254 lines
8.3 KiB
C
254 lines
8.3 KiB
C
/** \file
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* \brief Example code for Simple Open EtherCAT master
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*
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* Usage : simple_test [ifname1]
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* ifname is NIC interface, f.e. eth0
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*
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* This is a minimal test.
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*
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* (c)Arthur Ketels 2010 - 2011
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*/
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#include <stdio.h>
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#include <string.h>
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#include <sys/time.h>
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#include <unistd.h>
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#include <pthread.h>
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#include "ethercattype.h"
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#include "nicdrv.h"
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#include "ethercatbase.h"
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#include "ethercatmain.h"
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#include "ethercatdc.h"
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#include "ethercatcoe.h"
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#include "ethercatfoe.h"
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#include "ethercatconfig.h"
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#include "ethercatprint.h"
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#define EC_TIMEOUTMON 500
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char IOmap[4096];
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OSAL_THREAD_HANDLE thread1;
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int expectedWKC;
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boolean needlf;
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volatile int wkc;
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boolean inOP;
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uint8 currentgroup = 0;
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void simpletest(char *ifname)
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{
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int i, j, oloop, iloop, wkc_count, chk;
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needlf = FALSE;
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inOP = FALSE;
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printf("Starting simple test\n");
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/* initialise SOEM, bind socket to ifname */
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if (ec_init(ifname))
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{
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printf("ec_init on %s succeeded.\n",ifname);
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/* find and auto-config slaves */
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if ( ec_config_init(FALSE) > 0 )
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{
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printf("%d slaves found and configured.\n",ec_slavecount);
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ec_config_map(&IOmap);
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ec_configdc();
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printf("Slaves mapped, state to SAFE_OP.\n");
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/* wait for all slaves to reach SAFE_OP state */
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ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 4);
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oloop = ec_slave[0].Obytes;
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if ((oloop == 0) && (ec_slave[0].Obits > 0)) oloop = 1;
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if (oloop > 8) oloop = 8;
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iloop = ec_slave[0].Ibytes;
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if ((iloop == 0) && (ec_slave[0].Ibits > 0)) iloop = 1;
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if (iloop > 8) iloop = 8;
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printf("segments : %d : %d %d %d %d\n",ec_group[0].nsegments ,ec_group[0].IOsegment[0],ec_group[0].IOsegment[1],ec_group[0].IOsegment[2],ec_group[0].IOsegment[3]);
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printf("Request operational state for all slaves\n");
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expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC;
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printf("Calculated workcounter %d\n", expectedWKC);
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ec_slave[0].state = EC_STATE_OPERATIONAL;
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/* send one valid process data to make outputs in slaves happy*/
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ec_send_processdata();
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ec_receive_processdata(EC_TIMEOUTRET);
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/* request OP state for all slaves */
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ec_writestate(0);
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chk = 40;
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/* wait for all slaves to reach OP state */
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do
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{
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ec_send_processdata();
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ec_receive_processdata(EC_TIMEOUTRET);
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ec_statecheck(0, EC_STATE_OPERATIONAL, 50000);
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}
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while (chk-- && (ec_slave[0].state != EC_STATE_OPERATIONAL));
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if (ec_slave[0].state == EC_STATE_OPERATIONAL )
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{
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printf("Operational state reached for all slaves.\n");
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wkc_count = 0;
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inOP = TRUE;
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/* cyclic loop */
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for(i = 1; i <= 10000; i++)
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{
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ec_send_processdata();
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wkc = ec_receive_processdata(EC_TIMEOUTRET);
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if(wkc >= expectedWKC)
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{
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printf("Processdata cycle %4d, WKC %d , O:", i, wkc);
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for(j = 0 ; j < oloop; j++)
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{
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printf(" %2.2x", *(ec_slave[0].outputs + j));
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}
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printf(" I:");
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for(j = 0 ; j < iloop; j++)
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{
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printf(" %2.2x", *(ec_slave[0].inputs + j));
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}
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printf(" T:%lld\r",ec_DCtime);
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needlf = TRUE;
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}
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usleep(5000);
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}
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inOP = FALSE;
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}
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else
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{
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printf("Not all slaves reached operational state.\n");
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ec_readstate();
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for(i = 1; i<=ec_slavecount ; i++)
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{
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if(ec_slave[i].state != EC_STATE_OPERATIONAL)
