# HG changeset patch
# User Christian Taedcke
# Date 1296146748 -3600
# Node ID f923456f01e59b37d8a4ce81aaae46245ce529f7
# Parent  ea1ddcc77acf51ef5b880d6ea6a9b0944d569d20
FIXED: - Sdo lines with the internal state SDO_ABORTED_ITERNAL are now closed.

diff -r ea1ddcc77acf -r f923456f01e5 include/sdo.h
--- a/include/sdo.h	Wed Nov 10 13:08:26 2010 +0100
+++ b/include/sdo.h	Thu Jan 27 17:45:48 2011 +0100
@@ -211,6 +211,21 @@
 UNS8 getSDOlineOnUse (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line);
 
 /** 
+ * @brief Search for the line, in the transfers array, which contains the
+ * beginning of the reception of a fragmented SDO
+ *
+ * Because getSDOlineOnUse() does not return any line in state \c SDO_ABORTED_INTERNAL,
+ * this funtion is used to return them, too.
+ *
+ * @param *d Pointer on a CAN object data structure
+ * @param nodeId correspond to the message node-id
+ * @param whoami takes 2 values : look for a line opened as SDO_CLIENT or SDO_SERVER
+ * @param *line Pointer on a SDO line
+ * @return 0xFF if error.  Else, return 0
+ */
+UNS8 getSDOlineToClose (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line);
+
+/** 
  * @brief Close a transmission.
  * @param *d Pointer on a CAN object data structure
  * @param nodeId Node id of the server if both server or client
diff -r ea1ddcc77acf -r f923456f01e5 src/sdo.c
--- a/src/sdo.c	Wed Nov 10 13:08:26 2010 +0100
+++ b/src/sdo.c	Thu Jan 27 17:45:48 2011 +0100
@@ -145,6 +145,9 @@
     	(*d->transfers[id].Callback)(d,d->transfers[id].nodeId);
     else if(d->transfers[id].whoami == SDO_SERVER)
     	/*Else, if server, reset the line*/
+    
+    /*Reset the line if (whoami == SDO_SERVER) or the callback did not close the line.
+      Otherwise this sdo transfer would never be closed. */
     	resetSDOline(d, (UNS8)id);
 }
 
@@ -520,6 +523,33 @@
 ** @param d
 ** @param nodeId
 ** @param whoami
+** @param line
+**
+** @return
+**/
+UNS8 getSDOlineToClose (CO_Data* d, UNS8 nodeId, UNS8 whoami, UNS8 *line)
+{
+
+  UNS8 i;
+
+  for (i = 0 ; i < SDO_MAX_SIMULTANEOUS_TRANSFERTS ; i++){
+    if ( (d->transfers[i].state != SDO_RESET) &&
+	 (d->transfers[i].nodeId == nodeId) &&
+	 (d->transfers[i].whoami == whoami) ) {
+      if (line) *line = i;
+      return 0;
+    }
+  }
+  return 0xFF;
+}
+
+
+/*!
+**
+**
+** @param d
+** @param nodeId
+** @param whoami
 **
 ** @return
 **/
@@ -527,7 +557,7 @@
 {
   UNS8 err;
   UNS8 line;
-  err = getSDOlineOnUse(d, nodeId, whoami, &line);
+  err = getSDOlineToClose(d, nodeId, whoami, &line);
   if (err) {
     MSG_WAR(0x2A30, "No SDO communication to close for node : ", nodeId);
     return 0xFF;