node_8cpp-source.html

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<a name="l00125"></a>00125    this-&gt;nodeID = nodeID;
<a name="l00126"></a>00126    state = <a class="code" href="CML__Node_8h.html#a9a1">NODESTATE_UNKNOWN</a>;
<a name="l00127"></a>00127 
<a name="l00128"></a>00128    <span class="comment">// Start out with node guarding disabled, and </span>
<a name="l00129"></a>00129    <span class="comment">// start the guard monitor thread.</span>
<a name="l00130"></a>00130    guardEvents.<a class="code" href="classEventMap.html#a7">clrBits</a>( 0xFFFFFFFF );
<a name="l00131"></a>00131    guardTimeout = -1;
<a name="l00132"></a>00132    guardToggle = -1;
<a name="l00133"></a>00133    guardType = <a class="code" href="CML__Node_8h.html#a10a6">GUARDTYPE_NONE</a>;
<a name="l00134"></a>00134    desired = <a class="code" href="CML__Node_8h.html#a9a0">NODESTATE_INVALID</a>;
<a name="l00135"></a>00135    err = <a class="code" href="classThread.html#a3">Thread::start</a>();
<a name="l00136"></a>00136    <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00137"></a>00137 
<a name="l00138"></a>00138    <span class="comment">// Enable reception of node guarding messages</span>
<a name="l00139"></a>00139    err = <a class="code" href="classReceiver.html#a3">Receiver::Init</a>( canOpen, 0x700+nodeID );
<a name="l00140"></a>00140    <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00141"></a>00141    <a class="code" href="classReceiver.html#a7">Receiver::EnableReceiver</a>();
<a name="l00142"></a>00142 
<a name="l00143"></a>00143    <span class="comment">// Init my SDO</span>
<a name="l00144"></a>00144    err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a3">Init</a>( canOpen, 0x600+nodeID, 0x580+nodeID );
<a name="l00145"></a>00145    <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00146"></a>00146 
<a name="l00147"></a>00147    <span class="comment">// Init the emergency object handler</span>
<a name="l00148"></a>00148    err = emcy.<a class="code" href="classNodeEmcyRcvr.html#d1">Init</a>( <span class="keyword">this</span> );
<a name="l00149"></a>00149    <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00150"></a>00150 
<a name="l00151"></a>00151    <span class="comment">// Enable the emergency receiver</span>
<a name="l00152"></a>00152    emcy.<a class="code" href="classReceiver.html#a7">EnableReceiver</a>();
<a name="l00153"></a>00153 
<a name="l00154"></a>00154    <span class="keywordflow">return</span> 0;
<a name="l00155"></a>00155 }
<a name="l00156"></a>00156 
<a name="l00157"></a>00157 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00158"></a>00158 <span class="comment">/**</span>
<a name="l00159"></a>00159 <span class="comment">Un-initialize the Node object.  This puts the object back to it's default</span>
<a name="l00160"></a>00160 <span class="comment">state.</span>
<a name="l00161"></a>00161 <span class="comment">@return A pointer to an error object, or NULL on success.</span>
<a name="l00162"></a>00162 <span class="comment">*/</span>
<a name="l00163"></a>00163 <span class="comment">/***************************************************************************/</span>
<a name="l00164"></a><a class="code" href="classNode.html#a7">00164</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classNode.html#a7">Node::UnInit</a>( <span class="keywordtype">void</span> )
<a name="l00165"></a>00165 {
<a name="l00166"></a>00166    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err = <a class="code" href="classThread.html#a4">stop</a>();
<a name="l00167"></a>00167 
<a name="l00168"></a>00168    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classReceiver.html#a4">Receiver::UnInit</a>();
<a name="l00169"></a>00169    <span class="keywordflow">if</span>( !err ) err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classReceiver.html#a4">UnInit</a>();
<a name="l00170"></a>00170    <span class="keywordflow">if</span>( !err ) err = emcy.<a class="code" href="classReceiver.html#a4">UnInit</a>();
<a name="l00171"></a>00171    <span class="keywordflow">return</span> err;
<a name="l00172"></a>00172 }
<a name="l00173"></a>00173 
<a name="l00174"></a>00174 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00175"></a>00175 <span class="comment">/**</span>
<a name="l00176"></a>00176 <span class="comment">Associate the passed PDO object with this node.  The PDO</span>
<a name="l00177"></a>00177 <span class="comment">will be setup as this node's nth PDO.</span>
<a name="l00178"></a>00178 <span class="comment"></span>
<a name="l00179"></a>00179 <span class="comment">@param slot Which PDO slot to assign this PDO to.</span>
<a name="l00180"></a>00180 <span class="comment">@param pdo The PDO object.</span>
<a name="l00181"></a>00181 <span class="comment">@param enable If true, the PDO will be enabled after being setup (default).</span>
<a name="l00182"></a>00182 <span class="comment">              If false, the PDO will be setup but not enabled.</span>
<a name="l00183"></a>00183 <span class="comment">@return A pointer to an error object, or NULL on success</span>
<a name="l00184"></a>00184 <span class="comment">*/</span>
<a name="l00185"></a>00185 <span class="comment">/***************************************************************************/</span>
<a name="l00186"></a><a class="code" href="classNode.html#a8">00186</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classNode.html#a8">Node::PdoSet</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> slot, <a class="code" href="classPDO.html">PDO</a> &amp;pdo, <span class="keywordtype">bool</span> enable )
<a name="l00187"></a>00187 {