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{
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printf("Slave %d State=0x%2.2x StatusCode=0x%4.4x : %s\n",
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i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode));
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}
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}
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}
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printf("\nRequest init state for all slaves\n");
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ec_slave[0].state = EC_STATE_INIT;
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/* request INIT state for all slaves */
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ec_writestate(0);
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}
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else
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{
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printf("No slaves found!\n");
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}
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printf("End simple test, close socket\n");
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/* stop SOEM, close socket */
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ec_close();
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}
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else
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{
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printf("No socket connection on %s\nExcecute as root\n",ifname);
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}
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}
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OSAL_THREAD_FUNC ecatcheck( void *ptr )
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{
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int slave;
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while(1)
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{
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if( inOP && ((wkc < expectedWKC) || ec_group[currentgroup].docheckstate))
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{
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if (needlf)
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{
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needlf = FALSE;
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printf("\n");
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}
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/* one ore more slaves are not responding */
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ec_group[currentgroup].docheckstate = FALSE;
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ec_readstate();
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for (slave = 1; slave <= ec_slavecount; slave++)
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{
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if ((ec_slave[slave].group == currentgroup) && (ec_slave[slave].state != EC_STATE_OPERATIONAL))
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{
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ec_group[currentgroup].docheckstate = TRUE;
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if (ec_slave[slave].state == (EC_STATE_SAFE_OP + EC_STATE_ERROR))
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{
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printf("ERROR : slave %d is in SAFE_OP + ERROR, attempting ack.\n", slave);
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ec_slave[slave].state = (EC_STATE_SAFE_OP + EC_STATE_ACK);
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ec_writestate(slave);
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}
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else if(ec_slave[slave].state == EC_STATE_SAFE_OP)
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{
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printf("WARNING : slave %d is in SAFE_OP, change to OPERATIONAL.\n", slave);
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ec_slave[slave].state = EC_STATE_OPERATIONAL;
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ec_writestate(slave);
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}
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else if(ec_slave[slave].state > 0)
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{
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if (ec_reconfig_slave(slave, EC_TIMEOUTMON))
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{
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ec_slave[slave].islost = FALSE;
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printf("MESSAGE : slave %d reconfigured\n",slave);
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}
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}
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else if(!ec_slave[slave].islost)
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{
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/* re-check state */
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ec_statecheck(slave, EC_STATE_OPERATIONAL, EC_TIMEOUTRET);
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if (!ec_slave[slave].state)
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{
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ec_slave[slave].islost = TRUE;
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printf("ERROR : slave %d lost\n",slave);
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}
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}
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}
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if (ec_slave[slave].islost)
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{
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if(!ec_slave[slave].state)
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{
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if (ec_recover_slave(slave, EC_TIMEOUTMON))
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{
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ec_slave[slave].islost = FALSE;
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printf("MESSAGE : slave %d recovered\n",slave);
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}
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}
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else
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{
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ec_slave[slave].islost = FALSE;
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printf("MESSAGE : slave %d found\n",slave);
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}
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}
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}
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if(!ec_group[currentgroup].docheckstate)
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printf("OK : all slaves resumed OPERATIONAL.\n");
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}
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usleep(10000);
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}
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}
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int main(int argc, char *argv[])
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{
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int iret1;
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printf("SOEM (Simple Open EtherCAT Master)\nSimple test\n");
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if (argc > 1)
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{
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/* create thread to handle slave error handling in OP */
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// iret1 = pthread_create( &thread1, NULL, (void *) &ecatcheck, (void*) &ctime);
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osal_thread_create(&thread1, 128000, &ecatcheck, (void*) &ctime);
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/* start cyclic part */
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simpletest(argv[1]);
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}
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else
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{
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printf("Usage: simple_test ifname1\nifname = eth0 for example\n");
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}
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printf("End program\n");
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return (0);
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}
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