This class defines ROS-Profinet IO Device implementation for communication processor Siemens CP1616. More...

#include <cp1616_io_device.h>

Public Member Functions
int	addApi ()
	Adds associated Api.
int	addModSubMod ()
	Adds Modules and submodules (to mirror STEP7 configuration)
void	configureDeviceData ()
	Initializes Device data structures.
int	doAfterIndataIndCbf ()
	This function is called after the PNIO_cbf_ar_indata_ind callback has been called, it calls PNIO_initiate_data_write() and PNIO_initiate_data_read()
int	doAfterPrmEndIndCbf ()
	This function is called after the PNIO_cbf_prm_end_ind callback has been called, it calls PNIO_initiate_data_write(), PNIO_initiate_data_read for the first time and PNIO_set_appl_state_ready.
int	getArInfoIndFlag ()
PNIO_UINT16	getCpArNumber ()
PNIO_UINT16	getCpSessionKey ()
int	getIndataIndFlag ()
PNIO_IOXS	getInputDataIocs (int slot_number, int subslot_number)
PNIO_IOXS	getInputDataIops (int slot_number, int subslot_number)
PNIO_UINT32	getInputDataLength (int slot_number, int subslot_number)
int	getOfflineIndFlag ()
PNIO_IOXS	getOutputDataIocs (int slot_number, int subslot_number)
PNIO_IOXS	getOutputDataIops (int slot_number, int subslot_number)
PNIO_UINT32	getOutputDataLength (int slot_number, int subslot_number)
int	getPrmEndIndFlag ()
int	GetSubmodNum (PNIO_UINT32 mod, PNIO_UINT32 sub)
int	init ()
	Initializes and starts IO Device.
int	removeApi ()
	Removes associated Api.
int	removeModSubMod ()
	Removes existing Modules and submodules.
void	setArInfoIndFlag (int value)
void	setCpArNumber (PNIO_UINT16 value)
void	setCpSessionKey (PNIO_UINT16 value)
void	setIndataIndFlag (int value)
void	setInputDataIocs (int slot_number, int subslot_number, PNIO_IOXS status)
void	setInputDataIops (int slot_number, int subslot_number, PNIO_IOXS status)
void	setInputDataLength (int slot_number, int subslot_number, PNIO_UINT32 value)
void	setOfflineIndFlag (int value)
void	setOutputDataIocs (int slot_number, int subslot_number, PNIO_IOXS status)
void	setOutputDataIops (int slot_number, int subslot_number, PNIO_IOXS status)
void	setOutputDataLength (int slot_number, int subslot_number, PNIO_UINT32 value)
void	setPrmEndIndFlag (int value)
int	startOperation ()
	Starts IO device operation.
int	stopOperation ()
	Stops IO device operation.
int	uinit ()
	Closes and uninitializes IO Device.
int	updateCyclicInputData ()
	Updates Input (from IO Controller perspective) data - write CP output data.
int	updateCyclicOutputData ()
	Updates Output (from IO Controller perspective) data - read CP input data.
	~Cp1616IODevice ()
	Destructs an IOController object.
Static Public Member Functions
static Cp1616IODevice *	getDeviceInstance ()
	Public instance accesssor.
Public Attributes
std::vector< std::vector < std::vector< PNIO_UINT8 > > >	input_data_
	Table of input controller data - IO Device output data.
std::vector< std::vector < std::vector< PNIO_UINT8 > > >	output_data_
	Table of Output controller data - IO Device input data.
DeviceData *	p_device_data_
	pointer to device_data table which holds STEP7 configuration params
Private Member Functions
	Cp1616IODevice ()
Private Attributes
int	ar_info_ind_flag_
PNIO_UINT16	cp_ar_number_
PNIO_UINT32	cp_handle_
PNIO_UINT32	cp_id_
unsigned int	cp_max_number_of_subslots_
unsigned int	cp_number_of_slots_
PNIO_UINT16	cp_session_key_
int	idx_table_ [DEVICE_DATA_ENTRIES]
int	indata_ind_flag_
std::vector< std::vector < PNIO_IOXS > >	input_data_iocs_
std::vector< std::vector < PNIO_IOXS > >	input_data_iops_
std::vector< std::vector < PNIO_UINT32 > >	input_data_length_
int	offline_ind_flag_
std::vector< std::vector < PNIO_IOXS > >	output_data_iocs_
std::vector< std::vector < PNIO_IOXS > >	output_data_iops_
std::vector< std::vector < PNIO_UINT32 > >	output_data_length_
int	prm_end_ind_flag_
Static Private Attributes
static Cp1616IODevice *	device_instance_ = 0
static const int	MAX_INDATA_IND_COUNT = 500
static const int	MAX_OFFLINE_IND_COUNT = 100
static const int	MAX_PRM_END_COUNT = 500
static const int	WAIT_FOR_CALLBACK_PERIOD = 100000

Detailed Description

This class defines ROS-Profinet IO Device implementation for communication processor Siemens CP1616.

Definition at line 81 of file cp1616_io_device.h.

Constructor & Destructor Documentation

cp1616::Cp1616IODevice::~Cp1616IODevice ( )

Destructs an IOController object.

