iCub-main
opcManager_cfg4pc104.c
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1 /*
2  * Copyright (C) 2013 iCub Facility - Istituto Italiano di Tecnologia
3  * Author: Valentina Gaggero
4  * email: valentina.gaggero@iit.it
5  * website: www.robotcub.org
6  * Permission is granted to copy, distribute, and/or modify this program
7  * under the terms of the GNU General Public License, version 2 or any
8  * later version published by the Free Software Foundation.
9  *
10  * A copy of the license can be found at
11  * http://www.robotcub.org/icub/license/gpl.txt
12  *
13  * This program is distributed in the hope that it will be useful, but
14  * WITHOUT ANY WARRANTY; without even the implied warranty of
15  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
16  * Public License for more details
17 */
18 
19 // --------------------------------------------------------------------------------------------------------------------
20 // - external dependencies
21 // --------------------------------------------------------------------------------------------------------------------
22 
23 
24 #include "stdio.h"
25 #include "stdlib.h"
26 #include "string.h"
27 #include "EoCommon.h"
28 #include "EoDiagnostics.h"
29 #include "OPCprotocolManager.h"
30 #include "OPCprotocolManager_Cfg.h"
31 
32 
33 // --------------------------------------------------------------------------------------------------------------------
34 // - declaration of extern public interface
35 // --------------------------------------------------------------------------------------------------------------------
36 
37 
38 
39 // --------------------------------------------------------------------------------------------------------------------
40 // - declaration of extern hidden interface
41 // --------------------------------------------------------------------------------------------------------------------
42 
43 
44 
45 // --------------------------------------------------------------------------------------------------------------------
46 // - #define with internal scope
47 // --------------------------------------------------------------------------------------------------------------------
48 
49 
50 
51 // --------------------------------------------------------------------------------------------------------------------
52 // - definition (and initialisation) of extern variables, but better using _get(), _set()
53 // --------------------------------------------------------------------------------------------------------------------
54 extern eOdgn_commands_t dgnCommands;
55 extern uint32_t cmdena_rxsetPointCheck;
56 extern uint8_t board;
57 
58 // --------------------------------------------------------------------------------------------------------------------
59 // - typedef with internal scope
60 // --------------------------------------------------------------------------------------------------------------------
61 typedef struct
62 {
63  uint32_t sum;
64 } ethCounters_total;
65 
66 
67 
68 // --------------------------------------------------------------------------------------------------------------------
69 // - declaration of static functions
70 // --------------------------------------------------------------------------------------------------------------------
71 static void s_print_emsperiph_candata(eOdgn_canstatus_t *canst_ptr);
72 static void on_rec_emsperiph(opcprotman_opc_t opc, opcprotman_var_map_t* map, void* recdata);
73 
74 static void on_rec_emsapplcommon(opcprotman_opc_t opc, opcprotman_var_map_t* map, void* recdata);
75 static void s_print_emsapplcomm_core(eOdgn_coreapplication_t *appcore_ptr);
76 static void s_print_emsapplcomm_ipnet(eOdgn_ipnet_t *appipnet_ptr);
77 static void s_print_emsapplcomm_transceiver(eOdgn_embObjtransceiver_t *apptrans_ptr);
78 
79 static void on_rec_emsapplmc(opcprotman_opc_t opc, opcprotman_var_map_t* map, void* recdata);
80 static void s_print_emsapplmc_encoderserror(eOdgn_encoderreads_t *encreads);
81 
82 static void on_rec_motorstflags(opcprotman_opc_t opc, opcprotman_var_map_t* map, void* recdata);
83 static void on_rec_errorLog(opcprotman_opc_t opc, opcprotman_var_map_t* map, void* recdata);
84 
85 static void on_rec_canQueueStatistics(opcprotman_opc_t opc, opcprotman_var_map_t* map, void* recdata);
86 static void on_rec_rxcheckSetpoints(opcprotman_opc_t opc, opcprotman_var_map_t* map, void* recdata);
87 
88 
89 /*
90 extern void on_rec_runner_debug(opcprotman_opc_t opc, opcprotman_var_map_t* map, void* recdata)
91 { // for the host
92 
93  EOMtheEMSrunnerDEBUG_t* data = (EOMtheEMSrunnerDEBUG_t*)recdata;
94 
95  switch(opc)
96  {
97 
98  default:
99  case opcprotman_opc_set:
100  { // nobody can order that to us
101  // we just dont do it ...
