motion/ecmc_plugin_socketcan
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Cleanup

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This commit is contained in:
Anders Sandstrom
2021-03-04 12:11:09 +01:00
parent c29a3c6549
commit 0b941f3f62
8 changed files with 2 additions and 101 deletions
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4
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenSDO.cpp
View File

@@ -120,7 +120,6 @@ void ecmcCANOpenSDO::execute() {
printf("readStates_ = WAIT_FOR_REQ_CONF!!!\n");
writeBuffer_->addWriteCAN(&reqDataFrame_);
//writeBuffer_->triggWrites();
}
}
}
@@ -145,8 +144,6 @@ void ecmcCANOpenSDO::newRxFrame(can_frame *frame) {
readStates_ = WAIT_FOR_DATA; //Next frame should be data!
printf("readStates_ = WAIT_FOR_DATA!!!\n");
writeBuffer_->addWriteCAN(&confReqFrameTg0_); // Send tg0 frame and wait for data, also size must match to go ahead
//writeBuffer_->triggWrites();
useTg1Frame_ = 1;
break;
@@ -167,7 +164,6 @@ void ecmcCANOpenSDO::newRxFrame(can_frame *frame) {
writeBuffer_->addWriteCAN(&confReqFrameTg0_);
useTg1Frame_ = 1;
}
//writeBuffer_->triggWrites();
}
printf("recivedBytes = %d!!!\n",recivedBytes_);

7
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcPluginSocketCAN.c
View File

@@ -164,12 +164,7 @@ double can_connected() {
return (double)getSocketCANConnectd();
}
// trigger all writes added to buffer
//double can_trigg_writes() {
// return (double)triggWrites();
//}
// trigger all writes added to buffer
// Error during last writes
double can_last_writes_error() {
return (double)getlastWritesError();
}

18
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.cpp
View File

@@ -237,22 +237,6 @@ void ecmcSocketCAN::doConnectWorker() {
connectPrivate();
}
}
// struct byte0 {
// char ccs : 3;
// char reserved : 1;
// char n : 2;
// char e : 1;
// char s : 1;
// }
// int ecmcSocketCAN::triggWrites() {
// if(!writeBuffer_) {
// return ECMC_CAN_ERROR_WRITE_BUFFER_NULL;
// }
// writeBuffer_->triggWrites();
// return 0;
// }
int ecmcSocketCAN::getlastWritesError() {
if(!writeBuffer_) {
@@ -275,7 +259,7 @@ int ecmcSocketCAN::addWriteCAN(uint32_t canId,
if(!writeBuffer_) {
return ECMC_CAN_ERROR_WRITE_BUFFER_NULL;
}
writeBuffer_->addWriteCAN(canId,
len,
data0,

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

@@ -77,7 +77,6 @@ class ecmcSocketCAN : public asynPortDriver {
uint8_t data5,
uint8_t data6,
uint8_t data7);
//int triggWrites();
int getlastWritesError();
void execute(); // ecmc rt loop

13
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWrap.cpp
View File

@@ -91,19 +91,6 @@ int getlastWritesError() {
return 1;
}
// int triggWrites() {
// if(can){
// try {
// return can->triggWrites();
// }
// catch(std::exception& e) {
// printf("Exception: %s.\n",e.what());
// return ECMC_PLUGIN_SOCKETCAN_ERROR_CODE;
// }
// }
// return ECMC_PLUGIN_SOCKETCAN_ERROR_CODE;
// }
int execute() {
if(can){
can->execute();

8
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWrap.h
View File

@@ -38,14 +38,6 @@ int connectSocketCAN();
*/
int getSocketCANConnectd();
/** \brief Write all buffered writes to CAN
*/
//int triggWrites();
/** \brief Busy writing\n
*/
int getWriteBusy();
/** \brief Get last error from writes\n
*/
int getlastWritesError();

39
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWriteBuffer.cpp
View File

