cml__node_8h-source.html

美国COPLEY驱动器,程序开发工具之一.

<a name="l00109"></a>00109 };
<a name="l00110"></a>00110 
<a name="l00111"></a>00111 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00112"></a>00112 <span class="comment">/**</span>
<a name="l00113"></a>00113 <span class="comment">CANopen identity object.  Each node is required to include an identity </span>
<a name="l00114"></a>00114 <span class="comment">object on it's object dictionary at location 0x1018.  The only required</span>
<a name="l00115"></a>00115 <span class="comment">parameter is the vendorID.  All others are included at the manufacturer's </span>
<a name="l00116"></a>00116 <span class="comment">discretion.</span>
<a name="l00117"></a>00117 <span class="comment">*/</span>
<a name="l00118"></a>00118 <span class="comment">/***************************************************************************/</span>
<a name="l00119"></a><a class="code" href="structNodeIdentity.html">00119</a> <span class="keyword">struct </span><a class="code" href="structNodeIdentity.html">NodeIdentity</a>
<a name="l00120"></a>00120 {<span class="comment"></span>
<a name="l00121"></a>00121 <span class="comment">   /// A unique vendor ID assigned by CiA (Can in Automation)</span>
<a name="l00122"></a><a class="code" href="structNodeIdentity.html#o0">00122</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a10">uint32</a> <a class="code" href="structNodeIdentity.html#o0">vendorID</a>;<span class="comment"></span>
<a name="l00123"></a>00123 <span class="comment">   /// Manufacturer's product code</span>
<a name="l00124"></a><a class="code" href="structNodeIdentity.html#o1">00124</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a10">uint32</a> <a class="code" href="structNodeIdentity.html#o1">productCode</a>;<span class="comment"></span>
<a name="l00125"></a>00125 <span class="comment">   /// Revision number which identifies CANopen functionality</span>
<a name="l00126"></a><a class="code" href="structNodeIdentity.html#o2">00126</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a10">uint32</a> <a class="code" href="structNodeIdentity.html#o2">revision</a>;<span class="comment"></span>
<a name="l00127"></a>00127 <span class="comment">   /// Product serial number</span>
<a name="l00128"></a><a class="code" href="structNodeIdentity.html#o3">00128</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a10">uint32</a> <a class="code" href="structNodeIdentity.html#o3">serial</a>;
<a name="l00129"></a>00129 };
<a name="l00130"></a>00130 
<a name="l00131"></a>00131 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00132"></a>00132 <span class="comment">/**</span>
<a name="l00133"></a>00133 <span class="comment">CANopen Node class.  Objects of this class represent individual nodes on </span>
<a name="l00134"></a>00134 <span class="comment">the CANopen network.</span>
<a name="l00135"></a>00135 <span class="comment">*/</span>
<a name="l00136"></a>00136 <span class="comment">/***************************************************************************/</span>
<a name="l00137"></a><a class="code" href="classNode.html">00137</a> <span class="keyword">class </span><a class="code" href="classNode.html">Node</a>: <span class="keyword">public</span> <a class="code" href="classThread.html">Thread</a>, <span class="keyword">public</span> <a class="code" href="classReceiver.html">Receiver</a>
<a name="l00138"></a>00138 {
<a name="l00139"></a>00139 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00140"></a>00140 <span class="comment">   /// This SDO may be used to get/set values in the node's</span>
<a name="l00141"></a>00141 <span class="comment">   /// object dictionary.</span>
<a name="l00142"></a><a class="code" href="classNode.html#o0">00142</a> <span class="comment"></span>   <a class="code" href="classSDO.html">SDO</a> <a class="code" href="classNode.html#o0">sdo</a>;
<a name="l00143"></a>00143 
<a name="l00144"></a>00144    <a class="code" href="classNode.html#a0">Node</a>();
<a name="l00145"></a>00145    <a class="code" href="classNode.html#a0">Node</a>( <a class="code" href="classCanOpen.html">CanOpen</a> &amp;<a class="code" href="classReceiver.html#p0">co</a>, <a class="code" href="CML__Utils_8h.html#a7">int16</a> nodeID );
<a name="l00146"></a>00146    <span class="keyword">virtual</span> <a class="code" href="classNode.html#a2">~Node</a>();
<a name="l00147"></a>00147 
<a name="l00148"></a>00148    <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classNode.html#a3">StopGuarding</a>( <span class="keywordtype">void</span> );
<a name="l00149"></a>00149    <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classNode.html#a4">StartHeartbeat</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> period, <a class="code" href="CML__Utils_8h.html#a8">uint16</a> timeout );