Definition at line 120 of file cp1616_io_device.cpp.

cp1616::Cp1616IODevice::Cp1616IODevice ( ) [private]

Definition at line 41 of file cp1616_io_device.cpp.

Member Function Documentation

int cp1616::Cp1616IODevice::addApi ( )

Adds associated Api.

Returns:: error_code (see pnioerrx.h for detailed description)

Definition at line 200 of file cp1616_io_device.cpp.

int cp1616::Cp1616IODevice::addModSubMod ( )

Adds Modules and submodules (to mirror STEP7 configuration)

Returns:: error_code (see pnioerrx.h for detailed description)

Definition at line 295 of file cp1616_io_device.cpp.

void cp1616::Cp1616IODevice::configureDeviceData ( )

Initializes Device data structures.

Definition at line 626 of file cp1616_io_device.cpp.

int cp1616::Cp1616IODevice::doAfterIndataIndCbf ( )

This function is called after the PNIO_cbf_ar_indata_ind callback has been called, it calls PNIO_initiate_data_write() and PNIO_initiate_data_read()

Returns:: error_code (see pnioerrx.h for detailed description)

Here we need to call "PNIO_initiate_data_write" so that the Device user program can initialize the incoming data (from the perspective of the IO controller) for the functional submodules and set the local status to "GOOD". For all non-functional submodules, the local status should be set to "BAD" We have already initialized the local buffer in "PNIO_cbf_ar_info_ind" callback

We also have to call "PNIO_initiate_data_read" so that the Device user program can set the local status for functional submodules of all the outgoing data (from the perspective of the IO controller) to GOOD. For all non-functional submodules, the local status has to be set to "BAD".

Definition at line 738 of file cp1616_io_device.cpp.

int cp1616::Cp1616IODevice::doAfterPrmEndIndCbf ( )

This function is called after the PNIO_cbf_prm_end_ind callback has been called, it calls PNIO_initiate_data_write(), PNIO_initiate_data_read for the first time and PNIO_set_appl_state_ready.

Returns:: error_code (see pnioerrx.h for detailed description)

Here we need to call "PNIO_initiate_data_write" so that the IO Base Device user program can initialize the incoming data (from the perspective of the IO controller) for the functional submodules and set the local status to "GOOD". For all non-functional submodules, the local status should be set to "BAD" We have already initialized the local buffer in "PNIO_cbf_ar_info_ind" callback

We also have to call "PNIO_initiate_data_read" so that the IO Base Device user program can set the local status for functional submodules of all the outgoing data (from the perspective of the IO controller) to GOOD. For all non-functional submodules, the local status has to be set to "BAD".

Here we need to call PNIO_set_appl_state_ready so that the IO Base Device user program registers a list of the non-functional submodules and the extent of readiness to get into a data exchange at the IO controller

Definition at line 687 of file cp1616_io_device.cpp.

int cp1616::Cp1616IODevice::getArInfoIndFlag ( )

Definition at line 775 of file cp1616_io_device.cpp.

PNIO_UINT16 cp1616::Cp1616IODevice::getCpArNumber ( )

Definition at line 826 of file cp1616_io_device.cpp.

PNIO_UINT16 cp1616::Cp1616IODevice::getCpSessionKey ( )

Definition at line 815 of file cp1616_io_device.cpp.

Cp1616IODevice * cp1616::Cp1616IODevice::getDeviceInstance ( ) [static]

Public instance accesssor.

Definition at line 32 of file cp1616_io_device.cpp.

int cp1616::Cp1616IODevice::getIndataIndFlag ( )

Definition at line 795 of file cp1616_io_device.cpp.

PNIO_IOXS cp1616::Cp1616IODevice::getInputDataIocs	(	int	slot_number,
		int	subslot_number
	)

Definition at line 851 of file cp1616_io_device.cpp.

PNIO_IOXS cp1616::Cp1616IODevice::getInputDataIops	(	int	slot_number,
		int	subslot_number
	)

Definition at line 871 of file cp1616_io_device.cpp.

PNIO_UINT32 cp1616::Cp1616IODevice::getInputDataLength	(	int	slot_number,
		int	subslot_number
	)

Definition at line 831 of file cp1616_io_device.cpp.

int cp1616::Cp1616IODevice::getOfflineIndFlag ( )

Definition at line 805 of file cp1616_io_device.cpp.

PNIO_IOXS cp1616::Cp1616IODevice::getOutputDataIocs	(	int	slot_number,
		int	subslot_number
	)

Definition at line 861 of file cp1616_io_device.cpp.

PNIO_IOXS cp1616::Cp1616IODevice::getOutputDataIops	(	int	slot_number,
		int	subslot_number
	)

Definition at line 881 of file cp1616_io_device.cpp.