102  } break;
103 
104  case opcprotman_opc_say: // someboby has replied to a ask we sent
105  case opcprotman_opc_sig: // someboby has spontaneously sent some data
106  {
107 
108  printf("\n\n-----received data of runner---\n");
109 
110  printf("numberofperiods=%lld\n ", data->numberofperiods);
111  printf("cumulativeabsoluteerrorinperiod=%lld\n ", data->cumulativeabsoluteerrorinperiod);
112  printf("meanofabsoluteerrorinperiod=%d\n ", data->meanofabsoluteerrorinperiod);
113 
114  printf("movingmeanofabsoluteerrorinperiod=%d\n ", data->movingmeanofabsoluteerrorinperiod);
115  printf("maxabsoluteerrorinperiod=%d\n ", data->maxabsoluteerrorinperiod);
116  printf("minabsoluteerrorinperiod=%d\n ", data->minabsoluteerrorinperiod);
117 
118  printf("executionoverflows[0]=%d\n ", data->executionoverflows[0]);
119  printf("executionoverflows[1]=%d\n ", data->executionoverflows[1]);
120  printf("executionoverflows[2]=%d\n ", data->executionoverflows[2]);
121  printf("datagrams_failed_to_go_in_txsocket=%d\n ", data->datagrams_failed_to_go_in_txsocket);
122 
123  } break;
124  }
125 
126 }
127 */
128 
129 
130 
131 
132 // --------------------------------------------------------------------------------------------------------------------
133 // - definition (and initialisation) of static variables
134 // --------------------------------------------------------------------------------------------------------------------
135 static eOdgn_emsapplication_emswithmc_t s_emswithmc_data;
136 static ethCounters_total ethCounterBoards[9][3] = {{0}}; //9= num of boards; 3 is num of eth links
137 
138 // --------------------------------------------------------------------------------------------------------------------
139 // - definition of extern public functions
140 // --------------------------------------------------------------------------------------------------------------------
141 
142 extern opcprotman_res_t opcprotman_personalize_database(OPCprotocolManager *p)
143 {
144  opcprotman_res_t res = opcprotman_OK;
145 
146 /* personalize eodgn_nvidbdoor_cmd */
147  res = opcprotman_personalize_var( p,
148  eodgn_nvidbdoor_cmds,
149  (void*)&dgnCommands,
150  NULL); //here I'm not interested in callback func on received, becose ems never will send me it
151 
152  if(opcprotman_OK != res)
153  {
154  return(res);
155  }
156 /* personalize eodgn_nvidbdoor_errorlog */
157  res = opcprotman_personalize_var( p,
158  eodgn_nvidbdoor_errorlog,
159  NULL,//use NULL because i'd like print received data and not store them!!
160  //pay attention: see NOTE 1 at the end of this function!!!
161  on_rec_errorLog);
162 
163  if(opcprotman_OK != res)
164  {
165  return(res);
166  }
167 /*personalize eodgn_nvidbdoor_emsperiph var*/
168  res = opcprotman_personalize_var( p,
169  eodgn_nvidbdoor_emsperiph,
170  NULL, //use NULL because i'd like print received data and not store them!!
171  //pay attention: see NOTE 1 at the end of this function!!!
172  on_rec_emsperiph);
173 
174  if(opcprotman_OK != res)
175  {
176  return(res);
177  }
178 
179 
180 /*personalize eodgn_nvidbdoor_emsapplcommon var*/
181  res = opcprotman_personalize_var( p,
182  eodgn_nvidbdoor_emsapplcommon,
183  NULL, //use NULL because i'd like print received data and not store them!!
184  //pay attention: see NOTE 1 at the end of this function!!!
