cml__node_8h-source.html

美国COPLEY驱动器,程序开发工具之一.

<a name="l00226"></a>00226       <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#a7">ResetComm</a>( nodeID );
<a name="l00227"></a>00227       <span class="keywordflow">if</span>( !err ) err = WaitStateChange( <a class="code" href="CML__Node_8h.html#a9a4">NODESTATE_PRE_OP</a> );
<a name="l00228"></a>00228       <span class="keywordflow">return</span> err;
<a name="l00229"></a>00229    }
<a name="l00230"></a>00230 <span class="comment"></span>
<a name="l00231"></a>00231 <span class="comment">   /// Returns the present state of this node.</span>
<a name="l00232"></a>00232 <span class="comment">   /// Note that this requires node guarding or heartbeats to</span>
<a name="l00233"></a>00233 <span class="comment">   /// be enabled.</span>
<a name="l00234"></a>00234 <span class="comment">   /// @return The present node state.</span>
<a name="l00235"></a><a class="code" href="classNode.html#a20">00235</a> <span class="comment"></span>   <span class="keyword">virtual</span> <a class="code" href="CML__Node_8h.html#a9">NodeState</a> <a class="code" href="classNode.html#a20">GetState</a>( <span class="keywordtype">void</span> ){ <span class="keywordflow">return</span> state; }
<a name="l00236"></a>00236 <span class="comment"></span>
<a name="l00237"></a>00237 <span class="comment">   /// Read the device type from the object dictionary</span>
<a name="l00238"></a>00238 <span class="comment">   /// @param devType Where the device type is returned</span>
<a name="l00239"></a>00239 <span class="comment">   /// @return An error object</span>
<a name="l00240"></a><a class="code" href="classNode.html#a21">00240</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#a21">GetDeviceType</a>( <a class="code" href="CML__Utils_8h.html#a10">uint32</a> &amp;devType ){
<a name="l00241"></a>00241       <span class="keywordflow">return</span> <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a9">Upld32</a>( 0x1000, 0, devType );
<a name="l00242"></a>00242    }
<a name="l00243"></a>00243 <span class="comment"></span>
<a name="l00244"></a>00244 <span class="comment">   /// Read the error register from the object dictionary</span>
<a name="l00245"></a>00245 <span class="comment">   /// @param err Reference to where the error should be returned.</span>
<a name="l00246"></a>00246 <span class="comment">   /// @return An error object</span>
<a name="l00247"></a><a class="code" href="classNode.html#a22">00247</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#a22">GetErrorRegister</a>( <a class="code" href="CML__Utils_8h.html#a2">byte</a> &amp;err ){
<a name="l00248"></a>00248       <span class="keywordflow">return</span> <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a13">Upld8</a>( 0x1001, 0, err );
<a name="l00249"></a>00249    }
<a name="l00250"></a>00250 <span class="comment"></span>
<a name="l00251"></a>00251 <span class="comment">   /// Read the manufacturer status register from the object dictionary.</span>
<a name="l00252"></a>00252 <span class="comment">   /// @param stat Reference to the int32 where the status will be returned</span>
<a name="l00253"></a>00253 <span class="comment">   /// @return An error object</span>
<a name="l00254"></a><a class="code" href="classNode.html#a23">00254</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#a23">GetMfgStatus</a>( <a class="code" href="CML__Utils_8h.html#a10">uint32</a> &amp;stat ){
<a name="l00255"></a>00255       <span class="keywordflow">return</span> <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a9">Upld32</a>( 0x1002, 0, stat );
<a name="l00256"></a>00256    }
<a name="l00257"></a>00257 
<a name="l00258"></a>00258    <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classNode.html#a24">GetErrorHistory</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> &amp;ct, <a class="code" href="CML__Utils_8h.html#a10">uint32</a> *array );
<a name="l00259"></a>00259 <span class="comment"></span>
<a name="l00260"></a>00260 <span class="comment">   /// Clear the error history (object 0x1003) array for this node.</span>
<a name="l00261"></a>00261 <span class="comment">   /// @return An error object.</span>
<a name="l00262"></a><a class="code" href="classNode.html#a25">00262</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#a25">ClearErrorHistory</a>( <span class="keywordtype">void</span> ){
<a name="l00263"></a>00263       <span class="keywordflow">return</span> <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a8">Dnld32</a>( 0x1003, 0, (<a class="code" href="CML__Utils_8h.html#a10">uint32</a>)0 );
