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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: Node.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>Node.cpp</h1><a href="Node_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">This file holds code to implement the CANopen node related objects.</span><a name="l00014"></a>00014 <span class="comment">*/</span><a name="l00015"></a>00015 <a name="l00016"></a>00016 <span class="preprocessor">#include "<a class="code" href="CML_8h.html">CML.h</a>"</span><a name="l00017"></a>00017 <a name="l00018"></a>00018 <a class="code" href="CML__Settings_8h.html#a13">CML_NAMESPACE_USE</a>();<a name="l00019"></a>00019 <a name="l00020"></a>00020 <span class="comment">/**************************************************</span><a name="l00021"></a>00021 <span class="comment">* Node Error objects</span><a name="l00022"></a>00022 <span class="comment">**************************************************/</span><a name="l00023"></a>00023 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classNodeError.html">NodeError</a>, GuardTimeout, <span class="stringliteral">"Node guarding timeout"</span> );<a name="l00024"></a>00024 <a name="l00025"></a>00025 <span class="comment">/**************************************************</span><a name="l00026"></a>00026 <span class="comment">* Bits used with the node guarding event map</span><a name="l00027"></a>00027 <span class="comment">**************************************************/</span><a name="l00028"></a><a class="code" href="Node_8cpp.html#a0">00028</a> <span class="preprocessor">#define GUARD_EVENT_MSG_RVCD 0x00000001</span><a name="l00029"></a><a class="code" href="Node_8cpp.html#a1">00029</a> <span class="preprocessor"></span><span class="preprocessor">#define GUARD_EVENT_CHANGE 0x00000002</span><a name="l00030"></a><a class="code" href="Node_8cpp.html#a2">00030</a> <span class="preprocessor"></span><span class="preprocessor">#define GUARD_EVENT_DSRDSTATE 0x00000004</span><a name="l00031"></a>00031 <span class="preprocessor"></span><a name="l00032"></a>00032 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00033"></a>00033 <span class="comment">/**</span><a name="l00034"></a>00034 <span class="comment">Initialize a CANopen node emergency receiver. This function should be called</span><a name="l00035"></a>00035 <span class="comment">once and only once for each emergency receiver.</span><a name="l00036"></a>00036 <span class="comment">@return A pointer to an error object, or NULL on success</span><a name="l00037"></a>00037 <span class="comment">*/</span><a name="l00038"></a>00038 <span class="comment">/***************************************************************************/</span><a name="l00039"></a>00039 <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *NodeEmcyRcvr::Init( <a class="code" href="classNode.html">Node</a> *nodePtr )<a name="l00040"></a>00040 {<a name="l00041"></a>00041 <span class="comment">// Return an error if the object has already been initialized.</span><a name="l00042"></a>00042 <span class="keywordflow">if</span>( <a class="code" href="classReceiver.html#a10">IsInitialized</a>() ) <span class="keywordflow">return</span> &<a class="code" href="classCanOpenError.html#s9">CanOpenError::Initialized</a>;<a name="l00043"></a>00043 <a name="l00044"></a>00044 <span class="comment">// Init the object</span><a name="l00045"></a>00045 node = nodePtr;<a name="l00046"></a>00046 <a name="l00047"></a>00047 <span class="keywordflow">return</span> <a class="code" href="classReceiver.html#a3">Receiver::Init</a>( *(node-><a class="code" href="classReceiver.html#p0">co</a>), 0x80 + node-><a class="code" href="classNode.html#r0">nodeID</a> );<a name="l00048"></a>00048 }<a name="l00049"></a>00049 <a name="l00050"></a>00050 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00051"></a>00051 <span class="comment">/**</span><a name="l00052"></a>00052 <span class="comment">Handle an node's emergency object. The HandleEmergency() member function </span><a name="l00053"></a>00053 <span class="comment">of the node that this emergency handler is associated with is called.</span><a name="l00054"></a>00054 <span class="comment">@param frame The emergency frame</span><a name="l00055"></a>00055 <span class="comment">@return Always returns 1.</span><a name="l00056"></a>00056 <span class="comment">*/</span><a name="l00057"></a>00057 <span class="comment">/***************************************************************************/</span><a name="l00058"></a>00058 <span class="keywordtype">int</span> NodeEmcyRcvr::NewFrame( <a class="code" href="structCanFrame.html">CanFrame</a> &frame )<a name="l00059"></a>00059 {<a name="l00060"></a>00060 node-><a class="code" href="classNode.html#b0">HandleEmergency</a>( frame );<a name="l00061"></a>00061 <span class="keywordflow">return</span> 1;<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">Default CANopen node object constructor. This constructor simple marks the</span><a name="l00067"></a>00067 <span class="comment">object as uninitialized. The Init() function must be called before this</span><a name="l00068"></a>00068 <span class="comment">object can be used.