185  on_rec_emsapplcommon);
186 
187  if(opcprotman_OK != res)
188  {
189  return(res);
190  }
191 
192 
193 /*personalize eodgn_nvidbdoor_emsapplmc var*/
194  res = opcprotman_personalize_var( p,
195  eodgn_nvidbdoor_emsapplmc,
196  (void*)&s_emswithmc_data,
197  on_rec_emsapplmc);
198 
199  if(opcprotman_OK != res)
200  {
201  return(res);
202  }
203 
204 
205 /*personalize eodgn_nvidbdoor_motorstatus var*/
206  res = opcprotman_personalize_var( p,
207  eodgn_nvidbdoor_motorstatus,
208  NULL, //use NULL because i'd like print received data and not store them!!
209  //pay attention: see NOTE 1 at the end of this function!!!
210  on_rec_motorstflags);
211 
212  if(opcprotman_OK != res)
213  {
214  return(res);
215  }
216 
217  /*personalize eodgn_nvidbdoor_jointsStateCmd var*/
218  res = opcprotman_personalize_var( p,
219  eodgn_nvidbdoor_canQueueStatistics,
220  NULL,
221  on_rec_canQueueStatistics);
222 
223  if(opcprotman_OK != res)
224  {
225  return(res);
226  }
227  /*personalize eodgn_nvidbdoor_rxcheckSetpoints var */
228  res = opcprotman_personalize_var( p,
229  eodgn_nvidbdoor_rxcheckSetpoints,
230  NULL,
231  on_rec_rxcheckSetpoints);
232 
233  if(opcprotman_OK != res)
234  {
235  return(res);
236  }
237 
238  return(res);
239 
240  /* NOTE 1:
241  * if ems doesn't send ask, that needs a reply, it is possible use NULL like data pointer.
242  * in case of replay the opcprotman object replay by coping data pointed by var_ram param to the message response automatically,
243  * so if var_ram is null the application will not send the response.
244  * Moreover you can use NULL pointer even you are not interested in storing received data, but only check or print them.
245  * */
246 }
247 
248 // --------------------------------------------------------------------------------------------------------------------
249 // - definition of extern hidden functions
250 // --------------------------------------------------------------------------------------------------------------------
251 
252 
253 
254 
255 // --------------------------------------------------------------------------------------------------------------------
256 // - definition of static functions
257 // --------------------------------------------------------------------------------------------------------------------
258 static void s_print_emsperiph_candata(eOdgn_canstatus_t *canst_ptr)
259 {
260  printf("\t\twarning=%d passive=%d busoff=%d\n", canst_ptr->hw.warning, canst_ptr->hw.passive, canst_ptr->hw.busoff);
261  printf("\t\thw_rx_queue_is_full=%d\n", canst_ptr->hw.rxqueueisfull);
262  printf("\t\tsw_rx_queue_is_full=%d sw_tx_queue_is_full=%d dummy=0x%x\n", canst_ptr->sw.rxqueueisfull, canst_ptr->sw.txqueueisfull, canst_ptr->sw.dummy);
263 }
264 
265 static void on_rec_emsperiph(opcprotman_opc_t opc, opcprotman_var_map_t* map, void* recdata)
266 {
267  eOdgn_emsperipheralstatus_t* data = (eOdgn_emsperipheralstatus_t*)recdata;
268  uint8_t i;
269  uint8_t myboard;
270 
271  switch(opc)
272  {
273 
274  default:
275  case opcprotman_opc_set:
276  { // nobody can order that to us
277  // we just dont do it ...
