Support for Hilscher cifX Profinet Controller added

otherio/lib/rt/src/os_linux/rt_io_m_hilscher_cifx.h

+/* 
+ * Proview   $Id$
+ * Copyright (C) 2005 SSAB Oxelösund AB.
+ *
+ * This program is free software; you can redistribute it and/or 
+ * modify it under the terms of the GNU General Public License as 
+ * published by the Free Software Foundation, either version 2 of 
+ * the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful 
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of 
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License 
+ * along with the program, if not, write to the Free Software 
+ * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+ **/
 
+#ifndef rt_io_hilscher_cifx_h
+#define rt_io_hilscher_cifx_h
 
 typedef struct {
   unsigned long channel;
@@ -9,6 +29,7 @@ typedef struct {
   unsigned int dev_init;
   unsigned int dev_init_cnt;
   unsigned int dev_init_limit;
+  int softlimit_logged;
   int input_area_size;
   int output_area_size;
   void *input_area;
@@ -20,3 +41,20 @@ typedef struct {
   int float_representation;
 } io_sLocalHilscher_cifX_Device;
 
+typedef struct {
+  unsigned long channel;
+  unsigned long board;
+  CIFXHANDLE chan;
+  unsigned int diag_cnt;
+  unsigned int diag_interval;
+  unsigned int dev_init;
+  unsigned int dev_init_cnt;
+  unsigned int dev_init_limit;
+  int softlimit_logged;
+  int input_area_size;
+  int output_area_size;
+  void *input_area;
+  void *output_area;
+} io_sLocalHilscher_cifX_PnController;
+
+#endif

otherio/lib/rt/src/os_linux/rt_io_m_hilscher_cifx_master.c

@@ -322,8 +322,10 @@ static pwr_tStatus IoAgentRead( io_tCtx ctx, io_sAgent *ap)
       op->ErrorCount++;
     }
 
-    if ( op->ErrorCount == op->ErrorSoftLimit)
+    if ( op->ErrorCount == op->ErrorSoftLimit && !local->softlimit_logged) {
       errh_Error( "IO Error soft limit reached on agent '%s'", ap->Name);
+      local->softlimit_logged = 1;
+    }
     if ( op->ErrorCount >= op->ErrorHardLimit) {
       ctx->Node->EmergBreakTrue = 1;
       return IO__ERRDEVICE;
@@ -360,8 +362,10 @@ static pwr_tStatus IoAgentWrite( io_tCtx ctx, io_sAgent *ap)
       xDriverGetErrorDescription( sts, op->ErrorStr, sizeof(op->ErrorStr));
     }
 
-    if ( op->ErrorCount == op->ErrorSoftLimit)
+    if ( op->ErrorCount == op->ErrorSoftLimit && !local->softlimit_logged) {
       errh_Error( "IO Error soft limit reached on agent '%s'", ap->Name);
+      local->softlimit_logged = 1;
+    }
     if ( op->ErrorCount >= op->ErrorHardLimit) {
       ctx->Node->EmergBreakTrue = 1;
       return IO__ERRDEVICE;

otherio/lib/rt/src/rt_io_otherio.meth

@@ -12,6 +12,7 @@ GPIO_Module
 Maxim_DS18B20
 USB_Agent
 Velleman_K8055_Board
+Hilscher_cifX_PnController
 Hilscher_cifX_Master
 Hilscher_cifX_Module
 USB_Joystick

