canopen_8cpp-source.html

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<a name="l00136"></a>00136       <span class="keywordflow">return</span> &amp;<a class="code" href="classCanOpenError.html#s9">CanOpenError::Initialized</a>;
<a name="l00137"></a>00137 
<a name="l00138"></a>00138    <span class="comment">// Keep a pointer to the CAN interface object.</span>
<a name="l00139"></a>00139    can = &amp;canRef;
<a name="l00140"></a>00140 
<a name="l00141"></a>00141    <span class="comment">// Open the low level CAN interface</span>
<a name="l00142"></a>00142    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err = can-&gt;<a class="code" href="classCanInterface.html#a4">Open</a>();
<a name="l00143"></a>00143 
<a name="l00144"></a>00144    <span class="keywordflow">if</span>( err &amp;&amp; (err != &amp;<a class="code" href="classCanError.html#s2">CanError::AlreadyOpen</a>) )
<a name="l00145"></a>00145       <span class="keywordflow">return</span> err;
<a name="l00146"></a>00146 
<a name="l00147"></a>00147    <span class="comment">// Save a pointer to this object in the CanInterface object.</span>
<a name="l00148"></a>00148    <span class="comment">// This is used to ensure clean destruction of both objects.</span>
<a name="l00149"></a>00149    can-&gt;<a class="code" href="classCanInterface.html#r0">canOpenPtr</a> = <span class="keyword">this</span>;
<a name="l00150"></a>00150 
<a name="l00151"></a>00151    <a class="code" href="classThread.html#a2">setPriority</a>( settings.<a class="code" href="classCanOpenSettings.html#o0">readThreadPriority</a> );
<a name="l00152"></a>00152 
<a name="l00153"></a>00153    <span class="comment">// Start a thread that will listen for messages </span>
<a name="l00154"></a>00154    <span class="comment">// on the CAN network.</span>
<a name="l00155"></a>00155    <span class="keywordflow">if</span>( <a class="code" href="classThread.html#a3">start</a>() )
<a name="l00156"></a>00156       <span class="keywordflow">return</span> &amp;<a class="code" href="classCanOpenError.html#s0">CanOpenError::ThreadStart</a>;
<a name="l00157"></a>00157 
<a name="l00158"></a>00158    <span class="keywordflow">return</span> 0;
<a name="l00159"></a>00159 }
<a name="l00160"></a>00160 
<a name="l00161"></a>00161 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00162"></a>00162 <span class="comment">/**</span>
<a name="l00163"></a>00163 <span class="comment">Send a Network Management message to one or more nodes on the network.</span>
<a name="l00164"></a>00164 <span class="comment">@param code The network management function code to be sent.</span>
<a name="l00165"></a>00165 <span class="comment">@param nodeID The ID of the node to send the message to.  Use 0 to broadcast</span>
<a name="l00166"></a>00166 <span class="comment">       the message to all nodes.</span>
<a name="l00167"></a>00167 <span class="comment">@return A pointer to an error object, or NULL on success.</span>
<a name="l00168"></a>00168 <span class="comment">*/</span>
<a name="l00169"></a>00169 <span class="comment">/***************************************************************************/</span>
<a name="l00170"></a>00170 <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *CanOpen::NMT_Msg( <span class="keywordtype">int</span> code, <span class="keywordtype">int</span> nodeID )
<a name="l00171"></a>00171 {
<a name="l00172"></a>00172    <span class="comment">// Check for a valid Node ID</span>
<a name="l00173"></a>00173    <span class="keywordflow">if</span>( nodeID &lt; 0 || nodeID &gt; 127 )
<a name="l00174"></a>00174       <span class="keywordflow">return</span> &amp;<a class="code" href="classCanOpenError.html#s7">CanOpenError::BadNodeID</a>;
<a name="l00175"></a>00175 
<a name="l00176"></a>00176    <a class="code" href="structCanFrame.html">CanFrame</a> frame;
<a name="l00177"></a>00177    frame.<a class="code" href="structCanFrame.html#o1">id</a> = 0;
<a name="l00178"></a>00178    frame.<a class="code" href="structCanFrame.html#o0">type</a> = <a class="code" href="CML__Can_8h.html#a3a0">CAN_FRAME_DATA</a>;
<a name="l00179"></a>00179    frame.<a class="code" href="structCanFrame.html#o2">length</a> = 2;
<a name="l00180"></a>00180    frame.<a class="code" href="structCanFrame.html#o3">data</a>[0] = code;
<a name="l00181"></a>00181    frame.<a class="code" href="structCanFrame.html#o3">data</a>[1] = nodeID;
<a name="l00182"></a>00182 
<a name="l00183"></a>00183    <span class="keywordflow">return</span> <a class="code" href="classCanOpen.html#a5">Xmit</a>( frame );
<a name="l00184"></a>00184 }
<a name="l00185"></a>00185 
<a name="l00186"></a>00186 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00187"></a>00187 <span class="comment">/**</span>
