motion/ecmc_plugin_socketcan
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SDO read and write works.. NEED to make sure not to exe severla sdo requsets at the same time...

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This commit is contained in:
Anders Sandstrom
2021-03-05 16:17:31 +01:00
parent 24fdea0329
commit b495df588e
1 changed files with 7 additions and 7 deletions
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14
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.cpp
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@@ -113,7 +113,7 @@ ecmcSocketCAN::ecmcSocketCAN(char* configStr,
connectPrivate();
}
writeBuffer_ = new ecmcSocketCANWriteBuffer(socketId_, cfgDbgMode_);
testSdo_ = new ecmcCANOpenSDO( writeBuffer_, 0x583,0x603,DIR_READ,0x2640,0,56,5000,exeSampleTimeMs_, cfgDbgMode_);
testSdo_ = new ecmcCANOpenSDO( writeBuffer_, 0x583,0x603,DIR_READ,0x2640,0,56,7000,exeSampleTimeMs_, cfgDbgMode_);
testPdo_ = new ecmcCANOpenPDO( writeBuffer_, 0x183,DIR_READ,8,10000,0,exeSampleTimeMs_, cfgDbgMode_);
@@ -242,9 +242,9 @@ void ecmcSocketCAN::doReadWorker() {
// TODO MUST CHECK RETRUN VALUE OF READ!!!!!
read(socketId_, &rxmsg_, sizeof(rxmsg_));
//if(testSdo_) {
// testSdo_->newRxFrame(&rxmsg_);
//}
if(testSdo_) {
testSdo_->newRxFrame(&rxmsg_);
}
if(testPdo_) {
testPdo_->newRxFrame(&rxmsg_);
}
@@ -328,9 +328,9 @@ int ecmcSocketCAN::addWriteCAN(uint32_t canId,
void ecmcSocketCAN::execute() {
//if(testSdo_) {
// testSdo_->execute();
// }
if(testSdo_) {
testSdo_->execute();
}
if(testPdo_) {
testPdo_->execute();