otherio/wbl/mcomp/src/otherio.wb_load

 Volume OtherIO $ClassVolume 0.0.250.10 
   Body SysBody 01-JAN-1970 01:00:00.00
-    Attr NextOix = "_X233"
-    Attr NextCix = "_X24"
+    Attr NextOix = "_X242"
+    Attr NextCix = "_X25"
     Attr NextTix[0] = "_X10"
   EndBody
   Object Type $TypeHier 1 15-NOV-2007 14:35:37.90
@@ -2904,6 +2904,176 @@ Volume OtherIO $ClassVolume 0.0.250.10
         EndBody
       EndObject
     EndObject
+    Object Hilscher_cifX_PnController $ClassDef 24 23-MAY-2011 11:01:53.65
+      Body SysBody 23-MAY-2011 11:01:37.07
+        Attr Editor = 0
+        Attr Method = 0
+        Attr Flags = 38992
+      EndBody
+      Object RtBody $ObjBodyDef 1 23-MAY-2011 11:01:37.07
+        Body SysBody 23-MAY-2011 11:02:08.50
+          Attr StructName = "Hilscher_cifX_PnController"
+          Attr NextAix = "_X31"
+        EndBody
+        Object Description $Attribute 14 23-MAY-2011 11:01:37.07
+          Body SysBody 23-MAY-2011 11:01:37.07
+            Attr PgmName = "Description"
+            Attr TypeRef = "pwrs:Type-$String80"
+          EndBody
+        EndObject
+        Object Specification $Attribute 15 23-MAY-2011 11:01:37.07
+          Body SysBody 23-MAY-2011 11:01:37.07
+            Attr PgmName = "Specification"
+            Attr TypeRef = "pwrs:Type-$String80"
+          EndBody
+        EndObject
+        Object DataSheet $Attribute 16 23-MAY-2011 11:01:37.07
+          Body SysBody 23-MAY-2011 11:01:37.07
+            Attr PgmName = "DataSheet"
+            Attr TypeRef = "pwrs:Type-$URL"
+          EndBody
+        EndObject
+        Object IP_Address $Attribute 27 24-MAY-2011 08:21:37.53
+          Body SysBody 24-MAY-2011 08:21:12.63
+            Attr PgmName = "IP_Address"
+            Attr TypeRef = "pwrs:Type-$String32"
+          EndBody
+        EndObject
+        Object SubnetMask $Attribute 28 24-MAY-2011 08:21:57.03
+          Body SysBody 24-MAY-2011 08:23:57.17
+            Attr PgmName = "SubnetMask"
+            Attr TypeRef = "pwrs:Type-$String40"
+          EndBody
+        EndObject
+        Object DeviceName $Attribute 29 24-MAY-2011 08:22:20.62
+          Body SysBody 24-MAY-2011 08:24:00.64
+            Attr PgmName = "DeviceName"
+            Attr TypeRef = "pwrs:Type-$String40"
+          EndBody
+        EndObject
+        Object DeviceType $Attribute 30 24-MAY-2011 08:22:25.89
+          Body SysBody 24-MAY-2011 08:24:03.36
+            Attr PgmName = "DeviceType"
+            Attr TypeRef = "pwrs:Type-$String40"
+          EndBody
+        EndObject
+        Object Alias $Attribute 17 23-MAY-2011 11:01:37.07
+          Body SysBody 23-MAY-2011 11:01:37.07
+            Attr PgmName = "Alias"
+            Attr TypeRef = "pwrs:Type-$String40"
+          EndBody
+        EndObject
+        Object Channel $Attribute 18 23-MAY-2011 11:01:37.07
+          Body SysBody 23-MAY-2011 11:01:37.07
+            Attr PgmName = "Channel"
+            Attr TypeRef = "pwrs:Type-$UInt32"
+          EndBody
+        EndObject
+        Object Status $Attribute 19 23-MAY-2011 11:01:37.07
+          Body SysBody 23-MAY-2011 11:01:37.07
+            Attr PgmName = "Status"
+            Attr TypeRef = "pwrs:Type-$UInt32"
+          EndBody
+        EndObject
+        Object Process $Attribute 20 23-MAY-2011 11:01:37.07
+          Body SysBody 23-MAY-2011 11:01:37.07
+            Attr PgmName = "Process"
+            Attr TypeRef = "pwrb:Type-IoProcessMask"
+          EndBody
+        EndObject
+        Object ThreadObject $Attribute 21 23-MAY-2011 11:01:37.07
+          Body SysBody 23-MAY-2011 11:01:37.07
+            Attr PgmName = "ThreadObject"
+            Attr TypeRef = "pwrs:Type-$Objid"
+          EndBody
+        EndObject
