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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: CML_Node.h 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_000001.html">inc</a></div><h1>CML_Node.h</h1><a href="CML__Node_8h.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"></span><a name="l00014"></a>00014 <span class="comment">This header file defines the classes that define a generic</span><a name="l00015"></a>00015 <span class="comment">node on the CANopen network.</span><a name="l00016"></a>00016 <span class="comment"></span><a name="l00017"></a>00017 <span class="comment">*/</span><a name="l00018"></a>00018 <a name="l00019"></a>00019 <span class="preprocessor">#ifndef _DEF_INC_CO_NODE</span><a name="l00020"></a>00020 <span class="preprocessor"></span><span class="preprocessor">#define _DEF_INC_CO_NODE</span><a name="l00021"></a>00021 <span class="preprocessor"></span><a name="l00022"></a>00022 <span class="preprocessor">#include "<a class="code" href="CML__Settings_8h.html">CML_Settings.h</a>"</span><a name="l00023"></a>00023 <span class="preprocessor">#include "<a class="code" href="CML__CanOpen_8h.html">CML_CanOpen.h</a>"</span><a name="l00024"></a>00024 <span class="preprocessor">#include "<a class="code" href="CML__EventMap_8h.html">CML_EventMap.h</a>"</span><a name="l00025"></a>00025 <span class="preprocessor">#include "<a class="code" href="CML__SDO_8h.html">CML_SDO.h</a>"</span><a name="l00026"></a>00026 <span class="preprocessor">#include "<a class="code" href="CML__PDO_8h.html">CML_PDO.h</a>"</span><a name="l00027"></a>00027 <a name="l00028"></a>00028 <a class="code" href="CML__Settings_8h.html#a11">CML_NAMESPACE_START</a>()<a name="l00029"></a>00029 <a name="l00030"></a>00030 <span class="comment">/**</span><a name="l00031"></a>00031 <span class="comment">This class represents node errors. </span><a name="l00032"></a>00032 <span class="comment">There is one static member for each defined node error.</span><a name="l00033"></a>00033 <span class="comment">*/</span><a name="l00034"></a><a class="code" href="classNodeError.html">00034</a> class <a class="code" href="classNodeError.html">NodeError</a>: public <a class="code" href="classCanOpenError.html">CanOpenError</a><a name="l00035"></a>00035 {<a name="l00036"></a>00036 <span class="keyword">public</span>:<span class="comment"></span><a name="l00037"></a>00037 <span class="comment"> /// A node guarding or heartbeat timeout occurred</span><a name="l00038"></a><a class="code" href="classNodeError.html#s0">00038</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classNodeError.html">NodeError</a> GuardTimeout;<a name="l00039"></a>00039 <a name="l00040"></a>00040 <span class="keyword">protected</span>:<span class="comment"></span><a name="l00041"></a>00041 <span class="comment"> /// Standard protected constructor</span><a name="l00042"></a><a class="code" href="classNodeError.html#b0">00042</a> <span class="comment"></span> <a class="code" href="classNodeError.html">NodeError</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> <span class="keywordtype">id</span>, <span class="keyword">const</span> <span class="keywordtype">char</span> *desc ): CanOpenError( id, desc ){}<a name="l00043"></a>00043 };<a name="l00044"></a>00044 <a name="l00045"></a>00045 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00046"></a>00046 <span class="comment">/**</span><a name="l00047"></a>00047 <span class="comment">This class is used by the Node class. It acts as a receiver</span><a name="l00048"></a>00048 <span class="comment">for emergency objects.</span><a name="l00049"></a>00049 <span class="comment">*/</span><a name="l00050"></a>00050 <span class="comment">/***************************************************************************/</span><a name="l00051"></a><a class="code" href="classNodeEmcyRcvr.html">00051</a> <span class="keyword">class </span><a class="code" href="classNodeEmcyRcvr.html">NodeEmcyRcvr</a>: <span class="keyword">public</span> <a class="code" href="classReceiver.html">Receiver</a><a name="l00052"></a>00052 {<span class="comment"></span><a name="l00053"></a>00053 <span class="comment"> /// The node that this emergency receiver is associated with</span><a name="l00054"></a>00054 <span class="comment"></span> <span class="keyword">class </span><a class="code" href="classNode.html">Node</a> *node;<a name="l00055"></a>00055 <span class="comment"></span><a name="l00056"></a>00056 <span class="comment"> /// Default constructor. Mark the object as uninitialized.