(&TestSlave_Data, Initialisation);
00101 }
00102
00103
-00104 if(strcmp(MasterBoard.baudrate, "none")){
-00105 RegisterSetODentryCallBack(&TestMaster_Data, 0x2000, 0, &OnMasterMap1Update);
+00104 if(strcmp(MasterBoard.baudrate, "none")){
+00105 RegisterSetODentryCallBack(&TestMaster_Data, 0x2000, 0, &OnMasterMap1Update);
00106
00107
-00108 setNodeId(&TestMaster_Data, 0x01);
+00108 setNodeId(&TestMaster_Data, 0x01);
00109
00110
-00111 setState(&TestMaster_Data, Initialisation);
+00111 setState(&TestMaster_Data, Initialisation);
00112
00113 }
00114 }
@@ -137,130 +137,130 @@
00116
00117
00118
-00119 int main(int argc,char **argv)
+00119 int main(int argc,char **argv)
00120 {
00121
00122 int c;
-00123 extern char *optarg;
+00123 extern char *optarg;
00124 char* LibraryPath="libcanfestival_can_virtual.so";
00125
-00126 while ((c = getopt(argc, argv, "-m:s:M:S:l:")) != EOF)
+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();
+00133 help();
00134 exit(1);
00135 }
-00136 SlaveBoard.busname = optarg;
+00136 SlaveBoard.busname = optarg;
00137 break;
00138 case 'm' :
00139 if (optarg[0] == 0)
00140 {
-00141 help();
+00141 help();
00142 exit(1);
00143 }
-00144 MasterBoard.busname = optarg;
+00144 MasterBoard.busname = optarg;
00145 break;
00146 case 'S' :
00147 if (optarg[0] == 0)
00148 {
-00149 help();
+00149 help();
00150 exit(1);
00151 }
-00152 SlaveBoard.baudrate = optarg;
+00152 SlaveBoard.baudrate = optarg;
00153 break;
00154 case 'M' :
00155 if (optarg[0] == 0)
00156 {
-00157 help();
+00157 help();
00158 exit(1);
00159 }
-00160 MasterBoard.baudrate = optarg;
+00160 MasterBoard.baudrate = optarg;
00161 break;
00162 case 'l' :
00163 if (optarg[0] == 0)
00164 {
-00165 help();
+00165 help();
00166 exit(1);
00167 }
00168 LibraryPath = optarg;
00169 break;
00170 default:
-00171 help();
+00171 help();
00172 exit(1);
00173 }
00174 }
00175
00176 #if !defined(WIN32) || defined(__CYGWIN__)
00177
-00178 signal(SIGTERM, catch_signal);
-00179 signal(SIGINT, catch_signal);
+00178 signal(SIGTERM, catch_signal);
+00179 signal(SIGINT, catch_signal);
00180 #endif
00181
00182 #ifndef NOT_USE_DYNAMIC_LOADING
-00183 LoadCanDriver(LibraryPath);
+00183 LoadCanDriver(LibraryPath);
00184 #endif
00185
00186
-00187 if(strcmp(SlaveBoard.baudrate, "none")){
+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;
+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);
+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")){
+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;
+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);
+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
-00220 StartTimerLoop(&InitNodes);
+00220 StartTimerLoop(&InitNodes);
00221
00222
00223
00224 pause();
-00225 eprintf("Finishing.\n");
+00225 eprintf("Finishing.\n");
00226
-00227 masterSendNMTstateChange (&TestMaster_Data, 0x02, NMT_Reset_Node);
-00228 eprintf("reset\n");
+00227 masterSendNMTstateChange (&TestMaster_Data, 0x02, NMT_Reset_Node);
+00228 eprintf("reset\n");
00229
-00230 setState(&TestMaster_Data, Stopped);
+00230 setState(&TestMaster_Data, Stopped);
00231
00232
-00233 StopTimerLoop();
+00233 StopTimerLoop();
00234
00235
-00236 if(strcmp(SlaveBoard.baudrate, "none")) canClose(&TestSlave_Data);
+00236 if(strcmp(SlaveBoard.baudrate, "none")) canClose(&TestSlave_Data);
00237 fail_master:
-00238 if(strcmp(MasterBoard.baudrate, "none")) canClose(&TestMaster_Data);
+00238 if(strcmp(MasterBoard.baudrate, "none")) canClose(&TestMaster_Data);
00239 fail_slave:
00240 return 0;
00241 }
-