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286 lines
12 KiB
C++
286 lines
12 KiB
C++
/***************************************************************************
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rlcanopen.cpp - description
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-------------------
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begin : Tue March 03 2004
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copyright : (C) 2004 by Marc Br<42>tigam, Christian Wilmes, R. Lehrig
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email : lehrig@t-online.de
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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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/*!
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* \section intro Introduction to rlCANopen-API
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*
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* The rlCANopen-Software represents a developer friendly interface for
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* Hilscher CANopen Mastercard users, which ensures a comfortable
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* access to CANopen nodes and also Linux and Win32 portability.
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*
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* Using the Server-Client-architecture a network-wide availability of
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* data is feasible.
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*
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* <img src="uebersicht_engl.jpg">
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*/
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#ifndef NODES
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#define NODES
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#define err00 "no error, command executed"
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#define err03 "DESCRIPT table not found. DEVICE is not configured by SyCon"
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#define err57 "sequence error. Check requested DeviceAdr of continued message"
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#define err58 "no entry found for requested DeviceAdr of request message."
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#define err100 "Communication ERROR!!!"
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#include "rlwthread.h"
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#include "rlcannode.h"
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#include <qvaluevector.h>
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#include <qptrvector.h>
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//! main class which provides canopen API functions and manages all nodes.
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/*! This class contains a canopen specific API which accesses the canopen bus
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through the bus-independ Hilscher device API. It reads the configuration
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which has to be written previously to the device by SyCon. Based on this
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configuration data it searches node corresponding EDS files to create
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object directories. These help to enshure type security and cast warnings
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when users try to write incorrect data types to can nodes.
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*/
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class rlCanOpen
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{
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public:
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rlCanOpen();
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rlCanOpen(char* _inifilename);
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~rlCanOpen();
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//! returns the number of available boards
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int getBoardCount();
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//! returns the number of currently active board
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int getActiveBoard();
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//! prints out the configuration of a specific node
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bool showNodeConfiguration(int _boardnr,int _nodeid);
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//! prints out the configuration off all available nodes from all boards
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bool showNodeConfiguration(); // show all nodes
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/*! using the sdo_read function you can read a certain object from the object
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dictionary of a node. For this the SDO (Service Data Object) service
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will be used. The enquired object will be written to the rlCanOpenTypes
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class. To read out the correct value from this class use one of the
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get_TYPE() {e.g. get_int() } functions. You can assert the type in the
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class using rlCanOpenTypes::get_DaemonType();
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if sdo_read failures the current error can be read out using
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rlCanOpenTypes::get_rlmsgerr()*/
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int sdo_read ( int _boardnr,
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int _nodeid,
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int _objectindex,
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int _subindex,
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rlCanOpenTypes &_sdo_data);
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/*! using the sdo_write function you can write to a certain object from the
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object dictionary of a node. For this the SDO (Service Data Object)
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Service will be used. The relevant data must be written into the
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rlCanOpenTypes class before. To write the data into the rlCanOpenTypes
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class use one of the datatype depending functions like
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rlCanOpenTypes::set_int(int _value);
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if sdo_write failures the current error can be read out using
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rlCanOpenTypes::get_rlmsgerr()*/
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int sdo_write ( int _boardnr,
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int _nodeid,
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int _objectindex,
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int _subindex,
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rlCanOpenTypes &_sdo_data);
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/*! using the pdo_receive function you can receive a PDO (Process Data Object),
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which is send from the specific node to the device. The enquired object
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will be written to the rlCanOpenTypes class.
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The mapping is only available if mapping is configurated during the node
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creation of the rlcanopen constructer. Therefore a eds file (electronic
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data sheet) is needed. Use the cannode::hasMapping() function to check
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if mapping is available. To read out the correct value from this class
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use one of the get_TYPE() {e.g. get_int() } functions you can assert the
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type in the class using rlCanOpenTypes::get_DaemonType(); */
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int pdo_receive( int _boardnr,
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int _nodeid,
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int _pdonr,
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int _mappingnr,
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rlCanOpenTypes &_pdo_data);
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/*! using the pdo_receive function you can receive a PDO (Process Data Object),
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which is send from the specific node to the canOpen master card. The data
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will be written to the rlCanOpenTypes class. This function doesn't use
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mapping. So the whole 8Byte PDO data, will be received. To read out use
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the rlCanOpenTypes::get_buffer({0-7}) function */
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int pdo_receive( int _boardnr,
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int _nodeid,
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int _pdonr,
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rlCanOpenTypes &_pdo_data);
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/*! Using the pdo_transmit function you can transmit a PDO (Process Data
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Object) to a specific node. The desired data must be written to the
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rlCanOpenTypes class. The mapping is only available if mapping is
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configurated during the node creation of the rlcanopen constructer.
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Therefore an eds file (electronic data sheet) is needed.