+        Object ErrorCount $Attribute 22 23-MAY-2011 11:01:37.07
+          Body SysBody 23-MAY-2011 11:01:37.07
+            Attr PgmName = "ErrorCount"
+            Attr Flags = 1040
+            Attr TypeRef = "pwrs:Type-$UInt32"
+          EndBody
+        EndObject
+        Object ErrorStr $Attribute 23 23-MAY-2011 11:01:37.07
+          Body SysBody 23-MAY-2011 11:01:37.07
+            Attr PgmName = "ErrorStr"
+            Attr TypeRef = "pwrs:Type-$String80"
+          EndBody
+        EndObject
+        Object ErrorSoftLimit $Attribute 24 23-MAY-2011 11:01:37.07
+          Body SysBody 23-MAY-2011 11:01:37.07
+            Attr PgmName = "ErrorSoftLimit"
+            Attr TypeRef = "pwrs:Type-$UInt32"
+          EndBody
+        EndObject
+        Object ErrorHardLimit $Attribute 25 23-MAY-2011 11:01:37.07
+          Body SysBody 23-MAY-2011 11:01:37.07
+            Attr PgmName = "ErrorHardLimit"
+            Attr TypeRef = "pwrs:Type-$UInt32"
+          EndBody
+        EndObject
+        Object Diag $Attribute 26 23-MAY-2011 11:01:37.07
+          Body SysBody 23-MAY-2011 11:01:37.07
+            Attr PgmName = "Diag"
+            Attr Flags = 131072
+            Attr TypeRef = "OtherIO:Class-Hilscher_cifX_Diag"
+          EndBody
+        EndObject
+      EndObject
+      Object IoMethods $RtMethod 234 23-MAY-2011 11:01:37.07
+        Object IoAgentInit $Method 235 23-MAY-2011 11:01:37.07
+          Body SysBody 23-MAY-2011 11:02:25.93
+            Attr MethodName = "Hilscher_cifX_PnController-IoAgentInit"
+          EndBody
+        EndObject
+        Object IoAgentClose $Method 236 23-MAY-2011 11:01:37.07
+          Body SysBody 23-MAY-2011 11:02:36.54
+            Attr MethodName = "Hilscher_cifX_PnController-IoAgentClose"
+          EndBody
+        EndObject
+        Object IoAgentRead $Method 237 23-MAY-2011 11:01:37.07
+          Body SysBody 23-MAY-2011 11:02:43.74
+            Attr MethodName = "Hilscher_cifX_PnController-IoAgentRead"
+          EndBody
+        EndObject
+        Object IoAgentWrite $Method 238 23-MAY-2011 11:01:37.07
+          Body SysBody 23-MAY-2011 11:02:50.73
+            Attr MethodName = "Hilscher_cifX_PnController-IoAgentWrite"
+          EndBody
+        EndObject
+      EndObject
+      Object ConfiguratorPoson $Menu 239 23-MAY-2011 11:01:37.07
+        Object Pointed $Menu 240 23-MAY-2011 11:01:37.07
+          Object Connect $MenuButton 241 23-MAY-2011 11:01:37.07
+            Body SysBody 23-MAY-2011 11:01:37.07
+              Attr ButtonName = "Connect PlcThread"
+              Attr MethodName = "$Objid-Connect"
+              Attr MethodArguments[0] = "ThreadObject"
+              Attr MethodArguments[1] = "PlcThread"
+              Attr FilterName = "$Objid-IsOkConnect"
+              Attr FilterArguments[0] = "ThreadObject"
+              Attr FilterArguments[1] = "PlcThread"
+            EndBody
+          EndObject
+        EndObject
+      EndObject
+      Object PostCreate $DbCallBack 242 23-MAY-2011 11:01:37.07
+        Body SysBody 23-MAY-2011 11:01:37.07
+          Attr MethodName = "BaseIORack-PostCreate"
+        EndBody
+      EndObject
+      Object Template Hilscher_cifX_PnController 2154004480 01-JAN-1970 01:00:00.00
+        Body RtBody 24-MAY-2011 08:26:34.69
+          Attr IP_Address = "10.0.0.1"
+          Attr SubnetMask = "255.255.255.0"
+          Attr DeviceName = "controller"
+          Attr DeviceType = "cifX RE/PNM"
+          Attr Process = 1
+          Attr ErrorSoftLimit = 25
+          Attr ErrorHardLimit = 50
+        EndBody
+      EndObject
+    EndObject
     Object Hilscher_cifX_Master $ClassDef 17 23-FEB-2011 15:22:46.32
       Body SysBody 23-FEB-2011 14:03:13.10
         Attr Editor = 0

