rlCanNode Class Reference

class to manage one node of a CanOpenMaster board in a CanOpen network More...

#include <rlcannode.h>

Collaboration diagram for rlCanNode:

Public Member Functions
	rlCanNode ()
	rlCanNode (int boardnr, int nodeid, RCS_MESSAGETELEGRAM_10 &_telegramm)
	initializes a new cannode by means of SyCon-pre-configurated parameters More...
	~rlCanNode ()
	calls destructors of rlinifile obj and objdir More...
int	objecttype (int objindex, int subindex)
	returns the type of a specific entry in the object directory More...
void	showConfiguration ()
	prints out the configuration of the node More...
int	getNodeID ()
	returns the current node ID of the node More...
int	getBoardID ()
	returns the board ID the node is connected to. More...
int	getPdoCount ()
	returns the current number of all installed PDOs (Process Data Objects) More...
int	getReceivePdoCount ()
	returns the current number of all installed reiceive PDOs More...
int	getTransmitPdoCount ()
	returns the current number of all installed transmit PDOs More...
bool	hasMapping ()
	indicates if a node available mapping More...

Public Attributes
QPtrVector< rlCanPDO >	pdoList [2]
	contains transmit PDOs More...

Private Member Functions
rlIniFile *	getEDS (const char *_productstr)
	finds the eds file matching the product string in [DeviceInfo] ProductName More...
void	readConfigurationMessage (RCS_MESSAGETELEGRAM_10 &_message)
	reads out the configuration of a node from the CanOpenMaster board More...

Private Attributes
int	nodeID
	current node ID (1-127) More...
int	boardID
	curent board ID (0-3) More...
rlIniFile *	ini
ObjDir *	objdir
unsigned short	usIdentNumber
	Unique device number if available. More...
unsigned char	usVendorIdent
	Unique vendor number if available. More...
QString	abVendorName
	specific node informations. extracted from message telegramm More...
QString	abDeviceName
QString	abDescription
QString	edslocation
unsigned char	pdocount
unsigned char	bMasterAddress
unsigned char	bSettings

Detailed Description

class to manage one node of a CanOpenMaster board in a CanOpen network

Definition at line 48 of file rlcannode.h.

Constructor & Destructor Documentation

rlCanNode() [1/2]

rlCanNode::rlCanNode

(

)

Definition at line 21 of file rlcannode.cpp.

{
  rlDebugPrintf("\n Constructer clear");
}

rlCanNode() [2/2]

rlCanNode::rlCanNode	(	int	boardnr,
		int	nodeid,
		RCS_MESSAGETELEGRAM_10 &	_telegramm
	)

initializes a new cannode by means of SyCon-pre-configurated parameters

initializes a new node obj. node is defined by boardid, nodeid and a telegram which contains node specific information from device's dual ported memory

Definition at line 28 of file rlcannode.cpp.

                                                                        {
  nodeID = nodeid;
  boardID = boardnr;
  readConfigurationMessage(_telegramm);    
  rlDebugPrintf("Initialising new node...\n BoardNr. %d NodeId %d Productstr %s ...",
    boardnr, nodeid, abDeviceName.ascii());
    
  ini = getEDS(abDeviceName);

  if (ini!=0){
    rlDebugPrintf(" SUCCESS! \n ");            
    rlDebugPrintf(" ProductName=%s \n ", ini->text("DeviceInfo","ProductName"));    
    rlDebugPrintf(" Filename=%s  \n ", ini->text("FileInfo","FileName"));
    rlDebugPrintf("Lege Objektverzeichnis an:  ");
    objdir = new ObjDir(ini);
  }
  else
  {
    rlDebugPrintf("ERROR!\n NO EDS FILE FOUND FOR \"%s\"!\n", abDeviceName.ascii());
    objdir = 0;
  } 
  
  if (objdir){
    // observe the adress for pdo mapping in OV
    unsigned int i,adr;
    adr = TRANSMIT_PDO_MAPPING_STARTADRESS;
    