<a name="l00188"></a>00188    <span class="comment">// Make sure the slot is reasonable.</span>
<a name="l00189"></a>00189    <span class="keywordflow">if</span>( slot &gt; 511 )
<a name="l00190"></a>00190       <span class="keywordflow">return</span> &amp;<a class="code" href="classCanOpenError.html#s1">CanOpenError::BadParam</a>;
<a name="l00191"></a>00191 
<a name="l00192"></a>00192    <a class="code" href="CML__Utils_8h.html#a8">uint16</a> base = slot+pdo.<a class="code" href="classPDO.html#a3">BaseIndex</a>();
<a name="l00193"></a>00193 
<a name="l00194"></a>00194    <span class="comment">// Upload the current PDO ID from the</span>
<a name="l00195"></a>00195    <span class="comment">// amplifier.  If the PDO is enabled, </span>
<a name="l00196"></a>00196    <span class="comment">// disable it now.</span>
<a name="l00197"></a>00197    <a class="code" href="CML__Utils_8h.html#a10">uint32</a> pdoID;
<a name="l00198"></a>00198    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a9">Upld32</a>( base, 1, pdoID );
<a name="l00199"></a>00199    <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00200"></a>00200 
<a name="l00201"></a>00201    <span class="keywordflow">if</span>( !(pdoID &amp; 0x80000000) )
<a name="l00202"></a>00202    {
<a name="l00203"></a>00203       pdoID |= 0x80000000;
<a name="l00204"></a>00204       err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a8">Dnld32</a>( base, 1, pdoID );
<a name="l00205"></a>00205       <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00206"></a>00206    }
<a name="l00207"></a>00207 
<a name="l00208"></a>00208    <span class="comment">// Find the ID code for this PDO</span>
<a name="l00209"></a>00209    <a class="code" href="CML__Utils_8h.html#a10">uint32</a> newID = pdo.<a class="code" href="classPDO.html#a4">GetID</a>() | 0x80000000;
<a name="l00210"></a>00210    <span class="keywordflow">if</span>( !pdo.<a class="code" href="classPDO.html#a9">GetRtrOk</a>() ) newID |= 0x40000000;
<a name="l00211"></a>00211 
<a name="l00212"></a>00212    <span class="comment">// Update the PDO ID if it's different.</span>
<a name="l00213"></a>00213    <span class="keywordflow">if</span>( newID != pdoID )
<a name="l00214"></a>00214    {
<a name="l00215"></a>00215       err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a8">Dnld32</a>( base, 1, newID );
<a name="l00216"></a>00216       <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00217"></a>00217    }
<a name="l00218"></a>00218 
<a name="l00219"></a>00219    <span class="comment">// Compare the new and old PDO type.</span>
<a name="l00220"></a>00220    <span class="comment">// If different, update it.</span>
<a name="l00221"></a>00221    <a class="code" href="CML__Utils_8h.html#a2">byte</a> oldType;
<a name="l00222"></a>00222    err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a13">Upld8</a>( base, 2, oldType );
<a name="l00223"></a>00223    <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00224"></a>00224 
<a name="l00225"></a>00225    <span class="keywordflow">if</span>( oldType != pdo.<a class="code" href="classPDO.html#a6">GetType</a>() )
<a name="l00226"></a>00226    {
<a name="l00227"></a>00227       err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a12">Dnld8</a>( base, 2, pdo.<a class="code" href="classPDO.html#a6">GetType</a>() );
<a name="l00228"></a>00228       <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00229"></a>00229    }
<a name="l00230"></a>00230 
<a name="l00231"></a>00231    <span class="comment">// Update inhibit time &amp; event time (not supported yet)</span>
<a name="l00232"></a>00232 
<a name="l00233"></a>00233    <span class="comment">// Get the PDO variable mapping info</span>
<a name="l00234"></a>00234    <a class="code" href="CML__Utils_8h.html#a10">uint32</a> codes[<a class="code" href="CML__PDO_8h.html#a0">PDO_MAP_LEN</a>];
<a name="l00235"></a>00235    <a class="code" href="CML__Utils_8h.html#a2">byte</a> ct = pdo.<a class="code" href="classPDO.html#a10">GetMapCodes</a>( codes );
<a name="l00236"></a>00236 
<a name="l00237"></a>00237    base += 0x200;
<a name="l00238"></a>00238 
<a name="l00239"></a>00239    <span class="comment">// Compare the new mapping info to the info already</span>
<a name="l00240"></a>00240    <span class="comment">// in the PDO.  If it's different, then I'll update it.</span>
<a name="l00241"></a>00241    <a class="code" href="CML__Utils_8h.html#a2">byte</a> pdoCt;
<a name="l00242"></a>00242    err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a13">Upld8</a>( base, 0, pdoCt );
<a name="l00243"></a>00243    <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00244"></a>00244 
<a name="l00245"></a>00245    <span class="keywordtype">bool</span> done = <span class="keyword">false</span>;
<a name="l00246"></a>00246 
<a name="l00247"></a>00247    <span class="keywordflow">if</span>( pdoCt == ct )
<a name="l00248"></a>00248    {
<a name="l00249"></a>00249       <a class="code" href="CML__Utils_8h.html#a10">uint32</a> var;
<a name="l00250"></a>00250       <a class="code" href="CML__Utils_8h.html#a2">byte</a> i;
<a name="l00251"></a>00251       <span class="keywordflow">for</span>( i=0; i&lt;ct; i++ )
<a name="l00252"></a>00252       {
<a name="l00253"></a>00253     err = <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a9">Upld32</a>( base, i+1, var );
<a name="l00254"></a>00254     <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00255"></a>00255 
<a name="l00256"></a>00256     <span class="keywordflow">if</span>( var != codes[i] )
<a name="l00257"></a>00257        <span class="keywordflow">break</span>;