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搭建PVB架构，实现前端的基础布局、菜单、表格、图示等功能

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lixiaoyuan
2025-08-20 19:00:22 +08:00
parent 5de7687bcc
commit 7e965b6fb4
142 changed files with 28270 additions and 411 deletions
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174
libs/pvb/include/rllib/rlcanopenclient.h Normal file
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/***************************************************************************
rlcanopen.cpp - description
-------------------
begin : Tue March 03 2004
copyright : (C) 2004 by Marc Br<42>tigam, Christian Wilmes, R. Lehrig
email : lehrig@t-online.de
***************************************************************************/
/***************************************************************************
* *
* 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 *
* *
***************************************************************************/
#include <stdio.h>
#include <stdlib.h>
#include <sys/types.h>
#include <unistd.h>
#include "rlsocket.h"
#include "rlthread.h"
#include "rlcutil.h"
#include "rlwthread.h"
#include "rlcanopentypes.h"
//! Class performs API rlcanopen functions remotely through tcp sockets
/*! this class provides the client API funcions which should be
similar to the rlcanopen API.
Main difference is that underlying code does not communicate with
the canopen device itself but with a rlcanopendaemon, which should
run in backbround or on an remote computer. */
class rlCanOpenClient
{
public:
enum rl_msg {
MSG_SEND = 0,
MSG_RECEIVE = 1,
MSG_SDO_READ = 0,
MSG_SDO_WRITE = 1,
MSG_PDO_RECEIVE = 3,
MSG_CONNECT = 5,
MSG_DISCONNECT = 6,
MSG_PDO_TRANSMIT = 4,
MSG_NMT_TRANSMIT = 7,
MSG_RESTART_BOARD = 8,
MSG_GET_NODE_STATE = 9
};
//! initializes the client on localhost port 5000
rlCanOpenClient();
//! initializes the client on given port and remove server adress
rlCanOpenClient(int _port, char* _remoteadress);
//! destructor disconnects client
~rlCanOpenClient();
//! opens a new connection to a running rlCanOpenDaemon
int connect();
//! disconnects from daemon
int disconnect();
/*! using the sdo_read function you can read a certain object from the
object dictionary of a node.
Function will return NULL if connection to daemon broke down.
CanOpen interface related errors are
accessable in _sdo_data.get_rlmsgerr() */
int sdo_read( int _boardnr,
int _nodeid,int _objectindex,
int _subindex,
rlCanOpenTypes &_sdo_data);
/*! using the sdo_write function you can write to a certain object
from the object dictionary of a node
Function will return NULL if connection to daemon broke down.
CanOpen interface related errors are
accessable in _sdo_data.get_rlmsgerr() */
int sdo_write(int _boardnr,
int _nodeid,int _objectindex,
int _subindex,
rlCanOpenTypes &_sdo_data);
/*! receives single mapped pdo object from daemon.
Function will return NULL if connection to daemon broke down.
CanOpen interface related errors are
accessable in _sdo_data.get_rlmsgerr() */
int pdo_receive(int _boardnr,
int _nodeid,int _pdonr,
int _mappingnr,
rlCanOpenTypes &_pdo_data);
/*! receives an 8 byte pdo from daemon.
Function will return NULL if connection to daemon broke down.
CanOpen interface related errors are
accessable in _sdo_data.get_rlmsgerr() */
int pdo_receive(int _boardnr,
int _nodeid,int _pdonr,
rlCanOpenTypes &_pdo_data);
/*! sends a single mapped pdo object to daemon.
Function will return NULL if connection to daemon broke down.
CanOpen interface related errors are
accessable in _pdo_data.get_rlmsgerr() */
int pdo_transmit(int _boardnr,
int _nodeid,int _pdonr,
int _mappingnr,
rlCanOpenTypes &_pdo_data);
/*! sends an 8 byte pdo to daemon.
Function will return NULL if connection to daemon broke down.
CanOpen interface related errors are
accessable in _pdo_data.get_rlmsgerr() */
int pdo_transmit(int _boardnr,
int _nodeid,
int _pdonr,
rlCanOpenTypes &_pdo_data);
/*! sends a NMT command to daemon. */
int sendNMTCommand( int _boardnr,
int _nodeid,
unsigned char _cmd,
bool &returnstate);
/*! forces daemon to restart canopen device. */
int restartBoard(int _boardnr, int _restarttype, bool &returnstate);
/*! receives node state data of particular node from daemon. */
int getNodeState(int _boardnr, int _nodeid,rlCanOpenTypes &_data);
//! setter for private port variable
void setPort(int _port);
//! setter for private remoteadress variable
void setAdr(char* _adr);
private:
//! variable contains process id
int pid;
//! flag indicates connection status
bool connected;
//! variable contains port
int port;
//! string of remoteadress
char remoteadress[40];
//! pointer to socket object
rlSocket* socket;
//! timeout in ms
int client_timeout;
};
//#####################################################################################
// convenience class for client users
class rlCanClient : public rlCanOpenClient
{
public:
rlCanClient(int _port, char* _remoteadress, int _boardnr);
~rlCanClient();
int sdo_read(int _nodeid, int _objectindex, int _subindex, rlCanOpenTypes &_sdo_data);
int sdo_write(int _nodeid,int _objectindex, int _subindex, rlCanOpenTypes &_sdo_data);
int pdo_receive(int _nodeid, int _pdonr, int _mappingnr, rlCanOpenTypes &_pdo_data);
int pdo_receive(int _nodeid, int _pdonr, rlCanOpenTypes &_pdo_data);
int pdo_transmit(int _nodeid, int _pdonr, int _mappingnr, rlCanOpenTypes &_pdo_data);
int pdo_transmit(int _nodeid, int _pdonr, rlCanOpenTypes &_pdo_data);
int sendNMTCommand(int _nodeid, unsigned char _cmd, bool &returnstate);
int restartBoard(int _restarttype, bool &returnstate);
int getNodeState(int _nodeid, rlCanOpenTypes &_data);
private:
int boardnr;
};