iomodule_8cpp-source.html
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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"><html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"><title>Copley Motion Library: IOmodule.cpp Source File</title><link href="doxygen.css" rel="stylesheet" type="text/css"></head><body><!-- Generated by Doxygen 1.4.4 --><div class="qindex"><a class="qindex" href="main.html">Main Page</a> | <a class="qindex" href="hierarchy.html">Class Hierarchy</a> | <a class="qindex" href="classes.html">Alphabetical List</a> | <a class="qindex" href="annotated.html">Class List</a> | <a class="qindex" href="dirs.html">Directories</a> | <a class="qindex" href="files.html">File List</a> | <a class="qindex" href="functions.html">Class Members</a> | <a class="qindex" href="globals.html">File Members</a></div><div class="nav"><a class="el" href="dir_000000.html">c</a></div><h1>IOmodule.cpp</h1><a href="IOmodule_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/************************************************************/</span><a name="l00002"></a>00002 <span class="comment">/* */</span><a name="l00003"></a>00003 <span class="comment">/* Copley Motion Libraries */</span><a name="l00004"></a>00004 <span class="comment">/* */</span><a name="l00005"></a>00005 <span class="comment">/* Author: Stephen Glow */</span><a name="l00006"></a>00006 <span class="comment">/* */</span><a name="l00007"></a>00007 <span class="comment">/* Copyright (c) 2002-2005 Copley Controls Corp. */</span><a name="l00008"></a>00008 <span class="comment">/* http://www.copleycontrols.com */</span><a name="l00009"></a>00009 <span class="comment">/* */</span><a name="l00010"></a>00010 <span class="comment">/************************************************************/</span><a name="l00011"></a>00011 <span class="comment"></span><a name="l00012"></a>00012 <span class="comment">/** \file</span><a name="l00013"></a>00013 <span class="comment"> I/O module object support. This file holds the code used to implement</span><a name="l00014"></a>00014 <span class="comment"> a standard DS401 I/O module.</span><a name="l00015"></a>00015 <span class="comment"> */</span><a name="l00016"></a>00016 <a name="l00017"></a>00017 <span class="preprocessor">#include "<a class="code" href="CML_8h.html">CML.h</a>"</span><a name="l00018"></a>00018 <a name="l00019"></a>00019 <a class="code" href="CML__Settings_8h.html#a13">CML_NAMESPACE_USE</a>();<a name="l00020"></a>00020 <a name="l00021"></a>00021 <span class="comment">// I/O module specific error objects</span><a name="l00022"></a>00022 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classIOError.html">IOError</a>, BadID, <span class="stringliteral">"The passed digital I/O pin ID number is invalid"</span> );<a name="l00023"></a>00023 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classIOError.html">IOError</a>, BadIOCount, <span class="stringliteral">"The number of passed I/O ID blocks is invalid"</span> );<a name="l00024"></a>00024 <a name="l00025"></a>00025 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00026"></a>00026 <span class="comment">/**</span><a name="l00027"></a>00027 <span class="comment"> Default constructor for an I/O module. </span><a name="l00028"></a>00028 <span class="comment"> Any object created using this constructor must be initialized by a call </span><a name="l00029"></a>00029 <span class="comment"> to IOModule::Init before it is used.</span><a name="l00030"></a>00030 <span class="comment"> */</span><a name="l00031"></a>00031 <span class="comment">/***************************************************************************/</span><a name="l00032"></a><a class="code" href="classIOModule.html#a0">00032</a> <a class="code" href="classIOModule.html#a0">IOModule::IOModule</a>( <span class="keywordtype">void</span> )<a name="l00033"></a>00033 {<a name="l00034"></a>00034 <span class="comment">// This delay is a work-around for Beckhoff I/O modules which</span><a name="l00035"></a>00035 <span class="comment">// don't conform to the CANopen spec.</span><a name="l00036"></a>00036 <a class="code" href="classNode.html#p0">stateChangeDelay</a> = 10;<a name="l00037"></a>00037 }<a name="l00038"></a>00038 <a name="l00039"></a>00039 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00040"></a>00040 <span class="comment">/**</span><a name="l00041"></a>00041 <span class="comment"> Construct an IOModule object and initialize it using default settings.</span><a name="l00042"></a>00042 <span class="comment"> @param co The CANopen network object that this module is associated with.</span><a name="l00043"></a>00043 <span class="comment"> @param nodeID The node ID of the module on the network.</span><a name="l00044"></a>00044 <span class="comment"> */</span><a name="l00045"></a>00045 <span class="comment">/***************************************************************************/</span><a name="l00046"></a><a class="code" href="classIOModule.html#a1">00046</a> <a class="code" href="classIOModule.html#a0">IOModule::IOModule</a>( <a class="code" href="classCanOpen.html">CanOpen</a> &co, <a class="code" href="CML__Utils_8h.html#a7">int16</a> nodeID )<a name="l00047"></a>00047 {<a name="l00048"></a>00048 <a class="code" href="classIOModule.html#a4">Init</a>( co, nodeID );<a name="l00049"></a>00049 }<a name="l00050"></a>00050 <a name="l00051"></a>00051 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00052"></a>00052 <span class="comment">/**</span><a name="l00053"></a>00053 <span class="comment"> Construct an IOModule object and initialize it using custom settings.