motion/ecmc_plugin_socketcan
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Start to add iocsh cmds..

Browse Source
This commit is contained in:
Anders Sandstrom
2021-03-09 10:26:28 +01:00
parent e54cca6261
commit 02d9ef3244
11 changed files with 219 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
ecmc_plugin_socketcan.Makefile
View File

@@ -56,6 +56,8 @@ SOURCES += $(APPSRC)/ecmcCANOpenPDO.cpp
SOURCES += $(APPSRC)/ecmcCANOpenDevice.cpp
SOURCES += $(APPSRC)/ecmcCANOpenMaster.cpp
DBDS += $(APPSRC)/ecmcSocketCAN.dbd
db:
.PHONY: db

2
ecmc_plugin_socketcan/ecmc_plugin_socketcan.Makefile
View File

@@ -56,6 +56,8 @@ SOURCES += $(APPSRC)/ecmcCANOpenPDO.cpp
SOURCES += $(APPSRC)/ecmcCANOpenDevice.cpp
SOURCES += $(APPSRC)/ecmcCANOpenMaster.cpp
DBDS += $(APPSRC)/ecmcSocketCAN.dbd
db:
.PHONY: db

5
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenDevice.cpp
View File

@@ -32,7 +32,7 @@ ecmcCANOpenDevice::ecmcCANOpenDevice(ecmcSocketCANWriteBuffer* writeBuffer,
errorCode_ = 0;
dbgMode_ = dbgMode;
name_ = strdup(name);
isMaster_ = false;
pdoCounter_ = 0;
sdoCounter_ = 0;
@@ -77,7 +77,8 @@ void ecmcCANOpenDevice::execute() {
// new rx frame recived!
void ecmcCANOpenDevice::newRxFrame(can_frame *frame) {
if (!validateFrame(frame)) {
// only validate if not master
if (!validateFrame(frame) && !isMaster_) {
return;
}

1
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenDevice.h
View File

@@ -71,6 +71,7 @@ class ecmcCANOpenDevice {
char* name_;
ecmcCANOpenPDO *pdos_[ECMC_CAN_DEVICE_PDO_MAX_COUNT];
ecmcCANOpenSDO *sdos_[ECMC_CAN_DEVICE_SDO_MAX_COUNT];
bool isMaster_;
};
#endif /* ECMC_CANOPEN_DEVICE_H_ */

4
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenMaster.cpp
View File

@@ -32,8 +32,10 @@ ecmcCANOpenMaster::ecmcCANOpenMaster(ecmcSocketCANWriteBuffer* writeBuffer,
lssPdo_ = NULL;
syncPdo_ = NULL;
heartPdo_ = NULL;
int errorCode = 0;
isMaster_ = true;
int errorCode = 0;
// lssPdo_ = new ecmcCANOpenPDO( writeBuffer_, 0x7E5,DIR_WRITE,0,0,1000,exeSampleTimeMs_,"lss", cfgDbgMode_);
errorCode = addPDO(0x7E5, // uint32_t cobId,
DIR_WRITE, // ecmc_can_direction rw,

2
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenMaster.h
View File

@@ -39,7 +39,7 @@ class ecmcCANOpenMaster : public ecmcCANOpenDevice {
private:
ecmcCANOpenPDO *lssPdo_;
ecmcCANOpenPDO *syncPdo_;
ecmcCANOpenPDO *heartPdo_;
ecmcCANOpenPDO *heartPdo_;
};
#endif /* ECMC_CANOPEN_MASTER_H_ */

2
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.cpp
View File

@@ -613,4 +613,4 @@ std::string ecmcSocketCAN::to_string(int value) {
// return asynError;*/
// return asynSuccess;
//}
//
//

1
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.dbd Normal file
View File

@@ -0,0 +1 @@
registrar("ecmcCANPluginDriverRegister")