profibus/lib/rt/src/os_linux/rt_io_m_pncontrollersoftingpnak.cpp

@@ -44,6 +44,7 @@
 #include "rt_pnak.h"
 #include "co_dcli.h"
 #include "rt_pn_gsdml_data.h"
+#include "rt_io_pnak_locals.h"
 #include "rt_io_pn_locals.h"
 #include "rt_pn_iface.h"
 
@@ -86,7 +87,7 @@ static pwr_tStatus IoAgentInit (
   pwr_sClass_PnControllerSoftingPNAK *op;
   pwr_tUInt16 sts;
   io_sAgentLocal *local;
-  io_sRackLocal *r_local;
+  io_sPnRackLocal *r_local;
 
   char fname[196];
   char hname[40];
@@ -281,8 +282,8 @@ static pwr_tStatus IoAgentInit (
 
   for (slave_list = ap->racklist, ii = 0; slave_list != NULL;
        slave_list = slave_list->next, ii++) {
-    slave_list->Local = (unsigned char *) calloc(1, sizeof(io_sRackLocal));
-    r_local = (io_sRackLocal *) slave_list->Local;
+    slave_list->Local = (unsigned char *) calloc(1, sizeof(io_sPnRackLocal));
+    r_local = (io_sPnRackLocal *) slave_list->Local;
     
     for (jj = 0; jj <  local->device_data[ii + 1]->iocr_data.size(); jj++) {
       

profibus/lib/rt/src/os_linux/rt_io_m_pndevice.cpp

@@ -36,10 +36,11 @@
 #include "rt_errh.h"
 #include "rt_pb_msg.h"
 
-#include "rt_profinet.h"
-#include "rt_pnak.h"
+//#include "rt_profinet.h"
+//#include "rt_pnak.h"
 #include "co_dcli.h"
 #include "rt_pn_gsdml_data.h"
+//#include "rt_io_pnak_locals.h"
 #include "rt_io_pn_locals.h"
 
 
@@ -53,7 +54,7 @@ static pwr_tStatus IoRackInit (
   io_sRack	*rp
 ) 
 {
-  io_sCardLocal *local_card;
+  io_sPnCardLocal *local_card;
   io_sCard *cardp;
   short input_counter;
   short output_counter;
@@ -89,10 +90,10 @@ static pwr_tStatus IoRackInit (
   latent_output_count = 0;
 
   while(cardp) {
-    local_card = (io_sCardLocal *) calloc(1, sizeof(*local_card));
+    local_card = (io_sPnCardLocal *) calloc(1, sizeof(*local_card));
     cardp->Local = local_card;
-    local_card->input_area = ((io_sRackLocal *)(rp->Local))->inputs;
-    local_card->output_area = ((io_sRackLocal *)(rp->Local))->outputs;
+    local_card->input_area = ((io_sPnRackLocal *)(rp->Local))->inputs;
+    local_card->output_area = ((io_sPnRackLocal *)(rp->Local))->outputs;
 
