motion/ecmc_plugin_socketcan
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Some cleanup.

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This commit is contained in:
Anders Sandstrom
2021-03-09 14:30:57 +01:00
parent afb93a2b00
commit 78d6cd5a12
2 changed files with 45 additions and 46 deletions
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76
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.cpp
View File

@@ -69,9 +69,9 @@ ecmcSocketCAN::ecmcSocketCAN(char* configStr,
//syncPdo_ = NULL;
//heartPdo_ = NULL;
//basicConfSdo_ = NULL;
testDevice_ = NULL;
testMaster_ = NULL;
cycleCounter_ = 0;
//testDevice_ = NULL;
//testMaster_ = NULL;
//cycleCounter_ = 0;
deviceCounter_ = 0;
masterDev_ = NULL;
for(int i = 0; i<ECMC_CAN_MAX_DEVICES;i++) {
@@ -106,29 +106,29 @@ ecmcSocketCAN::ecmcSocketCAN(char* configStr,
connectPrivate();
}
writeBuffer_ = new ecmcSocketCANWriteBuffer(socketId_, cfgDbgMode_);
testDevice_ = new ecmcCANOpenDevice(writeBuffer_,3,exeSampleTimeMs_,"pmu905",cfgDbgMode_);
//testSdo_ = new ecmcCANOpenSDO( writeBuffer_, 0x583,0x603,DIR_READ,0x2640,0,56,7000,exeSampleTimeMs_, cfgDbgMode_);
testDevice_->addSDO(0x583, // 0x580 + CobId
0x603, // 0x600 + Cobid
DIR_READ,
0x2640, // Object dictionary index
0x0, // Object dictionary subindex
56,
7000,
"analogValues");
//testPdo_ = new ecmcCANOpenPDO( writeBuffer_, 0x183,DIR_READ,8,10000,0,exeSampleTimeMs_, cfgDbgMode_);
testDevice_->addPDO(0x183,
DIR_READ,
8,
10000,
0,
"status");
testMaster_= new ecmcCANOpenMaster(writeBuffer_,1,exeSampleTimeMs_,1000,1000,1000,"linuxMaster",cfgDbgMode_);
//testDevice_ = new ecmcCANOpenDevice(writeBuffer_,3,exeSampleTimeMs_,"pmu905",cfgDbgMode_);
//
////testSdo_ = new ecmcCANOpenSDO( writeBuffer_, 0x583,0x603,DIR_READ,0x2640,0,56,7000,exeSampleTimeMs_, cfgDbgMode_);
//testDevice_->addSDO(0x583, // 0x580 + CobId
// 0x603, // 0x600 + Cobid
// DIR_READ,
// 0x2640, // Object dictionary index
// 0x0, // Object dictionary subindex
// 56,
// 7000,
// "analogValues");
//
////testPdo_ = new ecmcCANOpenPDO( writeBuffer_, 0x183,DIR_READ,8,10000,0,exeSampleTimeMs_, cfgDbgMode_);
//testDevice_->addPDO(0x183,
// DIR_READ,
// 8,
// 10000,
// 0,
// "status");
//
//
//
//testMaster_= new ecmcCANOpenMaster(writeBuffer_,1,exeSampleTimeMs_,1000,1000,1000,"linuxMaster",cfgDbgMode_);
// Test LSS heartbeat "master" signal. This makes the led on pmu905 to go to "Normal Communication"
@@ -283,12 +283,12 @@ void ecmcSocketCAN::doReadWorker() {
devices_[i]->newRxFrame(&rxmsg_);
}
if(testDevice_) {
testDevice_->newRxFrame(&rxmsg_);
}
if(testMaster_) {
testMaster_->newRxFrame(&rxmsg_);
}
// if(testDevice_) {
// testDevice_->newRxFrame(&rxmsg_);
// }
// if(testMaster_) {
// testMaster_->newRxFrame(&rxmsg_);
// }
//if(basicConfSdo_) {
// basicConfSdo_->newRxFrame(&rxmsg_);
@@ -379,12 +379,12 @@ void ecmcSocketCAN::execute() {
// heartPdo_->execute();
// }
if(testMaster_) {
testMaster_->execute();
}
if(testDevice_) {
testDevice_->execute();
}
// if(testMaster_) {
// testMaster_->execute();
// }
// if(testDevice_) {
// testDevice_->execute();
// }
for(int i = 0; i < deviceCounter_; i++){
devices_[i]->execute();

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

@@ -129,12 +129,10 @@ class ecmcSocketCAN {
int socketId_;
struct sockaddr_can addr_;
struct can_frame txmsgBuffer_[ECMC_CAN_MAX_WRITE_CMDS];
int writeCmdCounter_;
int writeBusy_;
int lastWriteSumError_;
//int writeCmdCounter_;
//int writeBusy_;
//int lastWriteSumError_;
int exeSampleTimeMs_;
int deviceCounter_;
ecmcSocketCANWriteBuffer *writeBuffer_;
//ecmcCANOpenSDO *testSdo_;
@@ -144,12 +142,13 @@ class ecmcSocketCAN {
//ecmcCANOpenPDO *heartPdo_;
//ecmcCANOpenSDO *basicConfSdo_;
ecmcCANOpenDevice *testDevice_;
ecmcCANOpenMaster *testMaster_;
//ecmcCANOpenDevice *testDevice_;
//ecmcCANOpenMaster *testMaster_;
int deviceCounter_;
ecmcCANOpenDevice *devices_[ECMC_CAN_MAX_DEVICES];
ecmcCANOpenMaster *masterDev_;
int cycleCounter_;
//int cycleCounter_;
};
#endif /* ECMC_SOCKETCAN_H_ */