278  } break;
279 
280  case opcprotman_opc_say: // someboby has replied to a ask we sent
281  case opcprotman_opc_sig: // someboby has spontaneously sent some data
282  {
283 
284  printf("-----EMS periph data---\n");
285  printf("\t CAN 1:\n");
286  s_print_emsperiph_candata(&data->can_dev[0]);
287  printf("\t CAN 2:\n");
288  s_print_emsperiph_candata(&data->can_dev[1]);
289  printf("\t ETH MASK: 0x%x\n", data->eth_dev.linksmask);
290  for(i=0; i<3; i++)
291  {
292  if(((data->eth_dev.crcErrorCnt_validVal & (1<<i)) == (1<<i)))
293  {
294  int overflow=0;
295  if(((data->eth_dev.crcErrorCnt_overflow & (1<<i)) == (1<<i)))
296  {
297  overflow =1;
298  }
299  printf("\t CRC_error phy-port %d: %d overflow=%d", i, data->eth_dev.crcErrorCnt[i], overflow);
300  if(board>9)
301  {
302  //in case i use board on desk with addr 99
303  myboard = 0;
304  }
305  else
306  {
307  myboard = board-1;
308  }
309  ethCounterBoards[myboard][i].sum += data->eth_dev.crcErrorCnt[i];
310  printf(" Sum=%d", ethCounterBoards[myboard][i].sum);
311  }
312  else
313  {
314  printf("\t CRC_error phy-port %d: INVALID VALUE", i);
315  }
316 
317  }
318  printf("\n");
319  for(i=0; i<3; i++)
320  {
321  printf("\t i2cError %d on phy-port %d", data->eth_dev.i2c_error[i], i);
322  }
323  printf("\n");
324  fflush(stdout);
325 
326  } break;
327  }
328 
329 
330 }
331 
332 static void on_rec_emsapplcommon(opcprotman_opc_t opc, opcprotman_var_map_t* map, void* recdata)
333 {
334 
335  eOdgn_emsapplication_common_t* data = (eOdgn_emsapplication_common_t*)recdata;
336 
337  switch(opc)
338  {
339 
340  default:
341  case opcprotman_opc_set:
342  { // nobody can order that to us
343  // we just dont do it ...
344  } break;
345 
346  case opcprotman_opc_say: // someboby has replied to a ask we sent
347  case opcprotman_opc_sig: // someboby has spontaneously sent some data
348  {
349 
350  printf("-----EMS appl common---\n");
351 
352  s_print_emsapplcomm_core(&data->core);
353  s_print_emsapplcomm_ipnet(&data->ipnet);
354  s_print_emsapplcomm_transceiver(&data->transceiver);
355 
356  fflush(stdout);
357  } break;
358  }
359 }
360 
361 static void s_print_emsapplcomm_core(eOdgn_coreapplication_t *appcore_ptr)
362 {
363  printf("\tRUNNING ST\n");
364  printf("\t\tnumberofperiods=%ld\n ", appcore_ptr->runst.numberofperiods);
365  printf("\t\tcumulativeabsoluteerrorinperiod=%ld\n ", appcore_ptr->runst.cumulativeabsoluteerrorinperiod);
366  printf("\t\tmeanofabsoluteerrorinperiod=%d\n ", appcore_ptr->runst.meanofabsoluteerrorinperiod);
367 
368  printf("\t\tmovingmeanofabsoluteerrorinperiod=%d\n ", appcore_ptr->runst.movingmeanofabsoluteerrorinperiod);
369  printf("\t\tmaxabsoluteerrorinperiod=%d\n ", appcore_ptr->runst.maxabsoluteerrorinperiod);
370  printf("\t\tminabsoluteerrorinperiod=%d\n ", appcore_ptr->runst.minabsoluteerrorinperiod);
371 
372  printf("\t\texecutionoverflows[0]=%d\n ", appcore_ptr->runst.executionoverflows[0]);
373  printf("\t\texecutionoverflows[1]=%d\n ", appcore_ptr->runst.executionoverflows[1]);
374  printf("\t\texecutionoverflows[2]=%d\n ", appcore_ptr->runst.executionoverflows[2]);
375  printf("\t\tdatagrams_failed_to_go_in_txsocket=%d\n ", appcore_ptr->runst.datagrams_failed_to_go_in_txsocket);
376  printf("\t\tcantxfailuretimeoutsemaphore=%d\n ", appcore_ptr->runst.cantxfailuretimeoutsemaphore);
377 
378  printf("\tCONFIG ST\n");
379  printf("\t\tcantxfailuretimeoutsemaphore=%d\n ", appcore_ptr->cfgst.cantxfailuretimeoutsemaphore);
