--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/user/main_gui.cpp Fri Oct 21 11:21:42 2005 +0000
@@ -0,0 +1,287 @@
+//---------------------------------------------------------------
+//
+// m a i n _ g u i . c p p
+//
+// $LastChangedDate$
+// $Author$
+//
+//---------------------------------------------------------------
+
+#include <stdio.h>
+#include <string.h> // memset()
+#include <unistd.h> // usleep()
+#include <signal.h>
+
+#include <fltk/Window.h>
+#include <fltk/Slider.h>
+#include <fltk/ValueOutput.h>
+#include <fltk/FillSlider.h>
+#include <fltk/CheckButton.h>
+#include <fltk/run.h>
+using namespace fltk;
+
+#include "ec_globals.h"
+#include "ec_master.h"
+
+#define SLIDER_UPDATE_CYCLE 0.02
+#define VALUES_UPDATE_CYCLE 0.50
+
+//---------------------------------------------------------------
+
+unsigned short int write_value;
+signed short int read_value;
+unsigned char dig_value;
+
+void write_data(unsigned char *);
+void read_data(unsigned char *);
+
+void slider_write_callback(Widget *, void *);
+void slider_read_timeout(void *);
+void values_timeout(void *);
+
+Window *window;
+Slider *slider_read, *slider_write;
+ValueOutput *output_cycle, *output_jitter, *output_work, *output_busy, *output_bus;
+CheckButton *check1, *check2, *check3, *check4;
+EtherCAT_master_t master;
+
+double max_cycle, max_jitter, max_work, max_busy, max_bus;
+
+//---------------------------------------------------------------
+
+#define SLAVE_COUNT 7
+
+EtherCAT_slave_t slaves[SLAVE_COUNT] =
+{
+ ECAT_INIT_SLAVE(Beckhoff_EK1100),
+ ECAT_INIT_SLAVE(Beckhoff_EL4102),
+ ECAT_INIT_SLAVE(Beckhoff_EL3162),
+ ECAT_INIT_SLAVE(Beckhoff_EL1014),
+ ECAT_INIT_SLAVE(Beckhoff_EL5001),
+ ECAT_INIT_SLAVE(Beckhoff_EL2004),
+ ECAT_INIT_SLAVE(Beckhoff_EL3102)
+};
+
+//---------------------------------------------------------------
+
+int main(int argc, char **argv)
+{
+ //unsigned int i;
+ EtherCAT_slave_t *buskoppler, *input, *output, *dig_in, *dig_out;
+ struct sched_param sched;
+
+ printf("CatEther-Testprogramm.\n\n");
+
+ //----------
+
+#if 1
+ printf("Setting highest task priority...\n");
+
+ sched.sched_priority = sched_get_priority_max(SCHED_RR);
+ if (sched_setscheduler(0, SCHED_RR, &sched) == -1)
+ {
+ fprintf(stderr, "ERROR: Could not set priority: %s\n", strerror(errno));
+ return -1;
+ }
+#endif
+
+ //----------
+
+ printf("Initializing master...\n");
+ EtherCAT_master_init(&master, "eth1");
+
+ printf("Checking slaves...\n");
+ if (EtherCAT_check_slaves(&master, slaves, SLAVE_COUNT) != 0)
+ {
+ fprintf(stderr, "ERROR while searching for slaves!\n");
+ return -1;
+ }
+
+ //----------
+
+ // Check for slaves
+
+ buskoppler = &slaves[0];
+ output = &slaves[1];
+ dig_in = &slaves[3];
+ dig_out = &slaves[5];
+ input = &slaves[6];
+
+ // Set Mapping addresses
+
+ output->logical_address0 = 0x00000000;
+ input->logical_address0 = 0x00000004;
+ dig_in->logical_address0 = 0x0000000F;
+ dig_out->logical_address0 = 0x0000000E;
+
+ //----------
+
+ printf("Init output slave...\n");
+
+ if (EtherCAT_activate_slave(&master, output) != 0)
+ {
+ fprintf(stderr, "ERROR: Could not init slave!\n");
+ return -1;
+ }
+
+ printf("Init input slave...\n");
+
+ if (EtherCAT_activate_slave(&master, input) != 0)
+ {
+ fprintf(stderr, "ERROR: Could not init slave!\n");
+ return -1;
+ }
+
+ printf("Init digital input slave...\n");
+
+ if (EtherCAT_activate_slave(&master, dig_in) != 0)
+ {
+ fprintf(stderr, "ERROR: Could not init slave!\n");
+ return -1;
+ }
+
+ printf("Init digital output slave...\n");
+
+ if (EtherCAT_activate_slave(&master, dig_out) != 0)
+ {
+ fprintf(stderr, "ERROR: Could not init slave!\n");
+ return -1;
+ }
+
+ //----------
+
+ printf("Starting FLTK window...\n");
+
+ window = new Window(300, 300);
+ window->begin();
+
+ slider_read = new FillSlider(50, 10, 40, 280);