     /* From v4.1.3 we can have subclasses, find the super class */
     
@@ -230,11 +231,9 @@ static pwr_tStatus IoRackRead (
   io_sRack	*rp
 ) 
 {
-  pwr_sClass_PnControllerSoftingPNAK *mp;
   pwr_sClass_PnDevice *sp;
   
   sp = (pwr_sClass_PnDevice *) rp->op;
-  mp = (pwr_sClass_PnControllerSoftingPNAK *) ap->op;
 
   /* The reading of the process image is now performed at the agent level,
   this eliminates the need for board specific code at the rack level.  */
@@ -247,7 +246,7 @@ static pwr_tStatus IoRackRead (
   }
   
   if (sp->ErrorCount > sp->ErrorSoftLimit ) {
-    memset(((io_sRackLocal *)(rp->Local))->inputs, 0, ((io_sRackLocal *)(rp->Local))->bytes_of_input);
+    memset(((io_sPnRackLocal *)(rp->Local))->inputs, 0, ((io_sPnRackLocal *)(rp->Local))->bytes_of_input);
   }
   
   //  if (sp->ErrorCount > sp->ErrorHardLimit && sp->StallAction >= pwr_ePbStallAction_EmergencyBreak) {
@@ -267,11 +266,9 @@ static pwr_tStatus IoRackWrite (
   io_sRack	*rp
 ) 
 {
-  pwr_sClass_PnControllerSoftingPNAK *mp;
   pwr_sClass_PnDevice *sp;
   
   sp = (pwr_sClass_PnDevice *) rp->op;
-  mp = (pwr_sClass_PnControllerSoftingPNAK *) ap->op;
 
   /* The writing of the process image is now performed at the agent level,
   this eliminates the need for board specific code at the rack level.  */

profibus/lib/rt/src/os_linux/rt_io_m_pnmodule.cpp

@@ -52,11 +52,11 @@ static pwr_tStatus IoCardInit (
   io_sCard	*cp
 ) 
 {
-  io_sCardLocal *local;
+  io_sPnCardLocal *local;
   pwr_sClass_PnModule *op;
 
   op = (pwr_sClass_PnModule *) cp->op;
-  local = (io_sCardLocal *) cp->Local;
+  local = (io_sPnCardLocal *) cp->Local;
   
   op->Status = PB__NORMAL;
 
@@ -74,12 +74,12 @@ static pwr_tStatus IoCardRead (
   io_sCard	*cp
 ) 
 {
-  io_sCardLocal *local;
+  io_sPnCardLocal *local;
   pwr_sClass_PnModule *op;
   pwr_sClass_PnDevice *slave;
 
   op = (pwr_sClass_PnModule *) cp->op;
-  local = (io_sCardLocal *) cp->Local;
+  local = (io_sPnCardLocal *) cp->Local;
   slave = (pwr_sClass_PnDevice *) rp->op;
 
   op->Status = slave->Status;  
@@ -105,12 +105,12 @@ static pwr_tStatus IoCardWrite (
   io_sCard	*cp
 ) 
 {
-  io_sCardLocal *local;
+  io_sPnCardLocal *local;
   pwr_sClass_PnModule *op;
   pwr_sClass_PnDevice *slave;
 
   op = (pwr_sClass_PnModule *) cp->op;
-  local = (io_sCardLocal *) cp->Local;
+  local = (io_sPnCardLocal *) cp->Local;
   slave = (pwr_sClass_PnDevice *) rp->op;
   
   op->Status = slave->Status;  
@@ -134,8 +134,8 @@ static pwr_tStatus IoCardClose (
   io_sCard	*cp
 ) 
 {
-  io_sCardLocal *local;
-  local = (io_sCardLocal *) cp->Local;
+  io_sPnCardLocal *local;
+  local = (io_sPnCardLocal *) cp->Local;
 
   free ((char *) local);
   

profibus/lib/rt/src/os_linux/rt_io_pn_locals.h

@@ -20,160 +20,20 @@
 #ifndef rt_io_pn_locals_h
 #define rt_io_pn_locals_h
 
-#include "rt_profinet.h"
-#include "rt_pnak.h"
-
 /* rt_io_pn_locals.h -- Profinet io handling locals. */
 