380 }
381 static void s_print_emsapplcomm_ipnet(eOdgn_ipnet_t *appipnet_ptr)
382 {
383  printf("\tIPNET INFO\n");
384  printf("\t\tdatagrams_failed_to_go_in_rxfifo=%d\n ", appipnet_ptr->datagrams_failed_to_go_in_rxfifo);
385  printf("\t\tdatagrams_failed_to_go_in_txosalqueue=%d\n ", appipnet_ptr->datagrams_failed_to_go_in_txosalqueue);
386  printf("\t\tdatagrams_failed_to_be_retrieved_from_txfifo=%d\n ", appipnet_ptr->datagrams_failed_to_be_retrieved_from_txfifo);
387  printf("\t\tdatagrams_failed_to_be_sent_by_ipal=%d\n ", appipnet_ptr->datagrams_failed_to_be_sent_by_ipal);
388 }
389 static void s_print_emsapplcomm_transceiver(eOdgn_embObjtransceiver_t *apptrans_ptr)
390 {
391 
392  printf("\tTRANSCEIVER INFO\n");
393  printf("\t\trxinvalidropframes=%d\n ", apptrans_ptr->rxinvalidropframes);
394  printf("\t\trxseqnumwrong=%d\n ", apptrans_ptr->rxseqnumwrong);
395  printf("\t\tlostreplies=%d\n ", apptrans_ptr->lostreplies);
396  printf("\t\tfailuresinloadofreplyropframe=%d\n ", apptrans_ptr->failuresinloadofreplyropframe);
397  printf("\t\ttxropframeistoobigforthepacket=%d\n ", apptrans_ptr->txropframeistoobigforthepacket);
398  printf("\t\tcannotloadropinregulars=%d\n ", apptrans_ptr->cannotloadropinregulars);
399  printf("\t\tcannotloadropinoccasionals=%d\n ", apptrans_ptr->cannotloadropinoccasionals);
400 
401 
402 }
403 
404 
405 static void on_rec_emsapplmc(opcprotman_opc_t opc, opcprotman_var_map_t* map, void* recdata)
406 {
407 
408  eOdgn_emsapplication_emswithmc_t* data = (eOdgn_emsapplication_emswithmc_t*)recdata;
409 
410  switch(opc)
411  {
412 
413  default:
414  case opcprotman_opc_set:
415  { // nobody can order that to us
416  // we just dont do it ...
417  } break;
418 
419  case opcprotman_opc_say: // someboby has replied to a ask we sent
420  case opcprotman_opc_sig: // someboby has spontaneously sent some data
421  {
422 
423  printf("-----EMS appl mc---\n");
424 
425 
426 // s_print_emsapplmc_encoderserror(&(data->encreads));
427 //
428 //
429 // printf("Limited current mask: 0x%x\n", data->encreads.dummy);
430 //
431 // fflush(stdout);
432 // memcpy(&s_emswithmc_data, data, sizeof(eOdgn_emsapplication_emswithmc_t));
433 
434 
435 
436  if(memcmp(&data->encreads.encList[0], &s_emswithmc_data.encreads.encList[0], eOdgn_emsmaxnumofencoders*sizeof(eOappEncReader_error_t)) != 0)
437  {
438  //if i received new data about encoders' error
439  s_print_emsapplmc_encoderserror(&(data->encreads));
440  }
441  fflush(stdout);
442  memcpy(&s_emswithmc_data, data, sizeof(eOdgn_emsapplication_emswithmc_t));
443 
444  } break;
445  }
446 
447 }
448 
449 static void s_print_emsapplmc_encoderserror(eOdgn_encoderreads_t *encreads)
450 {
451  uint32_t i;
452  for(i=0; i<6; i++)
453  {
454  printf("Encoder num %d\t", i);
455  printf("\t err_onReadFromSpi=%d ", encreads->encList[i].err_onReadFromSpi);
456  printf("err_onParityError=%d ", encreads->encList[i].err_onParityError);
457  printf("err_onInvalidValue=%d \n", encreads->encList[i].err_onInvalidValue);
458  }
459  printf("\tcount=%d\n", encreads->count);
460 }
461 
462 static void on_rec_motorstflags(opcprotman_opc_t opc, opcprotman_var_map_t* map, void* recdata)
463 {
464  eOdgn_motorstatusflags_t* data = (eOdgn_motorstatusflags_t*)recdata;
465  uint8_t i;
466  char stroutput[300];
467 
468  switch(opc)
469  {
470 
471  default:
472  case opcprotman_opc_set:
473  { // nobody can order that to us
474  // we just dont do it ...