192
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWrap.cpp
View File

@@ -19,6 +19,17 @@
#include "ecmcSocketCANWrap.h"
#include "ecmcSocketCAN.h"
#include "ecmcSocketCANDefs.h"
#include <epicsTypes.h>
#include <epicsTime.h>
#include <epicsThread.h>
#include <epicsString.h>
#include <epicsTimer.h>
#include <epicsMutex.h>
#include <epicsExport.h>
#include <epicsEvent.h>
#include <iocsh.h>
#define ECMC_PLUGIN_MAX_PORTNAME_CHARS 64
#define ECMC_PLUGIN_PORTNAME_PREFIX "PLUGIN.CAN"
@@ -133,3 +144,184 @@ void deleteSocketCAN() {
delete (can);
}
}
/**
* EPICS iocsh shell command: ecmcCANOpenAddMaster
*/
void ecmcCANOpenAddMasterPrintHelp() {
printf("\n");
printf(" Use \"ecmcCANOpenAddMaster(<name>, <node id>\n");
printf(" <name> : Name of master device.\n");
printf(" <node id> : CANOpen node id of master.\n");
printf("\n");
}
int ecmcCANOpenAddMaster(const char* name, int nodeId) {
if(!name) {
printf("Error: name.\n");
ecmcCANOpenAddMasterPrintHelp();
return asynError;
}
if(strcmp(name,"-h") == 0 || strcmp(name,"--help") == 0 ) {
ecmcCANOpenAddMasterPrintHelp();
return asynSuccess;
}
/* CODE HERE*/
return asynSuccess;
}
static const iocshArg initArg0_0 =
{ "Name", iocshArgString };
static const iocshArg initArg1_0 =
{ "Node Id", iocshArgInt };
static const iocshArg *const initArgs_0[] = { &initArg0_0,
&initArg1_0};
static const iocshFuncDef initFuncDef_0 = { "ecmcCANOpenAddMaster", 2, initArgs_0 };
static void initCallFunc_0(const iocshArgBuf *args) {
ecmcCANOpenAddMaster(args[0].sval, args[1].ival);
}
/**
* EPICS iocsh shell command: ecmcCANOpenAddDevice
*/
void ecmcCANOpenAddDevicePrintHelp() {
printf("\n");
printf(" Use \"ecmcCANOpenAddDevice(<name>, <node id>\n");
printf(" <name> : Name of device.\n");
printf(" <node id> : CANOpen node id of master.\n");
printf("\n");
}
int ecmcCANOpenAddDevice(const char* name, int nodeId) {
if(!name) {
printf("Error: name.\n");
ecmcCANOpenAddDevicePrintHelp();
return asynError;
}
if(strcmp(name,"-h") == 0 || strcmp(name,"--help") == 0 ) {
ecmcCANOpenAddDevicePrintHelp();
return asynSuccess;
}
/* CODE HERE*/
return asynSuccess;
}
static const iocshArg initArg0_1 =
{ "Name", iocshArgString };
static const iocshArg initArg1_1 =
{ "Node Id", iocshArgInt };
static const iocshArg *const initArgs_1[] = { &initArg0_1,
&initArg1_1};
static const iocshFuncDef initFuncDef_1 = { "ecmcCANOpenAddDevice", 2, initArgs_1 };
static void initCallFunc_1(const iocshArgBuf *args) {
ecmcCANOpenAddDevice(args[0].sval, args[1].ival);
}
/**
* EPICS iocsh shell command: ecmcCANOpenAddSDO
*/
void ecmcCANOpenAddSDOPrintHelp() {
printf("\n");
printf(" Use \"ecmcCANOpenAddSDO(<name>, <node id>\n");
printf(" <name> : Name of master device.\n");
printf(" <node id> : CANOpen node id of master.\n");
printf("\n");
}
int ecmcCANOpenAddSDO(const char* name, int nodeId) {
if(!name) {
printf("Error: name.\n");
ecmcCANOpenAddSDOPrintHelp();
return asynError;
}
if(strcmp(name,"-h") == 0 || strcmp(name,"--help") == 0 ) {
ecmcCANOpenAddSDOPrintHelp();
return asynSuccess;
}
/* CODE HERE*/
return asynSuccess;
}
static const iocshArg initArg0_2 =
{ "Name", iocshArgString };
static const iocshArg initArg1_2 =
{ "Node Id", iocshArgInt };
static const iocshArg *const initArgs_2[] = { &initArg0_2,
&initArg1_2};
static const iocshFuncDef initFuncDef_2 = { "ecmcCANOpenAddSDO", 2, initArgs_2 };
static void initCallFunc_2(const iocshArgBuf *args) {
ecmcCANOpenAddSDO(args[0].sval, args[1].ival);
}
/**
* EPICS iocsh shell command: ecmcCANOpenAddPDO
*/
void ecmcCANOpenAddPDOPrintHelp() {
printf("\n");
printf(" Use \"ecmcCANOpenAddPDO(<name>, <node id>\n");
printf(" <name> : Name of master device.\n");
printf(" <node id> : CANOpen node id of master.\n");
printf("\n");
}
int ecmcCANOpenAddPDO(const char* name, int nodeId) {
if(!name) {
printf("Error: name.\n");
ecmcCANOpenAddPDOPrintHelp();
return asynError;
}
if(strcmp(name,"-h") == 0 || strcmp(name,"--help") == 0 ) {
ecmcCANOpenAddPDOPrintHelp();
return asynSuccess;
}
/* CODE HERE*/
return asynSuccess;
}
static const iocshArg initArg0_3 =
{ "Name", iocshArgString };
static const iocshArg initArg1_3 =
{ "Node Id", iocshArgInt };
static const iocshArg *const initArgs_3[] = { &initArg0_3,
&initArg1_3};
static const iocshFuncDef initFuncDef_3 = { "ecmcCANOpenAddPDO", 2, initArgs_3 };
static void initCallFunc_3(const iocshArgBuf *args) {
ecmcCANOpenAddPDO(args[0].sval, args[1].ival);
}
/**
* Register all functions
*/
void ecmcCANPluginDriverRegister(void) {
iocshRegister(&initFuncDef_0, initCallFunc_0); // ecmcCANOpenAddMaster
iocshRegister(&initFuncDef_1, initCallFunc_1); // ecmcCANOpenAddDevice
iocshRegister(&initFuncDef_2, initCallFunc_2); // ecmcCANOpenAddSDO
iocshRegister(&initFuncDef_3, initCallFunc_3); // ecmcCANOpenAddPDO
}
epicsExportRegistrar(ecmcCANPluginDriverRegister);

