rlcanopen.h

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/***************************************************************************
                          rlcanopen.cpp  -  description
                             -------------------
    begin     : Tue March 03 2004
    copyright : (C) 2004 by Marc Br�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                             *
 *                                                                         *
 ***************************************************************************/

#ifndef NODES
#define NODES

#define err00 "no error, command executed"
#define err03 "DESCRIPT table not found. DEVICE is not configured by SyCon"
#define err57 "sequence error. Check requested DeviceAdr of continued message"
#define err58 "no entry found for requested DeviceAdr of request message."
#define err100 "Communication ERROR!!!"

#include "rlwthread.h"
#include "rlcannode.h"
#include <qvaluevector.h>
#include <qptrvector.h>

        

class rlCanOpen 
{
  public:
  rlCanOpen();
  rlCanOpen(char* _inifilename);
  ~rlCanOpen();
  
  int getBoardCount();
  
  int getActiveBoard();
  
  bool showNodeConfiguration(int _boardnr,int _nodeid);
  
  bool showNodeConfiguration();  // show all nodes
  
  int sdo_read ( int _boardnr, 
                 int _nodeid,
                 int _objectindex, 
                 int _subindex, 
                 rlCanOpenTypes &_sdo_data);
  
  int sdo_write ( int _boardnr, 
                  int _nodeid,
                  int _objectindex, 
                  int _subindex, 
                  rlCanOpenTypes &_sdo_data); 
  
  int pdo_receive( int _boardnr, 
                   int _nodeid,
                   int _pdonr, 
                   int _mappingnr, 
                   rlCanOpenTypes &_pdo_data);
  
  
  int pdo_receive( int _boardnr, 
                   int _nodeid,
                   int _pdonr, 
                   rlCanOpenTypes &_pdo_data);
  
  
  
  int pdo_transmit( int _boardnr, 
                    int _nodeid,
                    int _pdonr, 
                    int _mappingnr, 
                    rlCanOpenTypes &_pdo_data);
  
  int pdo_transmit( int _boardnr, 
                    int _nodeid,
                    int _pdonr, 
                    rlCanOpenTypes &_pdo_data);
  
  int getNodeIndex( int _boardnr,
                    int _nodeid,
                    int & _index); 
  
  int getObjectType( int _boardnr, 
                     int _nodeid, 
                     int _objectindex, 
                     int _subindex);
  
  int getNodeState( int _boardnr, 
                    int _nodeid,
                    rlCanOpenTypes &_data);
  
  int restartBoard( int _boardnr, int _restarttype);
  
  int sendNMTCommand( int _boardnr, 
                      int _nodeid, 
                      unsigned char _cmd);
                      
                      
                      
  bool is_twisted_type(int _canopentype);

  
  private:
  
  bool getNodeConfiguration(int _nodeID); 
  
  int getPdoID(int _boardnr, int _nodeid, int _objektindex, int _direction);
  
  int activeboard;
  
  void read_inifile(const char* _filename);
  
  bool ini();
  
  void delmsg();
  
  bool iniboards();
  
  char err_out_buf[255];
  
  short sRet;
  
  FILE* err_fp; 
  
  QString logFileName;
  
  RCS_MESSAGETELEGRAM_10 message; 
  
  QPtrVector <rlCanNode> nodelist;
  
  int boardcount;
  
  unsigned char messagenr;
  
  short setBoardActive(int _boardnr);
  
  int refreshMappingList( int _boardnr, 
                          int _nodeid,
                          int _pdoID,
                          int _pdoDirection);
  
  int createNodes();
  
  int createMappingObjects( int _boardid,
                            int _nodeid,
                            int _pdoDirection);
                           
 
  
  bool enableLogging;
  
};
                        
#endif