    rlDebugPrintf(" PDO Gr�en:transmit PDOs: %d     receive PDOs: %d\n",
             pdoList[DIRECTION_TRANSMIT].size(),pdoList[DIRECTION_RECEIVE].size());
             
    for (i = 0; i< pdoList[DIRECTION_TRANSMIT].size();i++)
    {
      while(objdir->OVAdressExists(adr,0) == 0)
      {
        adr++;
        
        if (adr>TRANSMIT_PDO_MAPPING_MAXADRESS) {
          adr=0;
          rlDebugPrintf("ERROR IN EDS FILE: errorous number of Mapping entries\n");
          break;
        }
      }
      pdoList[DIRECTION_TRANSMIT][i]->mappingOvAdress = adr;
    
      adr++;
    }
    
    adr = RECEIVE_PDO_MAPPING_STARTADRESS ;
    for (i = 0; i< pdoList[DIRECTION_RECEIVE].size();i++)
    {
      while(objdir->OVAdressExists(adr,0) == 0)
      {
        adr++;
        
        if (adr>RECEIVE_PDO_MAPPING_MAXADRESS) {
          adr=0;
          rlDebugPrintf("ERROR IN EDS FILE: errorous number of Mapping entries\n");
          break;
        }
      }
      pdoList[DIRECTION_RECEIVE][i]->mappingOvAdress = adr;
      adr++;
    
    }
  }
                  
}   

~rlCanNode()

rlCanNode::~rlCanNode

(

)

calls destructors of rlinifile obj and objdir

Definition at line 97 of file rlcannode.cpp.

                     {
  rlDebugPrintf("Destructor rlCanNode\n");
  if (ini!=0){
    delete ini;
  }
  if (objdir!=0){
    delete objdir;
  }
}

Member Function Documentation

getBoardID()

int rlCanNode::getBoardID

(

)

returns the board ID the node is connected to.

returns the board ID in witch the node is connected

Definition at line 245 of file rlcannode.cpp.

{
        return boardID;
}                                                                    

getEDS()

rlIniFile * rlCanNode::getEDS ( const char *  _productstr )

private

finds the eds file matching the product string in [DeviceInfo] ProductName

iterates through all files in eds directory. opens every eds file and returns a pointer to an ini-file object of the eds file matching the product string in [DeviceInfo] ProductName

Definition at line 109 of file rlcannode.cpp.

                                                   {
  rlIniFile* _ini;
  // get eds dir
  QString dirname(getenv("EdsDir"));
  if (dirname.isEmpty()){
    dirname = "./";
  }
  QString productname(_productstr);
  QDir edsdir(dirname);
  edsdir.setNameFilter("*.EDS; *.eds");
  QStringList::Iterator dirit;
  QStringList dirlist;
  dirlist = edsdir.entryList();
  _ini = new rlIniFile();
  for ( dirit = dirlist.begin(); dirit != dirlist.end(); ++dirit ) {
    int searchval;
    
    QString exportname;

    edslocation = dirname + *dirit;
    _ini->read(edslocation.ascii());
    exportname =QString(_ini->text("DeviceInfo","ProductName"));
    searchval = exportname.contains(productname, false);
    if (searchval == 1){
      return _ini;
    }
  }
  delete _ini;
  return 0;
}

getNodeID()

int rlCanNode::getNodeID

(

)

returns the current node ID of the node

Definition at line 239 of file rlcannode.cpp.

{
        return nodeID;
}

getPdoCount()

int rlCanNode::getPdoCount

(

)

returns the current number of all installed PDOs (Process Data Objects)

returns the current number of -all- installed PDOs (Process Data Objects)

Definition at line 280 of file rlcannode.cpp.

{
  return pdocount;
}

getReceivePdoCount()

int rlCanNode::getReceivePdoCount

(

)

returns the current number of all installed reiceive PDOs

Definition at line 285 of file rlcannode.cpp.

{
  return pdoList[DIRECTION_RECEIVE].size();
}

getTransmitPdoCount()

int rlCanNode::getTransmitPdoCount

(

)

returns the current number of all installed transmit PDOs

Definition at line 290 of file rlcannode.cpp.