<a name="l00188"></a>00188 <span class="comment">Send a network management message to start the specified node.  All nodes</span>
<a name="l00189"></a>00189 <span class="comment">are started if the passed node ID is zero.</span>
<a name="l00190"></a>00190 <span class="comment">@param nodeID The ID of the node to started, or zero for all nodes.</span>
<a name="l00191"></a>00191 <span class="comment">@return A pointer to an error object, or NULL on success.</span>
<a name="l00192"></a>00192 <span class="comment">*/</span>
<a name="l00193"></a>00193 <span class="comment">/***************************************************************************/</span>
<a name="l00194"></a><a class="code" href="classCanOpen.html#a9">00194</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classCanOpen.html#a9">CanOpen::StartNode</a>( <span class="keywordtype">int</span> nodeID ){ <span class="keywordflow">return</span> NMT_Msg( 1, nodeID ); }
<a name="l00195"></a>00195 
<a name="l00196"></a>00196 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00197"></a>00197 <span class="comment">/**</span>
<a name="l00198"></a>00198 <span class="comment">Send a network management message to stop the specified node.  All nodes</span>
<a name="l00199"></a>00199 <span class="comment">are stopped if the passed node ID is zero.</span>
<a name="l00200"></a>00200 <span class="comment">@param nodeID The ID of the node to stop, or zero for all nodes.</span>
<a name="l00201"></a>00201 <span class="comment">@return A pointer to an error object, or NULL on success.</span>
<a name="l00202"></a>00202 <span class="comment">*/</span>
<a name="l00203"></a>00203 <span class="comment">/***************************************************************************/</span>
<a name="l00204"></a><a class="code" href="classCanOpen.html#a10">00204</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classCanOpen.html#a10">CanOpen::StopNode</a>( <span class="keywordtype">int</span> nodeID ) { <span class="keywordflow">return</span> NMT_Msg( 2, nodeID ); }
<a name="l00205"></a>00205 
<a name="l00206"></a>00206 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00207"></a>00207 <span class="comment">/**</span>
<a name="l00208"></a>00208 <span class="comment">Send a network management message to put the specified node in pre-operational</span>
<a name="l00209"></a>00209 <span class="comment">state.  All nodes are made pre-operational if the passed node ID is zero.</span>
<a name="l00210"></a>00210 <span class="comment">@param nodeID The ID of the node to make pre-operational.  Zero for all nodes.</span>
<a name="l00211"></a>00211 <span class="comment">@return A pointer to an error object, or NULL on success.</span>
<a name="l00212"></a>00212 <span class="comment">*/</span>
<a name="l00213"></a>00213 <span class="comment">/***************************************************************************/</span>
<a name="l00214"></a><a class="code" href="classCanOpen.html#a8">00214</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classCanOpen.html#a8">CanOpen::PreOpNode</a>( <span class="keywordtype">int</span> nodeID ){ <span class="keywordflow">return</span> NMT_Msg( 128, nodeID ); }
<a name="l00215"></a>00215 
<a name="l00216"></a>00216 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00217"></a>00217 <span class="comment">/**</span>
<a name="l00218"></a>00218 <span class="comment">Send a network management message to reset the specified node.  All nodes</span>
<a name="l00219"></a>00219 <span class="comment">are reset if the passed node ID is zero.</span>
<a name="l00220"></a>00220 <span class="comment">@param nodeID The ID of the node to reset, or zero for all nodes.</span>
<a name="l00221"></a>00221 <span class="comment">@return A pointer to an error object, or NULL on success.</span>
<a name="l00222"></a>00222 <span class="comment">*/</span>
<a name="l00223"></a>00223 <span class="comment">/***************************************************************************/</span>
<a name="l00224"></a><a class="code" href="classCanOpen.html#a6">00224</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classCanOpen.html#a6">CanOpen::ResetNode</a>( <span class="keywordtype">int</span> nodeID ){ <span class="keywordflow">return</span> NMT_Msg( 129, nodeID ); }
<a name="l00225"></a>00225 
<a name="l00226"></a>00226 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00227"></a>00227 <span class="comment">/**</span>
<a name="l00228"></a>00228 <span class="comment">Send a network management message to reset the communications of the specified </span>
