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138 lines
4.3 KiB
C
138 lines
4.3 KiB
C
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/***************************************************************************
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cannode.h - description
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-------------------
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begin : Tue March 03 2004
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copyright : (C) 2004 by R. Lehrig
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email : lehrig@t-online.de
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authors : Marc Br<EFBFBD>tigam, Christian Wilmes
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***************************************************************************/
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/***************************************************************************
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* *
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* This library is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU LESSER GENERAL PUBLIC LICENSE as *
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* published by the Free Software Foundation *
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* *
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***************************************************************************/
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#ifndef NODE
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#define NODE
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#include "rldefine.h"
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#include <iostream>
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using std::cin;
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using std::cout;
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#include <qptrvector.h>
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#include <qdir.h>
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#include <qstring.h>
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#include <qstringlist.h>
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#include "rlcanopenstructs.h"
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#include "rlcanopentypes.h"
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#include "rlinifile.h"
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#ifndef TOOL
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#define TOOL
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//#include "ToolBox.cpp"
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#endif
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#include "objdir.h" /* Include file for EDS file manager */
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#include "cif_user.h" /* Include file for device driver API */
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#include "rcs_user.h" /* Include file for RCS definition */
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#include "asc_user.h" /* Include file for ASCII protocols */
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#include "nvr_user.h" /* Include file for 3964R protocol */
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#include "COM_USER.H"
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//! class to manage one node of a CanOpenMaster board in a CanOpen network
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class rlCanNode
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{
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public:
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rlCanNode ();
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/*! initializes a new node obj. node is defined by boardid, nodeid and a
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telegram which contains node specific information from device's dual
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ported memory */
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rlCanNode (int boardnr, int nodeid, RCS_MESSAGETELEGRAM_10& _telegramm);
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//! calls destructors of rlinifile obj and objdir
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~rlCanNode();
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//!returns the type of a specific entry in the object directory
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int objecttype(int objindex, int subindex);
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//!prints out the configuration of the node
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void showConfiguration();
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//!returns the current node ID of the node
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int getNodeID();
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//!returns the board ID the node is connected to.
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int getBoardID();
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//!returns the current number of all installed PDOs (Process Data Objects)
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int getPdoCount();
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//!returns the current number of all installed reiceive PDOs
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int getReceivePdoCount();
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//!returns the current number of all installed transmit PDOs
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int getTransmitPdoCount();
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/*! indicates if node mapping is available. When mapping is active, it is
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possible to catch a specific Object within a PDO */
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bool hasMapping();
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//! contains transmit PDOs
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//QPtrVector<rlCanPDO> transmit_pdoList;
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//! contains receive PDOs
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//QPtrVector<rlCanPDO> receive_pdoList;
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// RECEIVE_LIST = 0
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// TRANSMIT_LIST = 1
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QPtrVector<rlCanPDO> pdoList[2];
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private:
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//! current node ID (1-127)
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int nodeID;
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//! curent board ID (0-3)
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int boardID;
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/*! iterates through all files in eds directory. opens every eds file and
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returns a pointer to an ini-file object of the eds file matching the
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product string in [DeviceInfo] ProductName */
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rlIniFile* getEDS(const char* _productstr);
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/*! pointer to inifile. object which handles access to the EDS file
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describing the object directory of this node */
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rlIniFile* ini;
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/*! pointer to objdir which handles access to all items in the object
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directory of this node */
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ObjDir* objdir;
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/*! reads out the configuration of a node from the device.
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For success the device must configured by SYCon. */
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void readConfigurationMessage(RCS_MESSAGETELEGRAM_10& _message);
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//!Unique device number if available.
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unsigned short usIdentNumber;
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//!Unique vendor number if available.
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unsigned char usVendorIdent;
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//! specific node informations. extracted from message telegramm
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QString abVendorName;
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QString abDeviceName;
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QString abDescription;
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QString edslocation;
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unsigned char pdocount;
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unsigned char bMasterAddress;
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unsigned char bSettings;
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};
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#endif
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