{
  return pdoList[DIRECTION_TRANSMIT].size();
}

hasMapping()

bool rlCanNode::hasMapping

(

)

indicates if a node available mapping

indicates if node mapping is available. When mapping is active, it is possible to catch a specific Object within a PDO

Definition at line 295 of file rlcannode.cpp.

                          {
  if (objdir==0) return false;
  else return true;
}

objecttype()

int rlCanNode::objecttype	(	int	objindex,
		int	subindex
	)

returns the type of a specific entry in the object directory

Definition at line 250 of file rlcannode.cpp.

{
  QString edsbuffer;
  bool ok;
  int typenr;
  if (objdir != 0) {
    edsbuffer = objdir->get_objparameter(ObjDir::DATATYPE, objindex, subindex);
  }
  else
  {
    return rlCanOpenTypes::RL_NOTYPE;
  } 

  if (edsbuffer == "ERROR"){
    return rlCanOpenTypes::RL_NOTYPE;
  }
  edsbuffer.remove("0x");
  typenr = edsbuffer.toInt(&ok, 16);
  if (!ok){
    return rlCanOpenTypes::RL_NOTYPE;
  }
  else
  {
    return typenr;
  
  }
}

readConfigurationMessage()

void rlCanNode::readConfigurationMessage ( RCS_MESSAGETELEGRAM_10 &  _message )

private

reads out the configuration of a node from the CanOpenMaster board

reads out the configuration of a node from the device. For success the device must configured by SYCon.

Definition at line 142 of file rlcannode.cpp.

{
   
  int i;

  usIdentNumber = (unsigned short) (_message.d[2]+_message.d[1]*pow(256,1));
  usVendorIdent = (unsigned short) (_message.d[4]+_message.d[3]*pow(256,1));
    
  for(i=0;i<32;i++)
  {
    abVendorName+=_message.d[5+i]; 
    abDeviceName+=_message.d[37+i]; 
    abDescription+=_message.d[69+i]; 
  }
  
  bMasterAddress = _message.d[101];
  bSettings  = _message.d[102];
  pdocount = _message.d[117];
  
  //transmit_pdoList.resize(pdocount);
  
  int startadress=118; // start index of pdos in buffer
  int k = 0;  
  int tpdocounter = 0;
  int rpdocounter = 0;                                                      

 for(i=1;i<=int(pdocount);i++)                                      
 {                                                                                                                                                                             
    rlCanPDO *tempPDO = new rlCanPDO;
    tempPDO->bPDOSize      = _message.d[startadress+k+1];               
    tempPDO->bDataPosition = _message.d[startadress+k+2];               
    tempPDO->usPDOAddress  = (unsigned short) 
                             (_message.d[startadress+k+3]*pow(256,0)
                             + _message.d[startadress+k+4]);
  
   if  ((_message.d[startadress+k] & DATA_DIRECTION_MASK) == DIRECTION_INPUT)
   {
     rlDebugPrintf("\n tranceive pdo found ................\n");
     tpdocounter++;
     tempPDO->bPDODirection = DIRECTION_TRANSMIT; // => Tranceive PDO
     pdoList[DIRECTION_TRANSMIT].resize(pdoList[DIRECTION_TRANSMIT].size()+1);
     pdoList[DIRECTION_TRANSMIT].insert(tpdocounter-1,tempPDO);
   }
   else if(
       (_message.d[startadress+k] & DATA_DIRECTION_MASK) == DIRECTION_OUTPUT)
   {
      rlDebugPrintf("\n receive pdo found ................");
      rpdocounter++;
      tempPDO->bPDODirection = DIRECTION_RECEIVE; // => receive PDO
      pdoList[DIRECTION_RECEIVE].resize(pdoList[DIRECTION_RECEIVE].size()+1);
      pdoList[DIRECTION_RECEIVE].insert(rpdocounter-1,tempPDO);
   } 
   k=k+5;
  } 

}                                                                 

showConfiguration()

void rlCanNode::showConfiguration

(

)

prints out the configuration of the node

print out the configuration of the node

Definition at line 200 of file rlcannode.cpp.