<a name="l00229"></a>00229 <span class="comment">node.  All nodes have their communications reset if the passed node ID is zero.</span>
<a name="l00230"></a>00230 <span class="comment">@param nodeID The ID of the node to reset, or zero for all nodes.</span>
<a name="l00231"></a>00231 <span class="comment">@return A pointer to an error object, or NULL on success.</span>
<a name="l00232"></a>00232 <span class="comment">*/</span>
<a name="l00233"></a>00233 <span class="comment">/***************************************************************************/</span>
<a name="l00234"></a><a class="code" href="classCanOpen.html#a7">00234</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classCanOpen.html#a7">CanOpen::ResetComm</a>( <span class="keywordtype">int</span> nodeID ){ <span class="keywordflow">return</span> NMT_Msg( 130, nodeID ); }
<a name="l00235"></a>00235 
<a name="l00236"></a>00236 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00237"></a>00237 <span class="comment">/**</span>
<a name="l00238"></a>00238 <span class="comment">Transmit a frame over the CANopen network.</span>
<a name="l00239"></a>00239 <span class="comment">*/</span>
<a name="l00240"></a>00240 <span class="comment">/***************************************************************************/</span>
<a name="l00241"></a><a class="code" href="classCanOpen.html#a5">00241</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classCanOpen.html#a5">CanOpen::Xmit</a>( <a class="code" href="structCanFrame.html">CanFrame</a> &amp;frame, <a class="code" href="CML__Utils_8h.html#a9">int32</a> timeout )
<a name="l00242"></a>00242 {
<a name="l00243"></a>00243    <span class="keywordflow">if</span>( !can ) <span class="keywordflow">return</span> &amp;<a class="code" href="classCanOpenError.html#s15">CanOpenError::Closed</a>;
<a name="l00244"></a>00244    <span class="keywordflow">return</span> can-&gt;<a class="code" href="classCanInterface.html#a8">Xmit</a>( frame, timeout );
<a name="l00245"></a>00245 }
<a name="l00246"></a>00246 
<a name="l00247"></a>00247 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00248"></a>00248 <span class="comment">/**</span>
<a name="l00249"></a>00249 <span class="comment">CAN network read thread.  This function defines the thread that will be</span>
<a name="l00250"></a>00250 <span class="comment">used to read the CAN network and pass received frames to the various </span>
<a name="l00251"></a>00251 <span class="comment">CANopen network reader objects.</span>
<a name="l00252"></a>00252 <span class="comment">*/</span>
<a name="l00253"></a>00253 <span class="comment">/***************************************************************************/</span>
<a name="l00254"></a>00254 <span class="keywordtype">void</span> CanOpen::run( <span class="keywordtype">void</span> )
<a name="l00255"></a>00255 {
<a name="l00256"></a>00256    <a class="code" href="classReceiver.html">Receiver</a> *r;
<a name="l00257"></a>00257    <a class="code" href="structCanFrame.html">CanFrame</a> frame;
<a name="l00258"></a>00258 
<a name="l00259"></a>00259    <span class="keywordflow">while</span>( 1 )
<a name="l00260"></a>00260    {
<a name="l00261"></a>00261       <span class="comment">// If the port is closed, return.  This will stop the thread.</span>
<a name="l00262"></a>00262       <span class="keywordflow">if</span>( !can ) 
<a name="l00263"></a>00263     <span class="keywordflow">return</span>;
<a name="l00264"></a>00264 
<a name="l00265"></a>00265       <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err = can-&gt;<a class="code" href="classCanInterface.html#a7">Recv</a>( frame );
<a name="l00266"></a>00266 
<a name="l00267"></a>00267       <span class="keywordflow">if</span>( err )
<a name="l00268"></a>00268       {
<a name="l00269"></a>00269     <a class="code" href="CML_8h.html#a0">cml</a>.<a class="code" href="classCopleyMotionLibrary.html#a10">Error</a>( <span class="stringliteral">"Error reading from CAN interface: %s\n"</span>, err-&gt;<a class="code" href="classError.html#a0">toString</a>() );
<a name="l00270"></a>00270     <a class="code" href="classThread.html#e0">sleep</a>( 5 );
<a name="l00271"></a>00271     <span class="keywordflow">continue</span>;
<a name="l00272"></a>00272       }
<a name="l00273"></a>00273 
<a name="l00274"></a>00274       <span class="keywordflow">if</span>( frame.<a class="code" href="structCanFrame.html#o0">type</a> == <a class="code" href="CML__Can_8h.html#a3a2">CAN_FRAME_ERROR</a> )
<a name="l00275"></a>00275       {
<a name="l00276"></a>00276     errorFrameCt++;
<a name="l00277"></a>00277     <span class="keywordflow">continue</span>;
<a name="l00278"></a>00278       }
<a name="l00279"></a>00279