--- a/user/main_gui.cpp Fri Dec 16 15:34:04 2005 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,287 +0,0 @@
-//---------------------------------------------------------------
-//
-// 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);
-}
-
-//---------------------------------------------------------------