475  } break;
476 
477  case opcprotman_opc_say: // someboby has replied to a ask we sent
478  case opcprotman_opc_sig: // someboby has spontaneously sent some data
479  {
480 
481  printf("-----motor status flag---\n");
482 
483  for(i=0; i<12; i++)
484  {
485  if(data->motorlist[i] != 0)
486  {
487  sprintf(stroutput, "motor %d with err flags=0x%x: ", i, data->motorlist[i]);
488  if((data->motorlist[i] & DGN_MOTOR_FAULT_UNDERVOLTAGE) == DGN_MOTOR_FAULT_UNDERVOLTAGE)
489  strcat(stroutput, "UNDERVOLTAGE, ");
490  if((data->motorlist[i] & DGN_MOTOR_FAULT_OVERVOLTAGE) == DGN_MOTOR_FAULT_OVERVOLTAGE)
491  strcat(stroutput, "OVERVOLTAGE, ");
492  if((data->motorlist[i] & DGN_MOTOR_FAULT_EXTERNAL) == DGN_MOTOR_FAULT_EXTERNAL)
493  strcat(stroutput, "EXTERNAL, ");
494  if((data->motorlist[i] & DGN_MOTOR_FAULT_OVERCURRENT) == DGN_MOTOR_FAULT_OVERCURRENT)
495  strcat(stroutput, "OVERCURRENT, ");
496  if((data->motorlist[i] & DGN_MOTOR_FAULT_I2TFAILURE) == DGN_MOTOR_FAULT_I2TFAILURE)
497  strcat(stroutput, "I2TFAILURE, ");
498  if((data->motorlist[i] & DGN_MOTOR_FAULT_CANRECWARNING) == DGN_MOTOR_FAULT_CANRECWARNING)
499  strcat(stroutput, "CANRECWARNING, ");
500  if((data->motorlist[i] & DGN_MOTOR_FAULT_CANRECERROR) == DGN_MOTOR_FAULT_CANRECERROR)
501  strcat(stroutput, "CANRECERROR, ");
502  if((data->motorlist[i] & DGN_MOTOR_FAULT_CANRECHWOVERRUN) == DGN_MOTOR_FAULT_CANRECHWOVERRUN)
503  strcat(stroutput, "CANRECHWOVERRUN ");
504  printf("%s\n", stroutput);
505  }
506  }
507 
508 
509  fflush(stdout);
510  } break;
511  }
512 
513 }
514 
515 
516 static void on_rec_errorLog(opcprotman_opc_t opc, opcprotman_var_map_t* map, void* recdata)
517 {
518  eOdgn_errorlog_t *data = (eOdgn_errorlog_t *)recdata;
519 
520  printf("----- switch to error state because... \n");
521  printf("\t%s\n", data->errorstate_str);
522 }
523 
524 static void on_rec_canQueueStatistics(opcprotman_opc_t opc, opcprotman_var_map_t* map, void* recdata)
525 {
526  eOdgn_can_statistics_t* data = (eOdgn_can_statistics_t*)recdata;
527  uint8_t i;
528 
529  switch(opc)
530  {
531 
532  default:
533  case opcprotman_opc_set:
534  { // nobody can order that to us
535  // we just dont do it ...
