搭建PVB架构，实现前端的基础布局、菜单、表格、图示等功能

2026-05-28 03:09:24 +08:00 · 2025-08-20 19:00:22 +08:00
parent 5de7687bcc
commit 7e965b6fb4
142 changed files with 28270 additions and 411 deletions
--- a/libs/pvb/include/rllib/rlcanopendaemon.h
+++ b/libs/pvb/include/rllib/rlcanopendaemon.h
@@ -0,0 +1,100 @@
+/***************************************************************************
+                          rlcanopen.cpp  -  description
+                             -------------------
+    begin     : Tue March 03 2004
+    copyright : (C) 2004 by Marc Bräutigam, 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                             *
+ *                                                                         *
+ ***************************************************************************/
+#ifndef DAEMON
+#define DAEMON
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include "rlthread.h"
+#include "rlcutil.h"
+#include "rlsocket.h"
+#include "rlwthread.h"
+#include "rlcanopen.h"
+
+
+  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
+  };
+
+
+//! canopen tcp/ip interface for concurrent device-access of multiple clientprocesses 
+/*! this is a multi threaded server process, which listens on a tcp port for incomming 
+    connections. It runs the only recommended instance of rlcanopen class for beeing the 
+    very only process accessing the device. 
+    Different processes who concurrently try to access the device will be queued autmaticly
+    by daemonprocess. These processes are inteded to communicate through rlcanopenclient.  */
+   
+class rlCanOpenDaemon{
+  public:
+  
+  /*! empty constructor initializes on port 5000. 
+      creates a new rlCanOpen Object which 
+      performs all access to canopen device */
+  rlCanOpenDaemon();                                
+  
+  /*! main constructor sets port and inifilename.  
+      creates a new rlCanOpen Object which 
+      performs all access to canopen device */
+  rlCanOpenDaemon(int _port, char* _iniFileName=0);
+  
+  /*! destructor destroys rlcanopen object */
+  ~rlCanOpenDaemon();
+  
+  /*! returns value of current port */
+  int getPort();                      
+  
+  /*! daemon creates a listener thread which handels 
+      incoming connections by himself creating
+      clientconnection threads for each client connecting to the daemon. */
+  void start();
+  
+  /*! pointer to rlCanOpen Object which performs all access to canopen device */
+  rlCanOpen* nodes;                                                             
+  
+  /*! rlThread object which manages basic thread functionality e.g. 
+      locking to prevent threads
+      from concurrently accessing the canopen device */
+  rlThread daemon_thread;  
+
+  private:
+  int port;
+
+};
+
+// parameter struct for passing parameters to handler thread
+struct THREADTRANSFER
+{
+  int socketdescr; // socket descriptor identifying the new connection
+  rlCanOpenDaemon* daemonptr; // pointer to daemon object
+};
+
+
+
+
+
+
+#endif