get_error.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: ./get_error /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;
        std::cout << "Baud Rate:" << canopen::baudRate << std::endl;
    }

    uint16_t CANid = std::stoi(std::string(argv[2]));
    canopen::syncInterval = std::chrono::milliseconds((100));


    canopen::devices[ CANid ] = canopen::Device(CANid);
    std::this_thread::sleep_for(std::chrono::milliseconds(100));

    std::string chainName = "test_chain";
    std::vector <uint8_t> ids;
    ids.push_back(CANid);
    std::vector <std::string> j_names;
    j_names.push_back("joint_1");
    canopen::deviceGroups[ chainName ] = canopen::DeviceGroup(ids, j_names);

    canopen::init(deviceFile,chainName, canopen::syncInterval);

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


    std::shared_ptr<TPCANRdMsg> m;

    /***************************************************************/
    //          Manufacturer specific errors register
    /***************************************************************/

    std::vector<char> dev_name = canopen::devices[CANid].getManufacturerDevName();

    std::cout << dev_name[0] << std::endl;

//    /**************************
//     * Hardware and Software Information
//    *************************/

//    std::vector<uint16_t> vendor_id = canopen::obtainVendorID(CANid);
//    uint16_t rev_number = canopen::obtainRevNr(CANid);
//    std::vector<uint16_t> product_code = canopen::obtainProdCode(CANid);
//    std::vector<char> manufacturer_device_name = canopen::obtainManDevName(CANid);
//    std::vector<char> manufacturer_hw_version =  canopen::obtainManHWVersion(CANid);
//    std::vector<char> manufacturer_sw_version =  canopen::obtainManSWVersion(CANid);

//        /****
//         *Printing the data
//         */

//        std::cout << "vendor_id=0x";

//        for (auto it : vendor_id)
//        {
//           std::cout <<  std::hex << it;
//        }

//        std::cout << std::endl;

//        std::cout << "revision_number: "<< std::hex << int(rev_number) << std::dec << std::endl;
//        std::cout << "device_name:";

//        for (auto it : manufacturer_device_name)
//        {
//           std::cout << it;
//        }

//        std::cout << std::endl;

//        std::cout << "hardware_version:";

//        for (auto it : manufacturer_hw_version)
//        {
//           std::cout << it;
//        }

//        std::cout << std::endl;

//        std::cout << "software_version:";

//        for (auto it : manufacturer_sw_version)
//        {
//           std::cout << it;
//        }

//        std::cout << std::endl;


}