cml__node_8h-source.html

美国COPLEY驱动器,程序开发工具之一.

<a name="l00343"></a>00343       <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="l00344"></a>00344       <span class="keywordflow">if</span>( !err &amp;&amp; (<span class="keywordtype">id</span>&amp;0x40000000) )
<a name="l00345"></a>00345     err = <a class="code" href="classNode.html#a30">SetSynchId</a>( <span class="keywordtype">id</span> &amp; 0x3FFFFFFF );
<a name="l00346"></a>00346 
<a name="l00347"></a>00347       <span class="keywordflow">if</span>( !err &amp;&amp; (<a class="code" href="classReceiver.html#p0">co</a>-&gt;<a class="code" href="classCanOpen.html#a11">GetSynchProducer</a>() == nodeID) )
<a name="l00348"></a>00348     <a class="code" href="classReceiver.html#p0">co</a>-&gt;<a class="code" href="classCanOpen.html#a12">SetSynchProducer</a>(0);
<a name="l00349"></a>00349 
<a name="l00350"></a>00350       <span class="keywordflow">return</span> err;
<a name="l00351"></a>00351    }
<a name="l00352"></a>00352 <span class="comment"></span>
<a name="l00353"></a>00353 <span class="comment">   /// Return the default COB ID value for the receive PDO</span>
<a name="l00354"></a>00354 <span class="comment">   /// with the specified index.  Return -1 if the specified</span>
<a name="l00355"></a>00355 <span class="comment">   /// PDO does not have a default COB ID.</span>
<a name="l00356"></a>00356 <span class="comment">   /// @param index The PDO index</span>
<a name="l00357"></a>00357 <span class="comment">   /// @return The default COB ID for the PDO, or -1 if none.</span>
<a name="l00358"></a><a class="code" href="classNode.html#a36">00358</a> <span class="comment"></span>   <span class="keyword">virtual</span> <a class="code" href="CML__Utils_8h.html#a9">int32</a> <a class="code" href="classNode.html#a36">GetRpdoCobID</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> index )
<a name="l00359"></a>00359    {
<a name="l00360"></a>00360       <span class="keywordflow">if</span>( index &gt; 3 ) <span class="keywordflow">return</span> -1;
<a name="l00361"></a>00361       <span class="keywordflow">return</span> 0x200 + index*0x100 + nodeID;
<a name="l00362"></a>00362    }
<a name="l00363"></a>00363 <span class="comment"></span>
<a name="l00364"></a>00364 <span class="comment">   /// Return the default COB ID value for the transmit PDO</span>
<a name="l00365"></a>00365 <span class="comment">   /// with the specified index.  Return -1 if the specified</span>
<a name="l00366"></a>00366 <span class="comment">   /// PDO does not have a default COB ID.</span>
<a name="l00367"></a>00367 <span class="comment">   /// @param index The PDO index</span>
<a name="l00368"></a>00368 <span class="comment">   /// @return The default COB ID for the PDO, or -1 if none.</span>
<a name="l00369"></a><a class="code" href="classNode.html#a37">00369</a> <span class="comment"></span>   <span class="keyword">virtual</span> <a class="code" href="CML__Utils_8h.html#a9">int32</a> <a class="code" href="classNode.html#a37">GetTpdoCobID</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> index )
<a name="l00370"></a>00370    {
<a name="l00371"></a>00371       <span class="keywordflow">if</span>( index &gt; 3 ) <span class="keywordflow">return</span> -1;
<a name="l00372"></a>00372       <span class="keywordflow">return</span> 0x180 + index*0x100 + nodeID;
<a name="l00373"></a>00373    }
<a name="l00374"></a>00374 <span class="comment"></span>
<a name="l00375"></a>00375 <span class="comment">   /// Return the node ID associated with this node</span>
<a name="l00376"></a>00376 <span class="comment">   /// @return The node ID</span>
<a name="l00377"></a><a class="code" href="classNode.html#a38">00377</a> <span class="comment"></span>   <span class="keyword">virtual</span> <a class="code" href="CML__Utils_8h.html#a7">int16</a> <a class="code" href="classNode.html#a38">GetNodeID</a>( <span class="keywordtype">void</span> ){
<a name="l00378"></a>00378       <span class="keywordflow">return</span> nodeID;
<a name="l00379"></a>00379    }
<a name="l00380"></a>00380 
<a name="l00381"></a>00381    <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> &amp;frame );
<a name="l00382"></a>00382    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classNode.html#a40">run</a>( <span class="keywordtype">void</span> );
<a name="l00383"></a>00383 
<a name="l00384"></a>00384 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00385"></a>00385 <span class="comment">   /// Overload this function to handle emergency objects sent</span>
<a name="l00386"></a>00386 <span class="comment">   /// by this node.</span>
<a name="l00387"></a><a class="code" href="classNode.html#b0">00387</a> <span class="comment"></span>   <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classNode.html#b0">HandleEmergency</a>( <a class="code" href="structCanFrame.html">CanFrame</a> &amp;frame ){}
<a name="l00388"></a>00388 <span class="comment"></span>
<a name="l00389"></a>00389 <span class="comment">   /// Overload this function to handle changes to the nodes</span>
<a name="l00390"></a>00390 <span class="comment">   /// state.  Note that the state member variable will have</span>
<a name="l00391"></a>00391 <span class="comment">   /// been changed to the new state before this function is</span>
<a name="l00392"></a>00392 <span class="comment">   /// called.</span>
