SQNodeEvent1.c -- SynqNet Node Events
/* SQNodeEvent1.c */
/* Copyright(c) 1991-2006 by Motion Engineering, Inc. All rights reserved.
*
* This software contains proprietary and confidential information of
* Motion Engineering Inc., and its suppliers. Except as may be set forth
* in the license agreement under which this software is supplied, use,
* disclosure, or reproduction is prohibited without the prior express
* written consent of Motion Engineering, Inc.
*/
/*
:Display SynqNet Node Events
This is a simple program to demonstrate how to use the EventMgr to catch
SynqNet node events, read the event message and display the event's information.
Warning! This is a sample program to assist in the integration of an
MEI motion controller with your application. It may not contain all
of the logic and safety features that your application requires.
The msgCHECK(...) macros used in the following sample code are intended
to convey our strong belief that ALL error return codes should be checked.
Actual application code should use specific error handling techniques (other
than msgCHECKs) best suited to your internal error recovery methods.
*/
#include <stdlib.h>
#include <stdio.h>
#include "stdmpi.h"
#include "stdmei.h"
#include "apputil.h"
#define WAIT_TIME (200) /* msec */
/* Parse the command line */
long parseCommandLine(int argc,
char *argv[],
long *synqNetNumber,
MPIControlType *controlType,
MPIControlAddress *controlAddress)
{
long argIndex;
/* Command line arguments and defaults */
Arg argList[] =
{
{ "-synqNet", ArgTypeLONG, &synqNetNumber, },
{ NULL, ArgTypeINVALID, NULL, }
};
/* Parse command line for Control type and address */
argIndex =
argControl(argc,
argv,
controlType,
controlAddress);
/* Parse command line for application-specific arguments */
while (argIndex < argc) {
long argIndexNew;
argIndexNew = argSet(argList, argIndex, argc, argv);
if (argIndexNew <= argIndex) {
argIndex = argIndexNew;
break;
}
else {
argIndex = argIndexNew;
}
}
/* Check for unknown/invalid command line arguments */
if (argIndex < argc) {
fprintf(stderr,"usage: %s %s\n"
"\t\t[-synqNet # (0 .. %d)]\n",
argv[0],
ArgUSAGE,
MPIXmpMaxSynqNets - 1);
exit(MPIMessageARG_INVALID);
}
return 0;
}
/* Create and initialize MPI objects */
void programInit(MPIControl *control,
MPIControlType controlType,
MPIControlAddress *controlAddress,
MPISynqNet *synqNet,
long synqNetNumber,
MPISqNode *sqNode,
long *nodeCount,
MPINotify *notify,
MPIEventMgr *eventMgr,
Service *service)
{
MPIEventMask eventMask;
MPISynqNetInfo netInfo;
long index;
long returnValue;
/* Create motion controller object */
*control =
mpiControlCreate(controlType,
controlAddress);
msgCHECK(mpiControlValidate(*control));
/* Initialize motion controller */
returnValue =
mpiControlInit(*control);
msgCHECK(returnValue);
/* Create SynqNet object */
*synqNet =
mpiSynqNetCreate(*control,
synqNetNumber);
msgCHECK(mpiSynqNetValidate(*synqNet));
/* Read SynqNet Info */
returnValue =
mpiSynqNetInfo(*synqNet, &netInfo);
msgCHECK(returnValue);
*nodeCount = netInfo.nodeCount;
/* Create SqNode objects */
if (netInfo.nodeCount) {
for (index = netInfo.nodeOffset;
index < netInfo.nodeOffset + netInfo.nodeCount;
index++) {
sqNode[index] =
mpiSqNodeCreate(mpiSynqNetControl(*synqNet), index);
msgCHECK(mpiSqNodeValidate(sqNode[index]));
}
}
/* Request notification of all events from SqNodes */
if (netInfo.nodeCount) {
for (index = netInfo.nodeOffset;
index < netInfo.nodeOffset + netInfo.nodeCount;
index++) {
mpiEventMaskCLEAR(eventMask);
returnValue =
mpiSqNodeEventNotifyGet(sqNode[index],
&eventMask,
NULL);
msgCHECK(returnValue);
mpiEventMaskSQNODE(eventMask);
returnValue =
mpiSqNodeEventNotifySet(sqNode[index],
eventMask,
NULL);
msgCHECK(returnValue);
}
}
/* Create event notification object for NULL (all objects) */
*notify =
mpiNotifyCreate(eventMask,
NULL);
msgCHECK(mpiNotifyValidate(*notify));
/* Create event manager object */