<a name="l00150"></a>00150    <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classNode.html#a5">StartNodeGuard</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> guardTime, <a class="code" href="CML__Utils_8h.html#a2">byte</a> lifeFactor );
<a name="l00151"></a>00151 
<a name="l00152"></a>00152    <span class="keyword">virtual</span> <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="classCanOpen.html">CanOpen</a> &amp;<a class="code" href="classReceiver.html#p0">co</a>, <a class="code" href="CML__Utils_8h.html#a7">int16</a> nodeID );
<a name="l00153"></a>00153    <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classNode.html#a7">UnInit</a>( <span class="keywordtype">void</span> );
<a name="l00154"></a>00154 
<a name="l00155"></a>00155    <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classNode.html#a8">PdoSet</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> n, <a class="code" href="classPDO.html">PDO</a> &amp;pdo, <span class="keywordtype">bool</span> enable=<span class="keyword">true</span> );
<a name="l00156"></a>00156 <span class="comment"></span>
<a name="l00157"></a>00157 <span class="comment">   /// Enable the passed PDO object</span>
<a name="l00158"></a>00158 <span class="comment">   /// @param n The slot number of the PDO</span>
<a name="l00159"></a>00159 <span class="comment">   /// @param pdo The PDO mapped to that slot</span>
<a name="l00160"></a>00160 <span class="comment">   /// @return An error object</span>
<a name="l00161"></a><a class="code" href="classNode.html#a9">00161</a> <span class="comment"></span>   <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classNode.html#a9">PdoEnable</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> n, <a class="code" href="classPDO.html">PDO</a> &amp;pdo ){
<a name="l00162"></a>00162       <span class="keywordflow">return</span> <a class="code" href="classNode.html#a9">PdoEnable</a>( n, pdo.<a class="code" href="classPDO.html#a3">BaseIndex</a>() );
<a name="l00163"></a>00163    }
<a name="l00164"></a>00164 <span class="comment"></span>
<a name="l00165"></a>00165 <span class="comment">   /// Disable the passed PDO object</span>
<a name="l00166"></a>00166 <span class="comment">   /// @param n The slot number of the PDO</span>
<a name="l00167"></a>00167 <span class="comment">   /// @param pdo The PDO mapped to that slot</span>
<a name="l00168"></a>00168 <span class="comment">   /// @return An error object</span>
<a name="l00169"></a><a class="code" href="classNode.html#a10">00169</a> <span class="comment"></span>   <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classNode.html#a10">PdoDisable</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> n, <a class="code" href="classPDO.html">PDO</a> &amp;pdo ){
<a name="l00170"></a>00170       <span class="keywordflow">return</span> <a class="code" href="classNode.html#a10">PdoDisable</a>( n, pdo.<a class="code" href="classPDO.html#a3">BaseIndex</a>() );
<a name="l00171"></a>00171    }
<a name="l00172"></a>00172 <span class="comment"></span>
<a name="l00173"></a>00173 <span class="comment">   /// Enable the specified receive PDO.</span>
<a name="l00174"></a>00174 <span class="comment">   /// @param n The slot number of the PDO</span>
<a name="l00175"></a>00175 <span class="comment">   /// @return An error object</span>
<a name="l00176"></a><a class="code" href="classNode.html#a11">00176</a> <span class="comment"></span>   <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classNode.html#a11">RpdoEnable</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> n ){ <span class="keywordflow">return</span> <a class="code" href="classNode.html#a9">PdoEnable</a>( n, 0x1400 ); }
<a name="l00177"></a>00177 <span class="comment"></span>
<a name="l00178"></a>00178 <span class="comment">   /// Disable the specified receive PDO.</span>
<a name="l00179"></a>00179 <span class="comment">   /// @param n The slot number of the PDO</span>
<a name="l00180"></a>00180 <span class="comment">   /// @return An error object</span>
<a name="l00181"></a><a class="code" href="classNode.html#a12">00181</a> <span class="comment"></span>   <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classNode.html#a12">RpdoDisable</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> n ){ <span class="keywordflow">return</span> <a class="code" href="classNode.html#a10">PdoDisable</a>( n, 0x1400 ); }
<a name="l00182"></a>00182 <span class="comment"></span>
<a name="l00183"></a>00183 <span class="comment">   /// Enable the specified transmit PDO.</span>
<a name="l00184"></a>00184 <span class="comment">   /// @param n The slot number of the PDO</span>
<a name="l00185"></a>00185 <span class="comment">   /// @return An error object</span>
