Master configure slave's heartbeat producer time by concise DCF.

[CanFestival-3.git] / examples / TestMasterSlave / TestMasterSlave.c

diff --git a/examples/TestMasterSlave/TestMasterSlave.c b/examples/TestMasterSlave/TestMasterSlave.c
index 7511ff2e9f107f4350528b6a32fb472c61f998ac..04d2263e500d0d5c7e6aa079fc3a6ad5f09af202 100644 (file)
--- a/examples/TestMasterSlave/TestMasterSlave.c
+++ b/examples/TestMasterSlave/TestMasterSlave.c
@@ -49,8 +49,8 @@ UNS32 OnMasterMap1Update(CO_Data* d, const indextable * unsused_indextable, UNS8
        return 0;
 }
 
-s_BOARD SlaveBoard = {"0", "500K"};
-s_BOARD MasterBoard = {"1", "500K"};
+s_BOARD SlaveBoard = {"0", "125K"};
+s_BOARD MasterBoard = {"1", "125K"};
 
 #if !defined(WIN32) || defined(__CYGWIN__)
 void catch_signal(int sig)
@@ -69,7 +69,8 @@ void help()
   printf("*  A simple example for PC. It does implement 2 CanOpen      *\n");
   printf("*  nodes in the same process. A master and a slave. Both     *\n");
   printf("*  communicate together, exchanging periodically NMT, SYNC,  *\n");
-  printf("*  SDO and PDO.                                              *\n");
+  printf("*  SDO and PDO. Master configure heartbeat producer time     *\n");
+  printf("*  at 1000 ms for slave node-id 0x02 by concise DCF.         *\n");                                  
   printf("*                                                            *\n");
   printf("*   Usage:                                                   *\n");
   printf("*   ./TestMasterSlave  [OPTIONS]                             *\n");
@@ -92,7 +93,7 @@ void help()
 void InitNodes(CO_Data* d, UNS32 id)
 {
        /****************************** INITIALISATION SLAVE *******************************/
-       if(SlaveBoard.baudrate) {
+       if(strcmp(SlaveBoard.baudrate, "none")) {
                /* Defining the node Id */
                setNodeId(&TestSlave_Data, 0x02);
                /* init */
@@ -100,21 +101,15 @@ void InitNodes(CO_Data* d, UNS32 id)
        }
 
        /****************************** INITIALISATION MASTER *******************************/
-       if(MasterBoard.baudrate){
+       if(strcmp(MasterBoard.baudrate, "none")){
                RegisterSetODentryCallBack(&TestMaster_Data, 0x2000, 0, &OnMasterMap1Update);
-
+               
                /* Defining the node Id */
                setNodeId(&TestMaster_Data, 0x01);
 
                /* init */
                setState(&TestMaster_Data, Initialisation);
-
-               /****************************** START *******************************/
-               /* Put the master in operational mode */
-               setState(&TestMaster_Data, Operational);
-  
-               /* Ask slave node to go in operational mode */
-               masterSendNMTstateChange (&TestMaster_Data, 0x02, NMT_Start_Node);
+                       
        }
 }
 
@@ -188,7 +183,8 @@ int main(int argc,char **argv)
        LoadCanDriver(LibraryPath);
 #endif         
        // Open CAN devices
-       if(strcmp( SlaveBoard.baudrate, "none")){
+
+       if(strcmp(SlaveBoard.baudrate, "none")){
                
                TestSlave_Data.heartbeatError = TestSlave_heartbeatError;
                TestSlave_Data.initialisation = TestSlave_initialisation;
@@ -204,8 +200,7 @@ int main(int argc,char **argv)
                        goto fail_slave;
                }
        }
-
-       if(strcmp( MasterBoard.baudrate, "none")){
+       if(strcmp(MasterBoard.baudrate, "none")){
                
                TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
                TestMaster_Data.initialisation = TestMaster_initialisation;
@@ -216,27 +211,31 @@ int main(int argc,char **argv)
                TestMaster_Data.post_TPDO = TestMaster_post_TPDO;
                
                if(!canOpen(&MasterBoard,&TestMaster_Data)){
-                       eprintf("Cannot open Master Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate);
+                       eprintf("Cannot open Master Board (%s,%s)\n",MasterBoard.busname, MasterBoard.baudrate);
                        goto fail_master;
                }
        }
-       
+       sleep(2);
        // Start timer thread
        StartTimerLoop(&InitNodes);
 
        // wait Ctrl-C
+       
        pause();
        eprintf("Finishing.\n");
        
+       masterSendNMTstateChange (&TestMaster_Data, 0x02, NMT_Reset_Node);
+       eprintf("reset\n");
+       // Stop master
+       setState(&TestMaster_Data, Stopped);
+       
        // Stop timer thread
        StopTimerLoop();
        
        // Close CAN devices (and can threads)
-       if(strcmp( SlaveBoard.baudrate, "none")) canClose(&TestSlave_Data);
+       if(strcmp(SlaveBoard.baudrate, "none")) canClose(&TestSlave_Data);
 fail_master:
-       if(strcmp( MasterBoard.baudrate, "none")) canClose(&TestMaster_Data);   
+       if(strcmp(MasterBoard.baudrate, "none")) canClose(&TestMaster_Data);    
 fail_slave:
-       
-
-  return 0;
+       return 0;
 }