<a name="l00393"></a><a class="code" href="classNode.html#b1">00393</a> <span class="comment"></span>   <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classNode.html#b1">HandleStateChange</a>( <a class="code" href="CML__Node_8h.html#a9">NodeState</a> from, <a class="code" href="CML__Node_8h.html#a9">NodeState</a> to ){}
<a name="l00394"></a>00394 <span class="comment"></span>
<a name="l00395"></a>00395 <span class="comment">   /// Delay to use when changing modes.  This is here as a work around for</span>
<a name="l00396"></a>00396 <span class="comment">   /// Beckhoff I/O modules which don't conform to the CANopen spec very well.</span>
<a name="l00397"></a><a class="code" href="classNode.html#p0">00397</a> <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a9">int32</a> <a class="code" href="classNode.html#p0">stateChangeDelay</a>;
<a name="l00398"></a>00398 
<a name="l00399"></a>00399 <span class="keyword">private</span>:
<a name="l00400"></a>00400    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *WaitStateChange( <a class="code" href="CML__Node_8h.html#a9">NodeState</a> newState, <span class="keywordtype">bool</span> request=<span class="keyword">true</span> );
<a name="l00401"></a>00401 
<a name="l00402"></a>00402    <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="CML__Utils_8h.html#a8">uint16</a> base );
<a name="l00403"></a>00403    <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="CML__Utils_8h.html#a8">uint16</a> base );
<a name="l00404"></a>00404 <span class="comment"></span>
<a name="l00405"></a>00405 <span class="comment">   /// The NodeID for this node.  Note that node IDs must</span>
<a name="l00406"></a>00406 <span class="comment">   /// be in the range 1 to 127.</span>
<a name="l00407"></a>00407 <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a7">int16</a> nodeID;
<a name="l00408"></a>00408 <span class="comment"></span>
<a name="l00409"></a>00409 <span class="comment">   /// This object handles reception of emergency objects</span>
<a name="l00410"></a>00410 <span class="comment">   /// generated by this node.</span>
<a name="l00411"></a>00411 <span class="comment"></span>   <a class="code" href="classNodeEmcyRcvr.html">NodeEmcyRcvr</a> emcy;
<a name="l00412"></a>00412 <span class="comment"></span>
<a name="l00413"></a>00413 <span class="comment">   /// Holds the current state of this node.  Be careful to</span>
<a name="l00414"></a>00414 <span class="comment">   /// avoid race conditions when modifying this variable!</span>
<a name="l00415"></a>00415 <span class="comment"></span>   <a class="code" href="CML__Node_8h.html#a9">NodeState</a> state;
<a name="l00416"></a>00416 <span class="comment"></span>
<a name="l00417"></a>00417 <span class="comment">   /// This variable identifies the type of guard protocol</span>
<a name="l00418"></a>00418 <span class="comment">   /// being used by this node.  The options are none, heartbeat</span>
<a name="l00419"></a>00419 <span class="comment">   /// monitor, and node guarding.</span>
<a name="l00420"></a>00420 <span class="comment"></span>   <a class="code" href="CML__Node_8h.html#a10">GuardProtocol</a> guardType;
<a name="l00421"></a>00421 <span class="comment"></span>
<a name="l00422"></a>00422 <span class="comment">   /// This variable gives the guard time in milliseconds.</span>
<a name="l00423"></a>00423 <span class="comment">   /// It's used both in heartbeat and node guarding modes.</span>
<a name="l00424"></a>00424 <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a9">int32</a> guardTimeout;
<a name="l00425"></a>00425 <span class="comment"></span>
<a name="l00426"></a>00426 <span class="comment">   /// This value keeps track of the toggle bit used with </span>
<a name="l00427"></a>00427 <span class="comment">   /// node guarding.  It's set to -1 if the toggle bit isn't</span>
<a name="l00428"></a>00428 <span class="comment">   /// used.</span>
<a name="l00429"></a>00429 <span class="comment"></span>   <a class="code" href="CML__Utils_8h.html#a7">int16</a> guardToggle;
<a name="l00430"></a>00430 <span class="comment"></span>
<a name="l00431"></a>00431 <span class="comment">   /// General purpose mutex for this node.</span>
<a name="l00432"></a>00432 <span class="comment"></span>   <a class="code" href="classMutex.html">Mutex</a> mutex;
<a name="l00433"></a>00433 <span class="comment"></span>
<a name="l00434"></a>00434 <span class="comment">   /// Used to implement node guarding</span>
<a name="l00435"></a>00435 <span class="comment"></span>   <a class="code" href="classEventMap.html">EventMap</a> guardEvents;
<a name="l00436"></a>00436 <span class="comment"></span>
<a name="l00437"></a>00437 <span class="comment">   /// State I'm waiting for</span>
<a name="l00438"></a>00438 <span class="comment"></span>   <a class="code" href="CML__Node_8h.html#a9">NodeState</a> desired;
<a name="l00439"></a>00439 
<a name="l00440"></a><a class="code" href="classNode.html#n0">00440</a>    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classNodeEmcyRcvr.html">NodeEmcyRcvr</a>;
<a name="l00441"></a>00441 };
<a name="l00442"></a>00442 
<a name="l00443"></a>00443 <a class="code" href="CML__Settings_8h.html#a12">CML_NAMESPACE_END</a>()
<a name="l00444"></a>00444 
<a name="l00445"></a>00445 #endif
<a name="l00446"></a>00446 
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