<a name="l00264"></a>00264    }
<a name="l00265"></a>00265 <span class="comment"></span>
<a name="l00266"></a>00266 <span class="comment">   /// Read the manufacturer's device name string from the object dictionary</span>
<a name="l00267"></a>00267 <span class="comment">   /// @param len Holds the size of the buffer on entry, and the</span>
<a name="l00268"></a>00268 <span class="comment">   ///            length of the downloaded data on return.</span>
<a name="l00269"></a>00269 <span class="comment">   /// @param str An array of characters used to upload the string.</span>
<a name="l00270"></a>00270 <span class="comment">   /// @return An error object</span>
<a name="l00271"></a><a class="code" href="classNode.html#a26">00271</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#a26">GetMfgDeviceName</a>( <a class="code" href="CML__Utils_8h.html#a9">int32</a> len, <span class="keywordtype">char</span> *str ){
<a name="l00272"></a>00272       <span class="keywordflow">return</span> <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a15">UpldString</a>( 0x1008, 0, len, str );
<a name="l00273"></a>00273    }
<a name="l00274"></a>00274 <span class="comment"></span>
<a name="l00275"></a>00275 <span class="comment">   /// Read the manufacturer's Hardware version string from the object dictionary</span>
<a name="l00276"></a>00276 <span class="comment">   /// @param len Holds the size of the buffer on entry, and the</span>
<a name="l00277"></a>00277 <span class="comment">   ///            length of the downloaded data on return.</span>
<a name="l00278"></a>00278 <span class="comment">   /// @param str An array of characters used to upload the string.</span>
<a name="l00279"></a>00279 <span class="comment">   /// @return An error object</span>
<a name="l00280"></a><a class="code" href="classNode.html#a27">00280</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#a27">GetMfgHardwareVer</a>( <a class="code" href="CML__Utils_8h.html#a9">int32</a> len, <span class="keywordtype">char</span> *str ){
<a name="l00281"></a>00281       <span class="keywordflow">return</span> <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a15">UpldString</a>( 0x1009, 0, len, str );
<a name="l00282"></a>00282    }
<a name="l00283"></a>00283 <span class="comment"></span>
<a name="l00284"></a>00284 <span class="comment">   /// Read the manufacturer's software version string from the object dictionary</span>
<a name="l00285"></a>00285 <span class="comment">   /// @param len Holds the size of the buffer on entry, and the</span>
<a name="l00286"></a>00286 <span class="comment">   ///            length of the downloaded data on return.</span>
<a name="l00287"></a>00287 <span class="comment">   /// @param str An array of characters used to upload the string.</span>
<a name="l00288"></a>00288 <span class="comment">   /// @return An error object</span>
<a name="l00289"></a><a class="code" href="classNode.html#a28">00289</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#a28">GetMfgSoftwareVer</a>( <a class="code" href="CML__Utils_8h.html#a9">int32</a> len, <span class="keywordtype">char</span> *str ){
<a name="l00290"></a>00290       <span class="keywordflow">return</span> <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a15">UpldString</a>( 0x100A, 0, len, str );
<a name="l00291"></a>00291    }
<a name="l00292"></a>00292 
<a name="l00293"></a>00293    <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classNode.html#a29">GetIdentity</a>( <a class="code" href="structNodeIdentity.html">NodeIdentity</a> &amp;<span class="keywordtype">id</span> );
<a name="l00294"></a>00294 <span class="comment"></span>
<a name="l00295"></a>00295 <span class="comment">   /// Set the COB-ID of the synch message.  If bit 30 of the</span>
<a name="l00296"></a>00296 <span class="comment">   /// ID is set, then this node will be the synch producer.</span>
<a name="l00297"></a>00297 <span class="comment">   /// @param id COB-ID to set</span>
<a name="l00298"></a>00298 <span class="comment">   /// @return An error object</span>
<a name="l00299"></a><a class="code" href="classNode.html#a30">00299</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#a30">SetSynchId</a>( <a class="code" href="CML__Utils_8h.html#a10">uint32</a> <span class="keywordtype">id</span> ){
<a name="l00300"></a>00300       <span class="keywordflow">return</span> <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a8">Dnld32</a>( 0x1005, 0, <span class="keywordtype">id</span> );