<a name="l00186"></a><a class="code" href="classNode.html#a13">00186</a> <span class="comment"></span>   <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classNode.html#a13">TpdoEnable</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> n ){ <span class="keywordflow">return</span> <a class="code" href="classNode.html#a9">PdoEnable</a>( n, 0x1800 ); }
<a name="l00187"></a>00187 <span class="comment"></span>
<a name="l00188"></a>00188 <span class="comment">   /// Disable the specified transmit PDO.</span>
<a name="l00189"></a>00189 <span class="comment">   /// @param n The slot number of the PDO</span>
<a name="l00190"></a>00190 <span class="comment">   /// @return An error object</span>
<a name="l00191"></a><a class="code" href="classNode.html#a14">00191</a> <span class="comment"></span>   <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classNode.html#a14">TpdoDisable</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> n ){ <span class="keywordflow">return</span> <a class="code" href="classNode.html#a10">PdoDisable</a>( n, 0x1800 ); }
<a name="l00192"></a>00192 <span class="comment"></span>
<a name="l00193"></a>00193 <span class="comment">   /// Start this node.</span>
<a name="l00194"></a>00194 <span class="comment">   /// @return An error object</span>
<a name="l00195"></a><a class="code" href="classNode.html#a15">00195</a> <span class="comment"></span>   <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classNode.html#a15">StartNode</a>( <span class="keywordtype">void</span> )
<a name="l00196"></a>00196    { 
<a name="l00197"></a>00197       <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err = <a class="code" href="classReceiver.html#p0">co</a>-&gt;<a class="code" href="classCanOpen.html#a9">StartNode</a>( nodeID );
<a name="l00198"></a>00198       <span class="keywordflow">if</span>( !err ) err = WaitStateChange( <a class="code" href="CML__Node_8h.html#a9a5">NODESTATE_OPERATIONAL</a> );
<a name="l00199"></a>00199       <span class="keywordflow">return</span> err;
<a name="l00200"></a>00200    }
<a name="l00201"></a>00201 <span class="comment"></span>
<a name="l00202"></a>00202 <span class="comment">   /// Stop this node</span>
<a name="l00203"></a>00203 <span class="comment">   /// @return An error object</span>
<a name="l00204"></a><a class="code" href="classNode.html#a16">00204</a> <span class="comment"></span>   <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classNode.html#a16">StopNode</a>( <span class="keywordtype">void</span> )
<a name="l00205"></a>00205    {
<a name="l00206"></a>00206       <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err = <a class="code" href="classReceiver.html#p0">co</a>-&gt;<a class="code" href="classCanOpen.html#a10">StopNode</a>( nodeID );
<a name="l00207"></a>00207       <span class="keywordflow">if</span>( !err ) err = WaitStateChange( <a class="code" href="CML__Node_8h.html#a9a3">NODESTATE_STOPPED</a> );
<a name="l00208"></a>00208       <span class="keywordflow">return</span> err;
<a name="l00209"></a>00209    }
<a name="l00210"></a>00210 <span class="comment"></span>
<a name="l00211"></a>00211 <span class="comment">   /// Put this node in pre-operational state</span>
<a name="l00212"></a>00212 <span class="comment">   /// @return An error object</span>
<a name="l00213"></a><a class="code" href="classNode.html#a17">00213</a> <span class="comment"></span>   <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classNode.html#a17">PreOpNode</a>( <span class="keywordtype">void</span> )
<a name="l00214"></a>00214    {
<a name="l00215"></a>00215       <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err = <a class="code" href="classReceiver.html#p0">co</a>-&gt;<a class="code" href="classCanOpen.html#a8">PreOpNode</a>( nodeID );
<a name="l00216"></a>00216       <span class="keywordflow">if</span>( !err ) err = WaitStateChange( <a class="code" href="CML__Node_8h.html#a9a4">NODESTATE_PRE_OP</a> );
<a name="l00217"></a>00217       <span class="keywordflow">return</span> err;
<a name="l00218"></a>00218    }
<a name="l00219"></a>00219 
<a name="l00220"></a>00220    <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classNode.html#a18">ResetNode</a>( <span class="keywordtype">void</span> );
<a name="l00221"></a>00221 <span class="comment"></span>
<a name="l00222"></a>00222 <span class="comment">   /// Reset this node's communications.</span>
<a name="l00223"></a>00223 <span class="comment">   /// @return An error object</span>
<a name="l00224"></a><a class="code" href="classNode.html#a19">00224</a> <span class="comment"></span>   <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classNode.html#a19">ResetComm</a>( <span class="keywordtype">void</span> )
<a name="l00225"></a>00225    {