-typedef struct _PN_Alarm_Data {
-    unsigned short alarm_type;
-    unsigned short alarm_prio;
-    unsigned short rem_alarms;
-    unsigned int   slot_number;
-    unsigned int   sub_slot_number;
-    unsigned int   module_ident_number;
-    unsigned int   submodule_ident_number;
-    unsigned short alarm_spec;
-    unsigned short  data_length;
-    unsigned char  *data;
-} PN_Alarm_Data;
-
-class PnIOCRData {
- public:
-  PnIOCRData() : type(0), number_modules(0), identifier(0), io_data_length(0) {}
-  
-  unsigned short type;
-  unsigned short number_modules;
-  unsigned short identifier;
-  unsigned short io_data_length;  // bytes of io-data including status;
-  unsigned short clean_io_data_length;  // bytes of io-data including status;
-  unsigned char  *io_data;  
-  unsigned char  *clean_io_data;
-
-  ~PnIOCRData() {}
-
-  int print( ofstream& fp);
-};
-
-class PnSubmoduleData {
- public:
-  PnSubmoduleData() : subslot_number(0), subslot_idx(0), type(0), state(0), ident_number(0), phys_ident_number(0) {}
-  
-  unsigned short subslot_number;
-  unsigned short subslot_idx;
-  unsigned short type;
-  unsigned short state;
-  unsigned int   ident_number;
-  unsigned int   phys_ident_number;
-
-  unsigned short io_in_data_length; // bytes of pure io-data
-  unsigned short offset_io_in;      // offset in io-data area for this iocr
-  unsigned short offset_clean_io_in;      // offset in io-data area for this iocr
-  unsigned short offset_status_in;  // offset in io-data area for this iocr
-
-  unsigned short io_out_data_length; // bytes of pure io-data
-  unsigned short offset_io_out;      // offset in io-data area for this iocr
-  unsigned short offset_clean_io_out;      // offset in io-data area for this iocr
-  unsigned short offset_status_out;  // offset in io-data area for this iocr
-
-  ~PnSubmoduleData() {}
-
-  int print( ofstream& fp);
-};
-
-class PnModuleData {
- public:
-  PnModuleData() : slot_number(0), slot_idx(0), state(0), ident_number(0), phys_ident_number(0) {}
-
-  unsigned int slot_number;
-  unsigned int slot_idx;
-  unsigned short state;
-  unsigned int ident_number;
-  unsigned int phys_ident_number;
-
-  vector<PnSubmoduleData *> submodule_data;
-
-  ~PnModuleData() { 
-    for ( unsigned int i = 0; i < submodule_data.size(); i++)
-      delete submodule_data[i];
-  }
-
-  int print( ofstream& fp);
-};
-
-class PnDeviceData {
- public:
-  PnDeviceData() : device_ref(0), alarm_ref(0), device_state(0), no_diff_modules(0) {memset(&alarm_data, 0, sizeof(PN_Alarm_Data));}
-
-  unsigned short device_ref;
-  unsigned short alarm_ref;
-  unsigned short device_state;
-  unsigned short no_diff_modules;
-
-  PN_Alarm_Data  alarm_data;
-
-  vector<PnModuleData *> module_data;
-  vector<PnIOCRData *> iocr_data;
-
-  ~PnDeviceData() { device_reset();}
-  void device_reset() {
-    for ( unsigned int i = 0; i < module_data.size(); i++)
-      delete module_data[i];
-    module_data.clear();
-    for ( unsigned int i = 0; i < iocr_data.size(); i++)
-      delete iocr_data[i];
-    iocr_data.clear();
-  }
-
-  int copy_slot( unsigned int slot_idx);
-  int cut_slot( unsigned int slot_idx);
-  int paste_slot( unsigned int slot_idx);
-};
-
-class PnDeviceInfo {
- public:
-  PnDeviceInfo() {}
-  unsigned char ipaddress[4];
-  unsigned char macaddress[6];
-  unsigned char subnetmask[4];
-  char devname[80];
-  int vendorid;
-  int deviceid;
-};
-
-typedef struct _agent_args {
-  void           *local;
-  io_sAgent	 *ap;
-} agent_args;
-
-class io_sAgentLocal {
- public :
-  io_sAgentLocal() {}
-
-  T_PNAK_SERVICE_REQ_RES       service_req_res;
-  T_PNAK_SERVICE_CON           service_con;
-  unsigned char ipaddress[4];
-  unsigned char macaddress[6];
-  unsigned char subnetmask[4];
-
-  vector<PnDeviceData *> device_data;
-  vector<PnDeviceInfo *> dev_info;
-
-  pthread_t handle_events;
-  agent_args args;
-
-};
-
-typedef struct _io_sRackLocal {
-    unsigned short  bytes_of_input;
-    unsigned short  bytes_of_output;
-    unsigned char  *inputs;
-    unsigned char  *outputs;
-} io_sRackLocal;
+typedef struct _io_sPnRackLocal {
+  unsigned short  bytes_of_input;
+  unsigned short  bytes_of_output;
+  unsigned char  *inputs;
+  unsigned char  *outputs;
+} io_sPnRackLocal;
 
