Diff: framework/src/dcf.c

Revision:

0:6219434a0cb5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/framework/src/dcf.c	Mon May 30 07:14:41 2011 +0000
@@ -0,0 +1,202 @@
+/*
+  This file is part of CanFestival, a library implementing CanOpen Stack.
+
+  Copyright (C): Edouard TISSERANT and Francis DUPIN
+
+  See COPYING file for copyrights details.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307
+  USA
+*/
+
+
+/**
+** @file   dcf.c
+** @author Edouard TISSERANT and Francis DUPIN
+** @date   Mon Jun  4 17:06:12 2007
+**
+** @brief EXEMPLE OF SOMMARY
+**
+**
+*/
+
+
+#include "data.h"
+#include "sysdep.h"
+//#include "sdo.h"
+
+//extern UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,
+//                             UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);
+
+
+static void send_consise_dcf_loop(CO_Data* d,UNS8 nodeId);
+
+/* Seek to next NodeID's DCF */
+#define SEEK_NEXT_DCF() \
+       nodeId=(nodeId+1) % d->dcf_odentry->bSubCount; \
+       if(nodeId==0) nodeId=1; \
+       d->dcf_cursor = NULL;
+
+/**
+**
+**
+** @param d
+** @param nodeId
+*/
+static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
+{
+  UNS32 abortCode = 0;
+
+  if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
+    {
+      MSG_ERR(0x1A01, "SDO error in consise DCF", abortCode);
+      MSG_WAR(0x2A02, "server node : ", nodeId);
+    }
+
+  closeSDOtransfer(d, nodeId, SDO_CLIENT);
+  /* Timedout ? */
+  if(abortCode == SDOABT_TIMED_OUT){
+    /* Node may not be ready, try another one */
+    /* Warning, this might leed to endless attempts */
+    /* if node does never answer */
+    SEEK_NEXT_DCF()
+  }
+  send_consise_dcf_loop(d,nodeId);
+}
+
+
+/**
+**
+**
+** @param d
+** @param nodeId
+**
+** @return
+*/
+UNS8 send_consise_dcf(CO_Data* d,UNS8 nodeId)
+{
+  UNS32 szData;
+  /* Fetch DCF OD entry, if not already done */
+  if(!d->dcf_odentry)
+  {
+    UNS32 errorCode;
+    ODCallback_t *Callback;
+    d->dcf_odentry = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback);
+    /* If DCF entry do not exist... Nothing to do.*/
+    if (errorCode != OD_SUCCESSFUL) goto DCF_finish;
+  }
+
+  szData = d->dcf_odentry->pSubindex[nodeId].size;
+  
+  /* if the entry for the nodeId is not empty. */
+  if(szData!=0){
+      /* if the entry for the nodeId is already been processing, quit.*/
+      if(d->dcf_odentry->pSubindex[nodeId].bAccessType & DCF_TO_SEND) return 1;
+      
+      d->dcf_odentry->pSubindex[nodeId].bAccessType|=DCF_TO_SEND;
+      d->dcf_request++;
+      if(d->dcf_request==1)
+          send_consise_dcf_loop(d,nodeId);
+      return 1;
+  }
+  
+  DCF_finish:
+  return 0;
+}
+
+static void send_consise_dcf_loop(CO_Data* d,UNS8 nodeId)
+{
+  if(nodeId > d->dcf_odentry->bSubCount) return;
+/* Loop on all DCF subindexes, corresponding to node ID until there is no request*/
+  //while (nodeId < d->dcf_odentry->bSubCount){
+  while (d->dcf_request>0){
+      if(d->dcf_odentry->pSubindex[nodeId].bAccessType & DCF_TO_SEND){        
+        UNS8* dcfend;
+          UNS32 nb_entries;
+          UNS32 szData = d->dcf_odentry->pSubindex[nodeId].size;
+           
+           {
+               UNS8* dcf = *((UNS8**)d->dcf_odentry->pSubindex[nodeId].pObject);
+               dcfend = dcf + szData;
+               if (!d->dcf_cursor){
+                  d->dcf_cursor = (UNS8*)dcf + 4;
+                   d->dcf_entries_count = 0;
+               }
+               nb_entries = UNS32_LE(*((UNS32*)dcf));
+           }
+
+        /* condition on consise DCF string for NodeID, if big enough */
+        if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_entries_count < nb_entries){
+        
+            UNS16 target_Index;
+            UNS8 target_Subindex;
+            UNS32 target_Size;
+
+            /* DCF data may not be 32/16b aligned, 
+             * we cannot directly dereference d->dcf_cursor 
+             * as UNS16 or UNS32 
+             * Do it byte per byte taking care on endianess*/
+#ifdef CANOPEN_BIG_ENDIAN
+            target_Index = *(d->dcf_cursor++) << 8 | 
+                           *(d->dcf_cursor++);
+#else
+            memcpy(&target_Index, d->dcf_cursor,2);
+            d->dcf_cursor+=2;
+#endif
+
+            target_Subindex = *(d->dcf_cursor++);
+
+#ifdef CANOPEN_BIG_ENDIAN
+            target_Size = *(d->dcf_cursor++) << 24 | 
+                          *(d->dcf_cursor++) << 16 | 
+                          *(d->dcf_cursor++) << 8 | 
+                          *(d->dcf_cursor++);
+#else
+            memcpy(&target_Size, d->dcf_cursor,4);
+            d->dcf_cursor+=4;
+#endif
+    
+           _writeNetworkDict(d, /* CO_Data* d*/
+                                nodeId, /* UNS8 nodeId*/
+                                target_Index, /* UNS16 index*/
+                                target_Subindex, /* UNS8 subindex*/
+                                (UNS8)target_Size, /* UNS8 count*/
+                                0, /* UNS8 dataType*/
+                                d->dcf_cursor,/* void *data*/
+                                CheckSDOAndContinue,/* SDOCallback_t
+                                                      Callback*/
+                                0); /* no endianize*/
+            /* Push d->dcf_cursor to the end of data*/
+
+            d->dcf_cursor += target_Size;
+            d->dcf_entries_count++;
+
+            /* send_consise_dcf_loop will be called by CheckSDOAndContinue for next DCF entry*/
+            return;
+          }
+          else
+          {
+              /* We have finished with the dcf entry. Change the flag, decrement the request
+               *  and execute the bootup callback. */
+              d->dcf_odentry->pSubindex[nodeId].bAccessType&=~DCF_TO_SEND;
+              d->dcf_request--;
+              (*d->post_SlaveBootup)(d, nodeId);
+          }
+     }
+     
+    SEEK_NEXT_DCF()
+  }
+
+}