23
iocsh/pvs.log
View File

@@ -1,14 +1,15 @@
IOC_TEST:PLC-0-enable
REQMOD:mcag-trgt-muts--11838:MODULES
REQMOD:mcag-trgt-muts--11838:VERSIONS
REQMOD:mcag-trgt-muts--11838:MOD_VER
REQMOD:mcag-trgt-muts--11838:exit
REQMOD:mcag-trgt-muts--11838:BaseVersion
REQMOD:mcag-trgt-muts--11838:require_VER
REQMOD:mcag-trgt-muts--11838:ecmccfg_VER
REQMOD:mcag-trgt-muts--11838:asyn_VER
REQMOD:mcag-trgt-muts--11838:exprtk_VER
REQMOD:mcag-trgt-muts--11838:motor_VER
REQMOD:mcag-trgt-muts--11838:ecmc_VER
REQMOD:mcag-trgt-muts--16738:MODULES
REQMOD:mcag-trgt-muts--16738:VERSIONS
REQMOD:mcag-trgt-muts--16738:MOD_VER
REQMOD:mcag-trgt-muts--16738:exit
REQMOD:mcag-trgt-muts--16738:BaseVersion
REQMOD:mcag-trgt-muts--16738:require_VER
REQMOD:mcag-trgt-muts--16738:ecmccfg_VER
REQMOD:mcag-trgt-muts--16738:asyn_VER
REQMOD:mcag-trgt-muts--16738:exprtk_VER
REQMOD:mcag-trgt-muts--16738:motor_VER
REQMOD:mcag-trgt-muts--16738:ecmc_VER
REQMOD:mcag-trgt-muts--16738:ecmc_plugin_socketcan_VER
IOC_TEST:PLC-0-scantime
IOC_TEST:PLC-0-error

2
iocsh/test.script
View File

@@ -21,7 +21,7 @@ $(ECMCCFG_INIT)$(SCRIPTEXEC) ${ecmccfg_DIR}startup.cmd, "IOC=$(IOC),ECMC_VER=6.3
##############################################################################
## Load plugin:
#require ecmc_plugin_advanced master # do not require then loaded twice..
require ecmc_plugin_socketcan master # do not require then loaded twice..
epicsEnvSet(ECMC_PLUGIN_FILNAME,"/home/dev/epics/base-7.0.4/require/${E3_REQUIRE_VERSION}/siteMods/ecmc_plugin_socketcan/master/lib/${EPICS_HOST_ARCH=linux-x86_64}/libecmc_plugin_socketcan.so")
epicsEnvSet(ECMC_PLUGIN_CONFIG,"IF=can0;DBG_PRINT=1;") # Only one option implemented in this plugin