-typedef struct _io_sCardLocal {
+typedef struct _io_sPnCardLocal {
+  unsigned int input_area_size;
+  unsigned int output_area_size;
   unsigned char *input_area;
   unsigned char *output_area;
-} io_sCardLocal;
+} io_sPnCardLocal;
 
 #endif

profibus/lib/rt/src/os_linux/rt_io_pnak_locals.h

+/* 
+ * Proview   $Id$
+ * Copyright (C) 2005 SSAB Oxelsund AB.
+ *
+ * This program is free software; you can redistribute it and/or 
+ * modify it under the terms of the GNU General Public License as 
+ * published by the Free Software Foundation, either version 2 of 
+ * the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful 
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of 
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License 
+ * along with the program, if not, write to the Free Software 
+ * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+ **/
+
+#ifndef rt_io_pnak_locals_h
+#define rt_io_pnak_locals_h
+
+#include "rt_profinet.h"
+#include "rt_pnak.h"
+
+/* rt_io_pnak_locals.h -- Profinet io handling locals. */
+
+typedef struct _PN_Alarm_Data {
+    unsigned short alarm_type;
+    unsigned short alarm_prio;
+    unsigned short rem_alarms;
+    unsigned int   slot_number;
+    unsigned int   sub_slot_number;
+    unsigned int   module_ident_number;
+    unsigned int   submodule_ident_number;
+    unsigned short alarm_spec;
+    unsigned short  data_length;
+    unsigned char  *data;
+} PN_Alarm_Data;
+
+class PnIOCRData {
+ public:
+  PnIOCRData() : type(0), number_modules(0), identifier(0), io_data_length(0) {}
+  
+  unsigned short type;
+  unsigned short number_modules;
+  unsigned short identifier;
+  unsigned short io_data_length;  // bytes of io-data including status;
+  unsigned short clean_io_data_length;  // bytes of io-data including status;
+  unsigned char  *io_data;  
+  unsigned char  *clean_io_data;
+
+  ~PnIOCRData() {}
+
+  int print( ofstream& fp);
+};
+
+class PnSubmoduleData {
+ public:
+  PnSubmoduleData() : subslot_number(0), subslot_idx(0), type(0), state(0), ident_number(0), phys_ident_number(0) {}
+  
+  unsigned short subslot_number;
+  unsigned short subslot_idx;
+  unsigned short type;
+  unsigned short state;
+  unsigned int   ident_number;
+  unsigned int   phys_ident_number;
+
+  unsigned short io_in_data_length; // bytes of pure io-data
+  unsigned short offset_io_in;      // offset in io-data area for this iocr
+  unsigned short offset_clean_io_in;      // offset in io-data area for this iocr
+  unsigned short offset_status_in;  // offset in io-data area for this iocr
+
+  unsigned short io_out_data_length; // bytes of pure io-data
+  unsigned short offset_io_out;      // offset in io-data area for this iocr