{
  cout<<"\n\n******** Configuration Board "
                          <<boardID<<" Node "<<nodeID <<" ********";
  
  cout<<"\n IdentNumber   :" << usIdentNumber;    
  cout<<"\n VendorIdent   :" <<usVendorIdent;    
  cout<<"\n Vendor Name   :"<<abVendorName;
  cout<<"\n Device Name   :"<<abDeviceName;
  cout<<"\n Description   :"<<abDescription;
  cout<<"\n PDO count     :"<<int(pdocount);
  cout<<"\n Master Adress :"<<int(bMasterAddress);
  cout<<"\n Settings      :"<<int(bSettings); 
 
  cout<<"\n\n - - - - PDOs -> - - - - -";
  unsigned int j;
  for (j = 1;j<=pdoList[DIRECTION_TRANSMIT].size();j++)
  {
    cout<<"\n+ PDO No. "<<j;
    cout<<"\nPDO Direction  :Send PDO";
    printf("\nPDO Size       :%i",pdoList[DIRECTION_TRANSMIT][j-1]->bPDOSize);
    printf("\nData Position  :%i",pdoList[DIRECTION_TRANSMIT][j-1]->bDataPosition);
    printf("\nPDO Adress     :%i",pdoList[DIRECTION_TRANSMIT][j-1]->usPDOAddress);
  }
  
   for (j = 1;j<=pdoList[DIRECTION_RECEIVE].size();j++)
  {
    cout<<"\n+ PDO No. "<<j;     
    cout<<"\nPDO Direction  :Receive PDO";  
    printf("\nPDO Size       :%i",pdoList[DIRECTION_RECEIVE][j-1]->bPDOSize);
    printf("\nData Position  :%i",pdoList[DIRECTION_RECEIVE][j-1]->bDataPosition);
    printf("\nPDO Adress     :%i",pdoList[DIRECTION_RECEIVE][j-1]->usPDOAddress);
  }
  
  cout<<"\n **********************************************\n\n";  
}

Member Data Documentation

abDescription

QString rlCanNode::abDescription

private

Definition at line 129 of file rlcannode.h.

abDeviceName

QString rlCanNode::abDeviceName

private

Definition at line 128 of file rlcannode.h.

abVendorName

QString rlCanNode::abVendorName

private

specific node informations. extracted from message telegramm

Definition at line 127 of file rlcannode.h.

bMasterAddress

unsigned char rlCanNode::bMasterAddress

private

Definition at line 132 of file rlcannode.h.

boardID

int rlCanNode::boardID

private

curent board ID (0-3)

Definition at line 101 of file rlcannode.h.

bSettings

unsigned char rlCanNode::bSettings

private

Definition at line 133 of file rlcannode.h.

edslocation

QString rlCanNode::edslocation

private

Definition at line 130 of file rlcannode.h.

ini

rlIniFile* rlCanNode::ini

private

pointer to inifile. object which handles access to the EDS file describing the object directory of this node

Definition at line 110 of file rlcannode.h.

nodeID

int rlCanNode::nodeID

private

current node ID (1-127)

Definition at line 98 of file rlcannode.h.

objdir

ObjDir* rlCanNode::objdir

private

pointer to objdir which handles access to all items in the object directory of this node

Definition at line 114 of file rlcannode.h.

pdocount

unsigned char rlCanNode::pdocount

private

Definition at line 131 of file rlcannode.h.

pdoList

QPtrVector<rlCanPDO> rlCanNode::pdoList[2]

contains transmit PDOs

contains receive PDOs

Definition at line 94 of file rlcannode.h.

usIdentNumber

unsigned short rlCanNode::usIdentNumber

private

Unique device number if available.

Definition at line 121 of file rlcannode.h.

usVendorIdent

unsigned char rlCanNode::usVendorIdent

private

Unique vendor number if available.

Definition at line 124 of file rlcannode.h.

---

The documentation for this class was generated from the following files:

• rlcannode.h
• rlcannode.cpp