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Add write plc function

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This commit is contained in:
Anders Sandstrom
2021-03-02 14:41:22 +01:00
parent 6bf428552f
commit 07ba8322cd
5 changed files with 141 additions and 14 deletions
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52
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcPluginSocketCAN.c
View File

@@ -163,6 +163,28 @@ double can_connected() {
return (double)getSocketCANConnectd();
}
double can_write(double canId,
double len,
double data0,
double data1,
double data2,
double data3,
double data4,
double data5,
double data6,
double data7) {
return (double)writeSocketCAN(canId,
len,
data0,
data1,
data2,
data3,
data4,
data5,
data6,
data7);
}
// Register data for plugin so ecmc know what to use
struct ecmcPluginData pluginDataDef = {
// Allways use ECMC_PLUG_VERSION_MAGIC
@@ -194,7 +216,7 @@ struct ecmcPluginData pluginDataDef = {
// Function name (this is the name you use in ecmc plc-code)
.funcName = "can_connect",
// Function description
.funcDesc = "double can_connect() : Connect to can if (from config str).",
.funcDesc = "double can_connect() : Connect to can interface (from config str).",
/**
* 7 different prototypes allowed (only doubles since reg in plc).
* Only funcArg${argCount} func shall be assigned the rest set to NULL.
@@ -217,7 +239,7 @@ struct ecmcPluginData pluginDataDef = {
// Function name (this is the name you use in ecmc plc-code)
.funcName = "can_connected",
// Function description
.funcDesc = "double can_connected() : Connected to can if.",
.funcDesc = "double can_connected() : Connected to can interface.",
/**
* 7 different prototypes allowed (only doubles since reg in plc).
* Only funcArg${argCount} func shall be assigned the rest set to NULL.
@@ -235,7 +257,31 @@ struct ecmcPluginData pluginDataDef = {
.funcArg10 = NULL,
.funcGenericObj = NULL,
},
.funcs[2] = {0}, // last element set all to zero..
.funcs[2] =
{ /*----can_connected----*/
// Function name (this is the name you use in ecmc plc-code)
.funcName = "can_write",
// Function description
.funcDesc = "double can_write(canId,len,data0..data7) : Write to can interface.",
/**
* 7 different prototypes allowed (only doubles since reg in plc).
* Only funcArg${argCount} func shall be assigned the rest set to NULL.
**/
.funcArg0 = NULL,
.funcArg1 = NULL,
.funcArg2 = NULL,
.funcArg3 = NULL,
.funcArg4 = NULL,
.funcArg5 = NULL,
.funcArg6 = NULL,
.funcArg7 = NULL,
.funcArg8 = NULL,
.funcArg9 = NULL,
.funcArg10 = can_write,
.funcGenericObj = NULL,
},
.funcs[3] = {0}, // last element set all to zero..
// PLC consts
.consts[0] = {0}, // last element set all to zero..
};

44
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.cpp
View File

@@ -207,7 +207,7 @@ void ecmcSocketCAN::doReadWorker() {
if(cfgDbgMode_) {
// Simulate candump printout
printf("\n0x%02X", rxmsg_.can_id);
printf("\nread 0x%02X", rxmsg_.can_id);
printf(" [%d]", rxmsg_.can_dlc);
for(int i=0; i<rxmsg_.can_dlc; i++ ) {
printf(" 0x%02X", rxmsg_.data[i]);
@@ -229,16 +229,42 @@ void ecmcSocketCAN::doConnectWorker() {
}
}
// Test can write function
int ecmcSocketCAN::writeCAN() {
struct can_frame frame;
txmsg_.can_id = 0x123;
txmsg_.can_dlc = 2;
txmsg_.data[0] = frame.data[0]+1;
txmsg_.data[1] = frame.data[1]+1;
// Test can write function (simple if for plc func)
void ecmcSocketCAN::writeCAN( uint32_t canId,
uint8_t len,
uint8_t data0,
uint8_t data1,
uint8_t data2,
uint8_t data3,
uint8_t data4,
uint8_t data5,
uint8_t data6,
uint8_t data7) {
txmsg_.can_id = canId;
txmsg_.can_dlc = len;
txmsg_.data[0] = data0;
txmsg_.data[1] = data1;
txmsg_.data[2] = data2;
txmsg_.data[3] = data3;
txmsg_.data[4] = data4;
txmsg_.data[5] = data5;
txmsg_.data[6] = data6;
txmsg_.data[7] = data7;
// Maybe need to add the size to write here.. if struct is not full, hmm?!
int nbytes = write(socketId_, &txmsg_, sizeof(struct can_frame));
printf("\nWrote %d bytes\n", nbytes);
if (nbytes!=len) {
throw std::runtime_error( "Error in write.");
}
if(cfgDbgMode_) {
// Simulate candump printout
printf("\nwrite 0x%02X", txmsg_.can_id);
printf(" [%d]", txmsg_.can_dlc);
for(int i=0; i<txmsg_.can_dlc; i++ ) {
printf(" 0x%02X", txmsg_.data[i]);
}
}
}
void ecmcSocketCAN::initAsyn() {

12
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.h
View File

@@ -56,7 +56,17 @@ class ecmcSocketCAN : public asynPortDriver {
virtual asynStatus readFloat64(asynUser *pasynUser, epicsFloat64 *value);
void connectExternal();
int getConnected();
int writeCAN(); // Add args later
void writeCAN( uint32_t canId,
uint8_t len,
uint8_t data0,
uint8_t data1,
uint8_t data2,
uint8_t data3,
uint8_t data4,
uint8_t data5,
uint8_t data6,
uint8_t data7);
private:
void parseConfigStr(char *configStr);
void initAsyn();

32
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWrap.cpp
View File

@@ -77,6 +77,38 @@ int getSocketCANConnectd() {
return 0;
}
int writeSocketCAN( double canId,
double len,
double data0,
double data1,
double data2,
double data3,
double data4,
double data5,
double data6,
double data7) {
if(can){
try {
can->writeCAN((uint32_t) canId,
(uint8_t) len,
(uint8_t) data0,
(uint8_t) data1,
(uint8_t) data2,
(uint8_t) data3,
(uint8_t) data4,
(uint8_t) data5,
(uint8_t) data6,
(uint8_t) data7);
return 0;
}
catch(std::exception& e) {
printf("Exception: %s.\n",e.what());
return ECMC_PLUGIN_SOCKETCAN_ERROR_CODE;
}
}
return ECMC_PLUGIN_SOCKETCAN_ERROR_CODE;
}
void deleteSocketCAN() {
if(can) {
delete (can);

15
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWrap.h
View File

@@ -39,11 +39,24 @@ int connectSocketCAN();
int getSocketCANConnectd();
/** \brief Write CAN
*/
int writeSocketCAN( double canId,
double len,
double data0,
double data1,
double data2,
double data3,
double data4,
double data5,
double data6,
double data7);
/** \brief Delete SocketCAN object\n
*
* Should be called when destructs.\n
*/
void deleteSocketCAN();
# ifdef __cplusplus