<a name="l00301"></a>00301    }
<a name="l00302"></a>00302 <span class="comment"></span>
<a name="l00303"></a>00303 <span class="comment">   /// Return the COB-ID of the synch message.  Note that if</span>
<a name="l00304"></a>00304 <span class="comment">   /// this node is producing the synch message, bit 30 will be set.</span>
<a name="l00305"></a>00305 <span class="comment">   /// @param id Where the COB-ID is returned</span>
<a name="l00306"></a>00306 <span class="comment">   /// @return An error object.</span>
<a name="l00307"></a><a class="code" href="classNode.html#a31">00307</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#a31">GetSynchId</a>( <a class="code" href="CML__Utils_8h.html#a10">uint32</a> &amp;<span class="keywordtype">id</span> ){
<a name="l00308"></a>00308       <span class="keywordflow">return</span> <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a9">Upld32</a>( 0x1005, 0, <span class="keywordtype">id</span> );
<a name="l00309"></a>00309    }
<a name="l00310"></a>00310 <span class="comment"></span>
<a name="l00311"></a>00311 <span class="comment">   /// Set the SYNC message interval in microseconds.</span>
<a name="l00312"></a>00312 <span class="comment">   /// @param per The period in microseconds.</span>
<a name="l00313"></a>00313 <span class="comment">   /// @return An error object.</span>
<a name="l00314"></a><a class="code" href="classNode.html#a32">00314</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#a32">SetSynchPeriod</a>( <a class="code" href="CML__Utils_8h.html#a10">uint32</a> per ){
<a name="l00315"></a>00315       <span class="keywordflow">return</span> <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a8">Dnld32</a>( 0x1006, 0, per );
<a name="l00316"></a>00316    }
<a name="l00317"></a>00317 <span class="comment"></span>
<a name="l00318"></a>00318 <span class="comment">   /// Get the SYNC message interval in microseconds.</span>
<a name="l00319"></a>00319 <span class="comment">   /// @param per Period will be returned here</span>
<a name="l00320"></a>00320 <span class="comment">   /// @return An error object.</span>
<a name="l00321"></a><a class="code" href="classNode.html#a33">00321</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#a33">GetSynchPeriod</a>( <a class="code" href="CML__Utils_8h.html#a10">uint32</a> &amp;per ){
<a name="l00322"></a>00322       <span class="keywordflow">return</span> <a class="code" href="classNode.html#o0">sdo</a>.<a class="code" href="classSDO.html#a9">Upld32</a>( 0x1006, 0, per );
<a name="l00323"></a>00323    }
<a name="l00324"></a>00324 <span class="comment"></span>
<a name="l00325"></a>00325 <span class="comment">   /// Start producing SYNC messages on this node.</span>
<a name="l00326"></a>00326 <span class="comment">   /// @return An error object.</span>
<a name="l00327"></a><a class="code" href="classNode.html#a34">00327</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#a34">SynchStart</a>( <span class="keywordtype">void</span> ){
<a name="l00328"></a>00328       <a class="code" href="CML__Utils_8h.html#a10">uint32</a> id;
<a name="l00329"></a>00329       <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err = <a class="code" href="classNode.html#a31">GetSynchId</a>( <span class="keywordtype">id</span> );
<a name="l00330"></a>00330       <span class="keywordflow">if</span>( !err )
<a name="l00331"></a>00331     err = <a class="code" href="classNode.html#a30">SetSynchId</a>( <span class="keywordtype">id</span> | 0x40000000 );
<a name="l00332"></a>00332 
<a name="l00333"></a>00333       <span class="keywordflow">if</span>( !err )
<a name="l00334"></a>00334     <a class="code" href="classReceiver.html#p0">co</a>-&gt;<a class="code" href="classCanOpen.html#a12">SetSynchProducer</a>( nodeID );
<a name="l00335"></a>00335 
<a name="l00336"></a>00336       <span class="keywordflow">return</span> err;
<a name="l00337"></a>00337    }
<a name="l00338"></a>00338 <span class="comment"></span>
<a name="l00339"></a>00339 <span class="comment">   /// Stop producing SYNC messages on this node.</span>
<a name="l00340"></a>00340 <span class="comment">   /// @return An error object.</span>
<a name="l00341"></a><a class="code" href="classNode.html#a35">00341</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#a35">SynchStop</a>( <span class="keywordtype">void</span> ){
<a name="l00342"></a>00342       <a class="code" href="CML__Utils_8h.html#a10">uint32</a> id;