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Use the cannode::hasMapping() function to check if mapping is available */
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int pdo_transmit( int _boardnr,
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int _nodeid,
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int _pdonr,
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int _mappingnr,
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rlCanOpenTypes &_pdo_data);
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/*! Using the pdo_transmit function you can transmit a PDO (Process Data
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Object) to a specific node. The desired data must be written to the
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rlCanOpenTypes class. This function does not support mapping. So the
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whole 8byte PDO data, will be send to write to the rlCanOpenTypes use
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the rlCanOpenTypes::set_buffer({0-7}) function */
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int pdo_transmit( int _boardnr,
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int _nodeid,
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int _pdonr,
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rlCanOpenTypes &_pdo_data);
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/*! Because the nodes of all boards are stored in one list, the listindex is
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not equal to the nodeID(1-127). Use this function to get the listindex
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of a desired node */
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int getNodeIndex( int _boardnr,
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int _nodeid,
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int & _index);
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/*! returns daemontype number of an object. The type is retrieved from the
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node's objectdir. When no objectdir exists (e.g. because of a missing
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EDS file) or when the requested object does not exist, this function
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will return 0xFF (the corresponding value to rlCanOpenTypes::RL_NOTYPE)
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*/
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int getObjectType( int _boardnr,
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int _nodeid,
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int _objectindex,
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int _subindex);
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/*! Use this function to get information about a specific node.
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The nodestate, nodeerror and a nodestateFlag will be written to the
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rlCanOpenTypes. Read the rlCanOpenTypes.h header to get further
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information about these variables. Hilscher specific function (so no
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CanOpoen services) are used to receive the information */
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int getNodeState( int _boardnr,
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int _nodeid,
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rlCanOpenTypes &_data);
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/*! Using this function you are able to restart a CanOpenMaster board
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(device). There are 3 possibly kinds of restarting the master:
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coldstart, warmstart, bootstart.
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The corresponding '#defines' are declared in canopenstructs.h
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Hilscher specific function (so no CanOpoen services) are used to
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execute this command */
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int restartBoard( int _boardnr, int _restarttype);
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/*! Using this function you can send a NMT Command to one or all nodes (of
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one board). NMT (Network Management) is a CanOpen service. Because of the
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device there are constrictions for the user.
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You can only execute the follow NMT commands:
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START_REMOTE_NODE,
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STOP_REMOTE_NODE,
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ENTER_PREOPERATIONAL,
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RESET_NODE,
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RESET_COMMUNICATION
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The corresponding '#defines' are declared in canopenstructs.h */
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int sendNMTCommand( int _boardnr,
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int _nodeid,
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unsigned char _cmd);
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bool is_twisted_type(int _canopentype);
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private:
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/*! This function reads out the configuration of a specific node using special
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Hilscher commands (CMDCODE_GET_CONFIGURATION). If the master board isn't
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configurated by SyCon it is not possibly to use this function with success.
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It returns false if the node is not available */
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bool getNodeConfiguration(int _nodeID);
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/*! this function iterates through the recieve/tramsmit pdo lists and returns
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the ID number of the pdo that fits the given objektindex. The PdoId
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identifies the send/receive PDO on the given node */
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int getPdoID(int _boardnr, int _nodeid, int _objektindex, int _direction);
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//! the currently active board
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int activeboard;
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/*! read properties of inifile. EDS path, logfile location and user-specific
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options are set on startup */
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void read_inifile(const char* _filename);
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//! initialize nodes and create nodelist
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bool ini();
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//! clear message struct by setting all elements to zero
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void delmsg();
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//! Read informations about installed devices
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bool iniboards();
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//! this string buffer is usually written with sprintf before sent to stdout
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char err_out_buf[255];
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//! return value for hilscher specific message functions
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short sRet;
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//! Pointer to error logfile
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FILE* err_fp;
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//! name of logfile stdout is redirected to
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QString logFileName;
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//! hilscher specific message structur which will be sent to the master card
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RCS_MESSAGETELEGRAM_10 message;
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//! this list contains all nodes from all boards
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QPtrVector <rlCanNode> nodelist;
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//! the current count of CanOpenMaster cards
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int boardcount;
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//! message counter
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unsigned char messagenr;
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//! sets a desired CanOpenMaster active, so that it can be used
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short setBoardActive(int _boardnr);
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/*! if the user changes the mapping of a node using SDO functions,
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the internal mapping list should be changed */
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int refreshMappingList( int _boardnr,
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int _nodeid,
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int _pdoID,
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int _pdoDirection);
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/*! this function checks the bus for available nodes and creates
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a corresponding nodelist */
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int createNodes();
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//! this function writes the mapping objects for each pdo of a node
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int createMappingObjects( int _boardid,
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int _nodeid,
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int _pdoDirection);
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/*! this indicator is true when stdout is redirected to file.
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it is set in the ini-file */
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bool enableLogging;
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};
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#endif
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