mapping.cpp

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#include <utility>
#include <iostream>
#include <iomanip>
#include "ipa_canopen_core/canopen.h"
#include <sstream>

int main(int argc, char *argv[])
{

    if (argc != 4) {
        std::cout << "Arguments:" << std::endl
                  << "(1) device file" << std::endl
                  << "(2) CAN deviceID" << std::endl
                  << "(3) Baud Rate" << std::endl
                  << "Example: ./elmo_mapping /dev/pcan32 12 500K" << std::endl;
        return -1;
    }



    canopen::NMTmsg.ID = 0;
    canopen::NMTmsg.MSGTYPE = 0x00;
    canopen::NMTmsg.LEN = 2;

    canopen::syncMsg.ID = 0x80;
    canopen::syncMsg.MSGTYPE = 0x00;

    canopen::syncMsg.LEN = 0x00;

    std::string deviceFile = std::string(argv[1]);
    canopen::baudRate = std::string(argv[3]);

    if (!canopen::openConnection(deviceFile,canopen::baudRate)){
        std::cout << "Cannot open CAN device; aborting." << std::endl;
        exit(EXIT_FAILURE);
    }
    else{
        std::cout << "Connection to CAN bus established" << std::endl;
    }

    uint16_t CANid = std::stoi(std::string(argv[2]));

    canopen::devices[ CANid ] = canopen::Device(CANid);
    std::this_thread::sleep_for(std::chrono::milliseconds(10));
    canopen::sendNMT(CANid, canopen::NMT_RESET_NODE);
    std::this_thread::sleep_for(std::chrono::milliseconds(10000));;
    canopen::sendNMT(CANid, canopen::NMT_START_REMOTE_NODE);
    std::this_thread::sleep_for(std::chrono::milliseconds(1000));

    std::this_thread::sleep_for(std::chrono::milliseconds(10));

    canopen::setObjects();

    TPCANMsg mes;

    std::cout << "Initialized the PDO mapping" << std::endl;

    for(int pdo_object=0;pdo_object<=3;pdo_object++)
    {
        canopen::disableTPDO(pdo_object);
        std::this_thread::sleep_for(std::chrono::milliseconds(100));

        canopen::clearTPDOMapping(pdo_object);
        std::this_thread::sleep_for(std::chrono::milliseconds(100));

        canopen::disableRPDO(pdo_object);
        std::this_thread::sleep_for(std::chrono::milliseconds(100));

        canopen::clearRPDOMapping(pdo_object);
        std::this_thread::sleep_for(std::chrono::milliseconds(100));
    }

    if(canopen::use_limit_switch)
    {

        std::vector<std::string> tpdo1_registers {"604100", "60FD00"};
        std::vector<int> tpdo1_sizes {0x10,0x20};

        canopen::makeTPDOMapping(0,tpdo1_registers, tpdo1_sizes, u_int8_t(0xFF));
    }
    else
    {
        std::vector<std::string> tpdo1_registers {"604100", "606100"};
        std::vector<int> tpdo1_sizes {0x10,0x08};

        canopen::makeTPDOMapping(0,tpdo1_registers, tpdo1_sizes, u_int8_t(0xFF));

    }
    std::this_thread::sleep_for(std::chrono::milliseconds(100));

    std::vector<std::string> tpdo4_registers {"606400", "606C00"};
    std::vector<int> tpdo4_sizes {0x20,0x20};

    canopen::makeTPDOMapping(3, tpdo4_registers, tpdo4_sizes, u_int8_t(0x01));
    std::this_thread::sleep_for(std::chrono::milliseconds(100));

    std::vector<std::string> rpdo1_registers {"604000"};
    std::vector<int> rpdo1_sizes {0x10};

    std::vector<std::string> rpdo2_registers {"60C101"};
    std::vector<int> rpdo2_sizes {0x20};

    canopen::makeRPDOMapping(0, rpdo1_registers, rpdo1_sizes, u_int8_t(0xFF));
    std::this_thread::sleep_for(std::chrono::milliseconds(100));
    canopen::makeRPDOMapping(1, rpdo2_registers, rpdo2_sizes, u_int8_t(0x01));
    std::this_thread::sleep_for(std::chrono::milliseconds(100));

    for(int pdo_object=0;pdo_object<=3;pdo_object++)
    {
        canopen::enableTPDO(pdo_object);
        std::this_thread::sleep_for(std::chrono::milliseconds(100));

        canopen::enableRPDO(pdo_object);
        std::this_thread::sleep_for(std::chrono::milliseconds(100));
    }

    std::this_thread::sleep_for(std::chrono::milliseconds(100));

}