*eventMgr = mpiEventMgrCreate(*control);
msgCHECK(mpiEventMgrValidate(*eventMgr));
/* Append notify to event manager */
returnValue =
mpiEventMgrNotifyAppend(*eventMgr,
*notify);
msgCHECK(returnValue);
/* Create service thread */
*service =
serviceCreate(*eventMgr,
-1, /* default (max) priority */
-1); /* -1 => enable interrupts */
if (*service == NULL) {
msgCHECK(MPIMessageHANDLE_INVALID);
}
}
/* Perform certain cleanup actions and delete MPI objects */
void programCleanup(MPIControl *control,
MPISynqNet *synqNet,
MPISqNode *sqNode,
long nodeCount,
MPINotify *notify,
MPIEventMgr *eventMgr,
Service *service)
{
long index;
long returnValue;
/* Delete service thread */
returnValue =
serviceDelete(*service);
msgCHECK(returnValue);
*service = MPIHandleVOID;
/* Delete event manager object */
returnValue =
mpiEventMgrDelete(*eventMgr);
msgCHECK(returnValue);
*eventMgr = MPIHandleVOID;
/* Delete event notification object */
returnValue =
mpiNotifyDelete(*notify);
msgCHECK(returnValue);
*notify = MPIHandleVOID;
/* Delete SqNode objects */
for (index = 0; index < nodeCount; index++) {
returnValue =
mpiSqNodeDelete(sqNode[index]);
msgCHECK(returnValue);
}
/* Delete SynqNet object */
returnValue =
mpiSynqNetDelete(*synqNet);
msgCHECK(returnValue);
*synqNet = MPIHandleVOID;
/* Delete control handle */
returnValue =
mpiControlDelete(*control);
msgCHECK(returnValue);
*control = MPIHandleVOID;
}
/* Display SynqNet events until the user presses a key */
void displaySynqNetEventsUntilKeyPressed(MPISynqNet synqNet,
MPISqNode *sqNode,
long nodeCount,
MPINotify notify)
{
MPIEventStatus eventStatus;
long nodeNumber;
long returnValue;
printf("Waiting for SynqNet Node Events... <Press any key to exit>\n");
while (mpiPlatformKey(MPIWaitPOLL) <= 0) {
/* Wait for synqNet event */
returnValue =
mpiNotifyEventWait(notify,
&eventStatus,
WAIT_TIME);
if (returnValue == MPIMessageOK) {
/* find the node number from the event */
returnValue =
mpiSqNodeNumber(eventStatus.source,
&nodeNumber);
msgCHECK(returnValue);
printf("SynqNet Node Number: %ld, ", nodeNumber);
switch (eventStatus.type) {
case MPIEventTypeSQNODE_IO_ABORT: {
printf("Node IO Abort.\n");
break;
}
case MPIEventTypeSQNODE_NODE_DISABLE: {
printf("Node Disable Input.\n");
break;
}
case MPIEventTypeSQNODE_NODE_ALARM: {
printf("Node Alarm Output.\n");
break;
}
case MPIEventTypeSQNODE_ANALOG_POWER_FAULT: {
printf("Node Analog Power Fault.\n");
break;
}
case MPIEventTypeSQNODE_USER_FAULT: {
printf("Node User Fault.\n");
break;
}
case MPIEventTypeSQNODE_NODE_FAILURE: {
MPISynqNetStatus synqNetStatus;
/* Read the network status */
returnValue =
mpiSynqNetStatus(synqNet,
&synqNetStatus);
msgCHECK(returnValue);
printf("Node Failure. Failed Node Mask:0x%X\n",
synqNetStatus.failedNodeMask[0]); /* First 32 nodes */
break;
}
default: {
printf("Unexpected Event %ld\n", eventStatus.type);
break;
}
}
}
else if (returnValue == MPIMessageTIMEOUT) { /* ignore timeouts */
returnValue = MPIMessageOK;
}
msgCHECK(returnValue);
}
}
int main(int argc,
char *argv[])
{
MPIControl control;
MPIControlType controlType;
MPIControlAddress controlAddress;
MPISynqNet synqNet;
MPISqNode sqNode[MPISynqNetMaxNODE_COUNT];
MPINotify notify;
MPIEventMgr eventMgr;
Service service;
long nodeCount = 0;
long synqNetNumber = 0;
long returnValue;
/* Parse command line */
returnValue =
parseCommandLine(argc,
argv,
&synqNetNumber,
&controlType,
&controlAddress);
msgCHECK(returnValue);
/* Create and initialize MPI objects */
programInit(&control,
controlType,
&controlAddress,
&synqNet,
synqNetNumber,
sqNode,
&nodeCount,
¬ify,
&eventMgr,
&service);
/* Display SynqNet events until the user presses a key */
displaySynqNetEventsUntilKeyPressed(synqNet,
sqNode,
nodeCount,
notify);
/* Perform certain cleanup actions and delete MPI objects */
programCleanup(&control,
&synqNet,
sqNode,
nodeCount,
¬ify,
&eventMgr,
&service);
return ((int)returnValue);
}
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