+ slider_read->set_vertical();
+ slider_read->buttoncolor(BLUE);
+
+ slider_read->deactivate();
+
+ slider_write = new Slider(110, 10, 40, 280);
+ slider_write->set_vertical();
+ slider_write->callback(slider_write_callback, NULL);
+
+ output_cycle = new ValueOutput(200, 50, 90, 25, "Cycle time [µs]");
+ output_cycle->align(ALIGN_LEFT | ALIGN_TOP);
+
+ output_jitter = new ValueOutput(200, 90, 90, 25, "Jitter [%]");
+ output_jitter->align(ALIGN_LEFT | ALIGN_TOP);
+
+ output_work = new ValueOutput(200, 130, 90, 25, "Work time [µs]");
+ output_work->align(ALIGN_LEFT | ALIGN_TOP);
+
+ output_busy = new ValueOutput(200, 170, 90, 25, "Busy rate [%]");
+ output_busy->align(ALIGN_LEFT | ALIGN_TOP);
+
+ output_bus = new ValueOutput(200, 210, 90, 25, "Bus time [µs]");
+ output_bus->align(ALIGN_LEFT | ALIGN_TOP);
+
+ check1 = new CheckButton(200, 240, 30, 25, "1");
+ check2 = new CheckButton(250, 240, 30, 25, "2");
+ check3 = new CheckButton(200, 270, 30, 25, "3");
+ check4 = new CheckButton(250, 270, 30, 25, "4");
+
+ // output_cycle = new Output(200, 35, 90, 25);
+
+ window->end();
+ window->show();
+
+ add_timeout(SLIDER_UPDATE_CYCLE, slider_read_timeout, NULL);
+ add_timeout(VALUES_UPDATE_CYCLE, values_timeout, NULL);
+
+ printf("Starting thread...\n");
+
+ if (EtherCAT_start(&master, 20, write_data, read_data, 10000) != 0)
+ {
+ return -1;
+ }
+
+ run(); // Start FLTK loop
+
+ remove_timeout(slider_read_timeout, NULL);
+ remove_timeout(values_timeout, NULL);
+
+ printf("Stopping master thread...\n");
+ EtherCAT_stop(&master);
+
+ printf("Deactivating slaves...\n");
+
+ EtherCAT_deactivate_slave(&master, dig_out);
+ EtherCAT_deactivate_slave(&master, dig_in);
+ EtherCAT_deactivate_slave(&master, input);
+ EtherCAT_deactivate_slave(&master, output);
+ EtherCAT_deactivate_slave(&master, buskoppler);
+
+ EtherCAT_master_clear(&master);
+
+ printf("Finished.\n");
+
+ return 0;
+}
+
+//---------------------------------------------------------------
+
+void write_data(unsigned char *data)
+{
+ data[0] = write_value & 0xFF;
+ data[1] = (write_value & 0xFF00) >> 8;
+
+ data[14] = (write_value * 16 / 32767) & 0x0F;
+}
+
+//---------------------------------------------------------------
+
+void read_data(unsigned char *data)
+{
+ read_value = data[5] | data[6] << 8;
+ dig_value = data[15];
+}
+
+//---------------------------------------------------------------
+
+void slider_read_timeout(void *data)
+{
+ slider_read->value((double) read_value / 65536 + 0.5);
+ slider_read->redraw();
+
+ check1->value(dig_value & 1);
+ check2->value(dig_value & 2);
+ check3->value(dig_value & 4);
+ check4->value(dig_value & 8);
+
+ if (max_cycle < master.last_cycle_time) max_cycle = master.last_cycle_time;
+ if (max_jitter < master.last_jitter) max_jitter = master.last_jitter;
+ if (max_work < master.last_cycle_work_time) max_work = master.last_cycle_work_time;
+ if (max_busy < master.last_cycle_busy_rate) max_busy = master.last_cycle_busy_rate;
+ if (max_bus < master.bus_time) max_bus = master.bus_time;
+
+ repeat_timeout(SLIDER_UPDATE_CYCLE, slider_read_timeout, NULL);
+}
+
+//---------------------------------------------------------------
+
+void values_timeout(void *data)
+{
+ output_cycle->value(max_cycle * 1000000.0);
+ output_jitter->value(max_jitter);
+ output_work->value(max_work * 1000000.0);
+ output_busy->value(max_busy);
+ output_bus->value(max_bus * 1000000.0);
+
+ max_cycle = max_jitter = max_work = max_busy = max_bus = 0.0;
+
+ repeat_timeout(VALUES_UPDATE_CYCLE, values_timeout, NULL);
+}
+
+//---------------------------------------------------------------
+
+void slider_write_callback(Widget *sender, void *data)
+{
+ write_value = (short unsigned int) (32767 * slider_write->value() + 0.5);
+}
+
+//---------------------------------------------------------------