</span><a name="l00069"></a>00069 <span class="comment">*/</span><a name="l00070"></a>00070 <span class="comment">/***************************************************************************/</span><a name="l00071"></a><a class="code" href="classNode.html#a0">00071</a> <a class="code" href="classNode.html#a0">Node::Node</a>()<a name="l00072"></a>00072 {<a name="l00073"></a>00073 <a class="code" href="classNode.html#p0">stateChangeDelay</a> = 0;<a name="l00074"></a>00074 }<a name="l00075"></a>00075 <a name="l00076"></a>00076 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00077"></a>00077 <span class="comment">/**</span><a name="l00078"></a>00078 <span class="comment">Initialize the CANopen Node object.</span><a name="l00079"></a>00079 <span class="comment">@param canOpen The CANopen network object that this node is associated with.</span><a name="l00080"></a>00080 <span class="comment">@param nodeID The node's ID. This must range from 1 to 127 for the node to</span><a name="l00081"></a>00081 <span class="comment"> be successfully initialized.</span><a name="l00082"></a>00082 <span class="comment">*/</span><a name="l00083"></a>00083 <span class="comment">/***************************************************************************/</span><a name="l00084"></a><a class="code" href="classNode.html#a1">00084</a> <a class="code" href="classNode.html#a0">Node::Node</a>( <a class="code" href="classCanOpen.html">CanOpen</a> &canOpen, <a class="code" href="CML__Utils_8h.html#a7">int16</a> nodeID )<a name="l00085"></a>00085 {<a name="l00086"></a>00086 <a class="code" href="classNode.html#a6">Init</a>( canOpen, nodeID );<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">CANopen node destructor.</span><a name="l00092"></a>00092 <span class="comment">*/</span><a name="l00093"></a>00093 <span class="comment">/***************************************************************************/</span><a name="l00094"></a><a class="code" href="classNode.html#a2">00094</a> <a class="code" href="classNode.html#a2">Node::~Node</a>()<a name="l00095"></a>00095 {<a name="l00096"></a>00096 <a class="code" href="CML_8h.html#a0">cml</a>.<a class="code" href="classCopleyMotionLibrary.html#a8">Debug</a>( <span class="stringliteral">"Node: %d destroyed\n"</span>, nodeID );<a name="l00097"></a>00097 <a class="code" href="classNode.html#a7">UnInit</a>();<a name="l00098"></a>00098 }<a name="l00099"></a>00099 <a name="l00100"></a>00100 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00101"></a>00101 <span class="comment">/**</span><a name="l00102"></a>00102 <span class="comment">Initialize the CANopen Node object. Note that a CANopen node object must</span><a name="l00103"></a>00103 <span class="comment">be initialized once and only once. This function should be used to initialize</span><a name="l00104"></a>00104 <span class="comment">the object if it was created using the default constructor.</span><a name="l00105"></a>00105 <span class="comment"></span><a name="l00106"></a>00106 <span class="comment">@param canOpen The CANopen network object that this node is associated with.</span><a name="l00107"></a>00107 <span class="comment">@param nodeID The node's ID. This must range from 1 to 127 for the node to</span><a name="l00108"></a>00108 <span class="comment"> be successfully initialized.</span><a name="l00109"></a>00109 <span class="comment">@return A pointer to an error object, or NULL on success</span><a name="l00110"></a>00110 <span class="comment">*/</span><a name="l00111"></a>00111 <span class="comment">/***************************************************************************/</span><a name="l00112"></a><a class="code" href="classNode.html#a6">00112</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classNode.html#a6">Node::Init</a>( <a class="code" href="classCanOpen.html">CanOpen</a> &canOpen, <a class="code" href="CML__Utils_8h.html#a7">int16</a> nodeID )<a name="l00113"></a>00113 {<a name="l00114"></a>00114 <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err;<a name="l00115"></a>00115 <a name="l00116"></a>00116 <span class="comment">// Check for invalid node ID</span><a name="l00117"></a>00117 <span class="keywordflow">if</span>( nodeID < 1 || nodeID > 127 )<a name="l00118"></a>00118 <span class="keywordflow">return</span> &<a class="code" href="classCanOpenError.html#s7">CanOpenError::BadNodeID</a>;<a name="l00119"></a>00119 <a name="l00120"></a>00120 <span class="comment">// Un-initialize first if necessary</span><a name="l00121"></a>00121 <span class="keywordflow">if</span>( <a class="code" href="classReceiver.html#a10">IsInitialized</a>() && (err = <a class="code" href="classNode.html#a7">UnInit</a>()) != 0 )<a name="l00122"></a>00122 <span class="keywordflow">return</span> err;<a name="l00123"></a>00123 <a name="l00124"></a>00124 <span class="comment">// Init some local parameters</span>⌨️ 快捷键说明
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