+  unsigned short offset_clean_io_out;      // offset in io-data area for this iocr
+  unsigned short offset_status_out;  // offset in io-data area for this iocr
+
+  ~PnSubmoduleData() {}
+
+  int print( ofstream& fp);
+};
+
+class PnModuleData {
+ public:
+  PnModuleData() : slot_number(0), slot_idx(0), state(0), ident_number(0), phys_ident_number(0) {}
+
+  unsigned int slot_number;
+  unsigned int slot_idx;
+  unsigned short state;
+  unsigned int ident_number;
+  unsigned int phys_ident_number;
+
+  vector<PnSubmoduleData *> submodule_data;
+
+  ~PnModuleData() { 
+    for ( unsigned int i = 0; i < submodule_data.size(); i++)
+      delete submodule_data[i];
+  }
+
+  int print( ofstream& fp);
+};
+
+class PnDeviceData {
+ public:
+  PnDeviceData() : device_ref(0), alarm_ref(0), device_state(0), no_diff_modules(0) {memset(&alarm_data, 0, sizeof(PN_Alarm_Data));}
+
+  unsigned short device_ref;
+  unsigned short alarm_ref;
+  unsigned short device_state;
+  unsigned short no_diff_modules;
+
+  PN_Alarm_Data  alarm_data;
+
+  vector<PnModuleData *> module_data;
+  vector<PnIOCRData *> iocr_data;
+
+  ~PnDeviceData() { device_reset();}
+  void device_reset() {
+    for ( unsigned int i = 0; i < module_data.size(); i++)
+      delete module_data[i];
+    module_data.clear();
+    for ( unsigned int i = 0; i < iocr_data.size(); i++)
+      delete iocr_data[i];
+    iocr_data.clear();
+  }
+
+  int copy_slot( unsigned int slot_idx);
+  int cut_slot( unsigned int slot_idx);
+  int paste_slot( unsigned int slot_idx);
+};
+
+class PnDeviceInfo {
+ public:
+  PnDeviceInfo() {}
+  unsigned char ipaddress[4];
+  unsigned char macaddress[6];
+  unsigned char subnetmask[4];
+  char devname[80];
+  int vendorid;
+  int deviceid;
+};
+
+typedef struct _agent_args {
+  void           *local;
+  io_sAgent	 *ap;
+} agent_args;
+
+class io_sAgentLocal {
+ public :
+  io_sAgentLocal() {}
+
+  T_PNAK_SERVICE_REQ_RES       service_req_res;
+  T_PNAK_SERVICE_CON           service_con;
+  unsigned char ipaddress[4];
+  unsigned char macaddress[6];
+  unsigned char subnetmask[4];
+
+  vector<PnDeviceData *> device_data;
+  vector<PnDeviceInfo *> dev_info;
+
+  pthread_t handle_events;
+  agent_args args;
+
+};
+
+#endif

profibus/lib/rt/src/os_linux/rt_pn_iface.cpp

@@ -41,7 +41,7 @@
 #include "co_dcli.h"
 #include "rt_pn_gsdml_data.h"
 #include "rt_io_base.h"
-#include "rt_io_pn_locals.h"
+#include "rt_io_pnak_locals.h"
 
 #define _PN_U32_HIGH_WORD(U32)                                     ((PN_U16) ((U32) >> 16))
 #define _PN_U32_LOW_WORD(U32)                                      ((PN_U16)  (U32)       )
@@ -1546,5 +1546,6 @@ void *handle_events(void *ptr) {
       //    pThisSmObject->Running = PN_FALSE;
     }
   }
+  return 0;
 }