</span><a name="l00057"></a>00057 <span class="comment"></span> <a class="code" href="classNode.html#n0">NodeEmcyRcvr</a>(){ node = 0; }<a name="l00058"></a>00058 <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classNode.html#a6">Init</a>( <a class="code" href="classNode.html">Node</a> *nodePtr );<a name="l00059"></a>00059 <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classNode.html#a39">NewFrame</a>( <a class="code" href="structCanFrame.html">CanFrame</a> &frame );<a name="l00060"></a>00060 <a name="l00061"></a><a class="code" href="classNodeEmcyRcvr.html#n0">00061</a> <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classNode.html">Node</a>;<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">Enumeration used to identify a CANopen node state.</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="CML__Node_8h.html#a9">00069</a> <span class="keyword">enum</span> <a class="code" href="CML__Node_8h.html#a9">NodeState</a><a name="l00070"></a>00070 {<span class="comment"></span><a name="l00071"></a>00071 <span class="comment"> /// Invalid node state</span><a name="l00072"></a>00072 <span class="comment"></span> <a class="code" href="CML__Node_8h.html#a9a0">NODESTATE_INVALID</a>,<a name="l00073"></a>00073 <span class="comment"></span><a name="l00074"></a>00074 <span class="comment"> /// Unknown state - the default state on node creation.</span><a name="l00075"></a>00075 <span class="comment"> /// The state will be changed when communication with</span><a name="l00076"></a>00076 <span class="comment"> /// the node is established.</span><a name="l00077"></a>00077 <span class="comment"></span> <a class="code" href="CML__Node_8h.html#a9a1">NODESTATE_UNKNOWN</a>,<a name="l00078"></a>00078 <span class="comment"></span><a name="l00079"></a>00079 <span class="comment"> /// On a node guarding or heartbeat timeout, the state</span><a name="l00080"></a>00080 <span class="comment"> /// will change to guard error.</span><a name="l00081"></a>00081 <span class="comment"></span> <a class="code" href="CML__Node_8h.html#a9a2">NODESTATE_GUARDERR</a>,<a name="l00082"></a>00082 <span class="comment"></span><a name="l00083"></a>00083 <span class="comment"> /// Stopped state</span><a name="l00084"></a>00084 <span class="comment"></span> <a class="code" href="CML__Node_8h.html#a9a3">NODESTATE_STOPPED</a>,<a name="l00085"></a>00085 <span class="comment"></span><a name="l00086"></a>00086 <span class="comment"> /// Pre-operational state</span><a name="l00087"></a>00087 <span class="comment"></span> <a class="code" href="CML__Node_8h.html#a9a4">NODESTATE_PRE_OP</a>,<a name="l00088"></a>00088 <span class="comment"></span><a name="l00089"></a>00089 <span class="comment"> /// Operational state</span><a name="l00090"></a>00090 <span class="comment"></span> <a class="code" href="CML__Node_8h.html#a9a5">NODESTATE_OPERATIONAL</a><a name="l00091"></a>00091 };<a name="l00092"></a>00092 <a name="l00093"></a>00093 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00094"></a>00094 <span class="comment">/**</span><a name="l00095"></a>00095 <span class="comment">Enumeration used to identify the various types of node</span><a name="l00096"></a>00096 <span class="comment">guarding protocols used on the CANopen network. </span><a name="l00097"></a>00097 <span class="comment">*/</span><a name="l00098"></a>00098 <span class="comment">/***************************************************************************/</span><a name="l00099"></a><a class="code" href="CML__Node_8h.html#a10">00099</a> <span class="keyword">enum</span> <a class="code" href="CML__Node_8h.html#a10">GuardProtocol</a> <a name="l00100"></a>00100 {<span class="comment"></span><a name="l00101"></a>00101 <span class="comment"> /// No guarding protocol is in use</span><a name="l00102"></a>00102 <span class="comment"></span> <a class="code" href="CML__Node_8h.html#a10a6">GUARDTYPE_NONE</a>,<a name="l00103"></a>00103 <span class="comment"></span><a name="l00104"></a>00104 <span class="comment"> /// The heartbeat protocol is being used</span><a name="l00105"></a>00105 <span class="comment"></span> <a class="code" href="CML__Node_8h.html#a10a7">GUARDTYPE_HEARTBEAT</a>,<a name="l00106"></a>00106 <span class="comment"></span><a name="l00107"></a>00107 <span class="comment"> /// Node guarding protocol is being used</span><a name="l00108"></a>00108 <span class="comment"></span> <a class="code" href="CML__Node_8h.html#a10a8">GUARDTYPE_NODEGUARD</a>⌨️ 快捷键说明
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