</span><a name="l00054"></a>00054 <span class="comment"> @param co The CANopen network object that this module is associated with.</span><a name="l00055"></a>00055 <span class="comment"> @param nodeID The node ID of the module on the network.</span><a name="l00056"></a>00056 <span class="comment"> @param settings The settings to use when configuring the module</span><a name="l00057"></a>00057 <span class="comment"> */</span><a name="l00058"></a>00058 <span class="comment">/***************************************************************************/</span><a name="l00059"></a><a class="code" href="classIOModule.html#a2">00059</a> <a class="code" href="classIOModule.html#a0">IOModule::IOModule</a>( <a class="code" href="classCanOpen.html">CanOpen</a> &co, <a class="code" href="CML__Utils_8h.html#a7">int16</a> nodeID, <a class="code" href="structIOModuleSettings.html">IOModuleSettings</a> &settings )<a name="l00060"></a>00060 {<a name="l00061"></a>00061 <a class="code" href="classIOModule.html#a4">Init</a>( co, nodeID, settings );<a name="l00062"></a>00062 }<a name="l00063"></a>00063 <a name="l00064"></a>00064 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00065"></a>00065 <span class="comment">/**</span><a name="l00066"></a>00066 <span class="comment"> Virtual destructor for the IOModule object.</span><a name="l00067"></a>00067 <span class="comment"> */</span><a name="l00068"></a>00068 <span class="comment">/***************************************************************************/</span><a name="l00069"></a><a class="code" href="classIOModule.html#a3">00069</a> <a class="code" href="classIOModule.html#a3">IOModule::~IOModule</a>()<a name="l00070"></a>00070 {<a name="l00071"></a>00071 }<a name="l00072"></a>00072 <a name="l00073"></a>00073 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00074"></a>00074 <span class="comment">/**</span><a name="l00075"></a>00075 <span class="comment"> Initialize an I/O module using default settings. This function associates the </span><a name="l00076"></a>00076 <span class="comment"> object with the CANopen network it will be used on.</span><a name="l00077"></a>00077 <span class="comment"></span><a name="l00078"></a>00078 <span class="comment"> @param co The CANopen network object that this module is associated with.</span><a name="l00079"></a>00079 <span class="comment"> @param nodeID The node ID of the module on the network.</span><a name="l00080"></a>00080 <span class="comment"> @return A pointer to an error object, or NULL on success</span><a name="l00081"></a>00081 <span class="comment"> */</span><a name="l00082"></a>00082 <span class="comment">/***************************************************************************/</span><a name="l00083"></a><a class="code" href="classIOModule.html#a4">00083</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classIOModule.html#a4">IOModule::Init</a>( <a class="code" href="classCanOpen.html">CanOpen</a> &co, <a class="code" href="CML__Utils_8h.html#a7">int16</a> nodeID )<a name="l00084"></a>00084 {<a name="l00085"></a>00085 <a class="code" href="structIOModuleSettings.html">IOModuleSettings</a> settings;<a name="l00086"></a>00086 <span class="keywordflow">return</span> <a class="code" href="classIOModule.html#a4">Init</a>( co, nodeID, settings );<a name="l00087"></a>00087 }<a name="l00088"></a>00088 <a name="l00089"></a>00089 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00090"></a>00090 <span class="comment">/**</span><a name="l00091"></a>00091 <span class="comment"> Initialize an I/O module using custom settings. This function associates the </span><a name="l00092"></a>00092 <span class="comment"> object with the CANopen network it will be used on.</span><a name="l00093"></a>00093 <span class="comment"></span><a name="l00094"></a>00094 <span class="comment"> @param co The CANopen network object that this module is associated with.</span><a name="l00095"></a>00095 <span class="comment"> @param nodeID The node ID of the module on the network.</span><a name="l00096"></a>00096 <span class="comment"> @param settings The settings to use when configuring the module</span><a name="l00097"></a>00097 <span class="comment"> @return A pointer to an error object, or NULL on success</span><a name="l00098"></a>00098 <span class="comment"> */</span><a name="l00099"></a>00099 <span class="comment">/***************************************************************************/</span><a name="l00100"></a><a class="code" href="classIOModule.html#a5">00100</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classIOModule.html#a4">IOModule::Init</a>( <a class="code" href="classCanOpen.html">CanOpen</a> &co, <a class="code" href="CML__Utils_8h.html#a7">int16</a> nodeID, <a class="code" href="structIOModuleSettings.html">IOModuleSettings</a> &settings )<a name="l00101"></a>00101 {<a name="l00102"></a>00102 <span class="comment">// Init the base class</span><a name="l00103"></a>00103 <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err = <a class="code" href="classNode.html#a6">Node::Init</a>( co, nodeID );<a name="l00104"></a>00104 <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;<a name="l00105"></a>00105 <a name="l00106"></a>00106 <span class="comment">// Make sure we're in pre-op state. This allows us to map</span>⌨️ 快捷键说明
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