536  } break;
537 
538  case opcprotman_opc_say: // someboby has replied to a ask we sent
539  case opcprotman_opc_sig: // someboby has spontaneously sent some data
540  {
541 
542  printf("-----can queue statistics ---\n");
543 
544  printf("Config_mode: ");
545  for(i=0; i<2; i++)
546  {
547  printf("\t port %d ==> rx.min=%d, rx.max=%d, tx.min=%d, tx.max=%d\n\t",i, data->config_mode.stat[i].info_rx.min, data->config_mode.stat[i].info_rx.max,
548  data->config_mode.stat[i].info_tx.min, data->config_mode.stat[i].info_tx.max);
549  }
550  printf("\nRun_mode: ");
551  for(i=0; i<2; i++)
552  {
553  printf("\t port %d ==> rx.min=%d, rx.max=%d, tx.min=%d, tx.max=%d\n\t",i, data->run_mode.stat[i].info_rx.min, data->run_mode.stat[i].info_rx.max,
554  data->run_mode.stat[i].info_tx.min, data->run_mode.stat[i].info_tx.max);
555  }
556  fflush(stdout);
557  } break;
558  }
559 
560 
561 }
562 //static void on_rec_jointsStateCmd(opcprotman_opc_t opc, opcprotman_var_map_t* map, void* recdata)
563 //{
564 // eOdgn_jointsStateCmd_t* data = (eOdgn_jointsStateCmd_t*)recdata;
565 // uint8_t i;
566 //
567 // switch(opc)
568 // {
569 //
570 // default:
571 // case opcprotman_opc_set:
572 // { // nobody can order that to us
573 // // we just dont do it ...
574 // } break;
575 //
576 // case opcprotman_opc_say: // someboby has replied to a ask we sent
577 // case opcprotman_opc_sig: // someboby has spontaneously sent some data
578 // {
579 //
580 // printf("-----joints last received cmd---\n");
581 //
582 // for(i=0; i<12; i++)
583 // {
584 //
585 // printf("j %d cmd=0x%x last_two_are_equal=%d\n", i, data->jLastRecCmd[i], data->lastTwoEqual[i]);
586 // }
587 //
588 //
589 // fflush(stdout);
590 // } break;
591 // }
592 //
593 //}
594 
595 
596 
597 
598 static void on_rec_rxcheckSetpoints(opcprotman_opc_t opc, opcprotman_var_map_t* map, void* recdata)
599 {
600 
601  eOdgn_rxCheckSetpoints_t* data = (eOdgn_rxCheckSetpoints_t*)recdata;
602  uint8_t i;
603 
604  if(!cmdena_rxsetPointCheck)
605  {
606  return;
607  }
608 
609 
610  switch(opc)
611  {
612 
613  default:
614  case opcprotman_opc_set:
615  { // nobody can order that to us
616  // we just dont do it ...
617  } break;
618 
619  case opcprotman_opc_say: // someboby has replied to a ask we sent
620  case opcprotman_opc_sig: // someboby has spontaneously sent some data
621  {
622 
623  printf("\n\n-----rx check setpoints---\n");
624 
625  for(i=0; i<4; i++)
626  {
627  //printf("\tj %d: pos-deltaprognum 0x%x pos-deltarxtime0x%x imp-deltaprognum 0x%x imp-deltarxtime0x%x\n", i, data->position[i].deltaprognumber, data->position[i].deltarxtime, data->impedence[i].deltaprognumber, data->impedence[i].deltarxtime);
628  printf("\tj %d: pos-deltaprognum =", i );
629  if(data->position[i].deltaprognumber == INT32_MAX)
630  {
631  printf(" __ ");
632  }
633  else
634  {
635  printf(" %d ", data->position[i].deltaprognumber);
636  }
637 
638  printf(" pos-deltarxtime =");
639  if(data->position[i].deltarxtime == UINT32_MAX)
640  {
641  printf(" __ ");
642  }
643  else
644  {
645  printf(" %d ", data->position[i].deltarxtime);
646  }
647 
648  printf(" imp-deltaprognum =");
649 
650  if(data->impedence[i].deltaprognumber == INT32_MAX)
651  {
652  printf(" __ ");
653  }
654  else
655  {
656  printf(" %d ", data->impedence[i].deltaprognumber);
657  }
658 
659 
660  printf(" imp-deltarxtime=");
661 
662  if(data->impedence[i].deltarxtime == UINT32_MAX)
663  {
664  printf(" __ \n");
665  }
666  else
667  {
668  printf(" %d \n", data->impedence[i].deltarxtime);
669  }
670 
671  }
672 
673 
674  fflush(stdout);
675  } break;
676  }
677 
678 
679 }
680 // --------------------------------------------------------------------------------------------------------------------
681 // - end-of-file (leave a blank line after)
682 // --------------------------------------------------------------------------------------------------------------------
683 
684 
685 
686 
687 
data
@ data
Definition: ST_M1_dataType.h:64
iCub::learningmachine::math::map
yarp::sig::Vector & map(yarp::sig::Vector &v, double(op)(double))
Performs a unary operator inplace on each element of a vector.