@@ -31,16 +31,6 @@ void f_worker_write(void *obj) {
canObj->doWriteWorker();
}
//void f_worker_trigger(void *obj) {
// if(!obj) {
// printf("%s/%s:%d: Error: Worker trigg thread ecmcSocketCANWriteBuffer object NULL..\n",
// __FILE__, __FUNCTION__, __LINE__);
// return;
// }
// ecmcSocketCANWriteBuffer * canObj = (ecmcSocketCANWriteBuffer*)obj;
// canObj->doTriggerWorker();
//}
/** ecmc ecmcSocketCANWriteBuffer class
*/
ecmcSocketCANWriteBuffer::ecmcSocketCANWriteBuffer(int socketId, int cfgDbgMode) {
@@ -67,29 +57,13 @@ ecmcSocketCANWriteBuffer::ecmcSocketCANWriteBuffer(int socketId, int cfgDbgMode)
if(epicsThreadCreate(threadname.c_str(), 0, 32768, f_worker_write, this) == NULL) {
throw std::runtime_error("Error: Failed create worker thread for write().");
}
//threadname = "ecmc." ECMC_PLUGIN_ASYN_PREFIX".write_trigg";
//if(epicsThreadCreate(threadname.c_str(), 0, 32768, f_worker_trigger, this) == NULL) {
// throw std::runtime_error("Error: Failed create worker thread for write trigger.");
//}
}
ecmcSocketCANWriteBuffer::~ecmcSocketCANWriteBuffer() {
// kill worker
destructs_ = 1; // maybe need todo in other way..
//doWriteEvent_.signal();
}
//void ecmcSocketCANWriteBuffer::doTriggerWorker() {
// while(true) {
// if(destructs_) {
// return;
// }
// nanosleep(&writePauseTime_,NULL);
// triggWrites();
// }
//}
// Write socket worker thread (switch between two buffers)
void ecmcSocketCANWriteBuffer::doWriteWorker() {
while(true) {
@@ -253,19 +227,6 @@ int ecmcSocketCANWriteBuffer::switchBuffer() {
return 0;
}
// Trigger all writes
//int ecmcSocketCANWriteBuffer::triggWrites() {
//
// if(writeBusy_) {
// return ECMC_CAN_ERROR_WRITE_BUSY;
// }
// writeBusy_ = 1;
// switchBuffer();
// lastWriteSumError_ = 0;
// doWriteEvent_.signal(); // let worker start
// return 0;
//}
// Write to socket
int ecmcSocketCANWriteBuffer::writeCAN(can_frame *frame){

13
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWriteBuffer.h
View File

@@ -59,7 +59,6 @@ class ecmcSocketCANWriteBuffer {
void doWriteWorker();
//void doTriggerWorker();
int addWriteCAN(uint32_t canId,
uint8_t len,
@@ -75,26 +74,14 @@ class ecmcSocketCANWriteBuffer {
int getlastWritesError();
private:
//int triggWrites();
static std::string to_string(int value);
int writeCAN(can_frame *frame);
int switchBuffer();
int addToBuffer(can_frame *frame);
//void addToBuffer1(can_frame *frame);
//void addToBuffer2(can_frame *frame);
int writeBuffer();
//void writeBuffer1();
//void writeBuffer2();
int destructs_;
int cfgDbgMode_;
//epicsEvent doWriteEvent_;
int socketId_;
// struct can_frame txmsgBuffer1_[ECMC_CAN_MAX_WRITE_CMDS];
// struct can_frame txmsgBuffer2_[ECMC_CAN_MAX_WRITE_CMDS];
// int writeCmdCounter1_;
// int writeCmdCounter2_;
// epicsMutexId bufferMutex1_;
// epicsMutexId bufferMutex2_;
epicsMutexId bufferSwitchMutex_;
canWriteBuffer buffer1_;
canWriteBuffer buffer2_;