Definition: Math.cpp:305
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opcprotman_res_t opcprotman_personalize_database(OPCprotocolManager *p)
Definition: opcManager_cfg4pc104.c:142
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static void on_rec_emsapplcommon(opcprotman_opc_t opc, opcprotman_var_map_t *map, void *recdata)
Definition: opcManager_cfg4pc104.c:332
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static void on_rec_emsperiph(opcprotman_opc_t opc, opcprotman_var_map_t *map, void *recdata)
Definition: opcManager_cfg4pc104.c:265
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uint8_t board
Definition: debugFunctions.cpp:48
on_rec_rxcheckSetpoints
static void on_rec_rxcheckSetpoints(opcprotman_opc_t opc, opcprotman_var_map_t *map, void *recdata)
Definition: opcManager_cfg4pc104.c:598
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static eOdgn_emsapplication_emswithmc_t s_emswithmc_data
Definition: opcManager_cfg4pc104.c:135
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static void on_rec_canQueueStatistics(opcprotman_opc_t opc, opcprotman_var_map_t *map, void *recdata)
Definition: opcManager_cfg4pc104.c:524
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static void on_rec_emsapplmc(opcprotman_opc_t opc, opcprotman_var_map_t *map, void *recdata)
Definition: opcManager_cfg4pc104.c:405
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static void on_rec_errorLog(opcprotman_opc_t opc, opcprotman_var_map_t *map, void *recdata)
Definition: opcManager_cfg4pc104.c:516
on_rec_motorstflags
static void on_rec_motorstflags(opcprotman_opc_t opc, opcprotman_var_map_t *map, void *recdata)
Definition: opcManager_cfg4pc104.c:462
s_print_emsapplcomm_ipnet
static void s_print_emsapplcomm_ipnet(eOdgn_ipnet_t *appipnet_ptr)
Definition: opcManager_cfg4pc104.c:381
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eOdgn_commands_t dgnCommands
Definition: diagnostics_buttons.cpp:62
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static void s_print_emsperiph_candata(eOdgn_canstatus_t *canst_ptr)
Definition: opcManager_cfg4pc104.c:258
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static ethCounters_total ethCounterBoards[9][3]
Definition: opcManager_cfg4pc104.c:136
s_print_emsapplmc_encoderserror
static void s_print_emsapplmc_encoderserror(eOdgn_encoderreads_t *encreads)
Definition: opcManager_cfg4pc104.c:449
s_print_emsapplcomm_core
static void s_print_emsapplcomm_core(eOdgn_coreapplication_t *appcore_ptr)
Definition: opcManager_cfg4pc104.c:361
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uint32_t cmdena_rxsetPointCheck
Definition: diagnostics_buttons.cpp:63
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static void s_print_emsapplcomm_transceiver(eOdgn_embObjtransceiver_t *apptrans_ptr)
Definition: opcManager_cfg4pc104.c:389
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p
Definition: show_eyes_axes.m:23
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Definition: opcManager_cfg4pc104.c:62
ethCounters_total::sum
uint32_t sum
Definition: opcManager_cfg4pc104.c:63
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