PNIO_UINT32 cp1616::Cp1616IODevice::getOutputDataLength	(	int	slot_number,
		int	subslot_number
	)

Definition at line 841 of file cp1616_io_device.cpp.

int cp1616::Cp1616IODevice::getPrmEndIndFlag ( )

Definition at line 785 of file cp1616_io_device.cpp.

int cp1616::Cp1616IODevice::GetSubmodNum	(	PNIO_UINT32	mod,
		PNIO_UINT32	sub
	)

Definition at line 604 of file cp1616_io_device.cpp.

int cp1616::Cp1616IODevice::init ( )

Initializes and starts IO Device.

Returns:: error_code (see pnioerrx.h for detailed description)

Definition at line 125 of file cp1616_io_device.cpp.

int cp1616::Cp1616IODevice::removeApi ( )

Removes associated Api.

Returns:: error_code (see pnioerrx.h for detailed description)

Definition at line 259 of file cp1616_io_device.cpp.

int cp1616::Cp1616IODevice::removeModSubMod ( )

Removes existing Modules and submodules.

Returns:: error_code (see pnioerrx.h for detailed description)

Definition at line 455 of file cp1616_io_device.cpp.

void cp1616::Cp1616IODevice::setArInfoIndFlag ( int value )

Data encapsulation

Definition at line 770 of file cp1616_io_device.cpp.

void cp1616::Cp1616IODevice::setCpArNumber ( PNIO_UINT16 value )

Definition at line 820 of file cp1616_io_device.cpp.

void cp1616::Cp1616IODevice::setCpSessionKey ( PNIO_UINT16 value )

Definition at line 810 of file cp1616_io_device.cpp.

void cp1616::Cp1616IODevice::setIndataIndFlag ( int value )

Definition at line 790 of file cp1616_io_device.cpp.

void cp1616::Cp1616IODevice::setInputDataIocs	(	int	slot_number,
		int	subslot_number,
		PNIO_IOXS	status
	)

Definition at line 856 of file cp1616_io_device.cpp.

void cp1616::Cp1616IODevice::setInputDataIops	(	int	slot_number,
		int	subslot_number,
		PNIO_IOXS	status
	)

Definition at line 876 of file cp1616_io_device.cpp.

void cp1616::Cp1616IODevice::setInputDataLength	(	int	slot_number,
		int	subslot_number,
		PNIO_UINT32	value
	)

Definition at line 836 of file cp1616_io_device.cpp.

void cp1616::Cp1616IODevice::setOfflineIndFlag ( int value )

Definition at line 800 of file cp1616_io_device.cpp.

void cp1616::Cp1616IODevice::setOutputDataIocs	(	int	slot_number,
		int	subslot_number,
		PNIO_IOXS	status
	)

Definition at line 866 of file cp1616_io_device.cpp.

void cp1616::Cp1616IODevice::setOutputDataIops	(	int	slot_number,
		int	subslot_number,
		PNIO_IOXS	status
	)

Definition at line 886 of file cp1616_io_device.cpp.

void cp1616::Cp1616IODevice::setOutputDataLength	(	int	slot_number,
		int	subslot_number,
		PNIO_UINT32	value
	)

Definition at line 846 of file cp1616_io_device.cpp.

void cp1616::Cp1616IODevice::setPrmEndIndFlag ( int value )

Definition at line 780 of file cp1616_io_device.cpp.

int cp1616::Cp1616IODevice::startOperation ( )

Starts IO device operation.

Returns:: error_code (see pnioerrx.h for detailed description)

Definition at line 512 of file cp1616_io_device.cpp.

int cp1616::Cp1616IODevice::stopOperation ( )

Stops IO device operation.

Returns:: error_code (see pnioerrx.h for detailed description)

Definition at line 583 of file cp1616_io_device.cpp.

int cp1616::Cp1616IODevice::uinit ( )

Closes and uninitializes IO Device.

Returns:: error_code (see pnioerrx.h for detailed description)

Definition at line 187 of file cp1616_io_device.cpp.

int cp1616::Cp1616IODevice::updateCyclicInputData ( )

Updates Input (from IO Controller perspective) data - write CP output data.

Returns:: error_code (see pnioerrx.h for detailed description)

Definition at line 674 of file cp1616_io_device.cpp.

int cp1616::Cp1616IODevice::updateCyclicOutputData ( )

Updates Output (from IO Controller perspective) data - read CP input data.

Returns:: error_code (see pnioerrx.h for detailed description)

Definition at line 662 of file cp1616_io_device.cpp.

Member Data Documentation

int cp1616::Cp1616IODevice::ar_info_ind_flag_ [private]

Definition at line 247 of file cp1616_io_device.h.

PNIO_UINT16 cp1616::Cp1616IODevice::cp_ar_number_ [private]

Definition at line 252 of file cp1616_io_device.h.

PNIO_UINT32 cp1616::Cp1616IODevice::cp_handle_ [private]

Definition at line 234 of file cp1616_io_device.h.

PNIO_UINT32 cp1616::Cp1616IODevice::cp_id_ [private]

Definition at line 235 of file cp1616_io_device.h.

unsigned int cp1616::Cp1616IODevice::cp_max_number_of_subslots_ [private]

Definition at line 237 of file cp1616_io_device.h.

unsigned int cp1616::Cp1616IODevice::cp_number_of_slots_ [private]

Definition at line 236 of file cp1616_io_device.h.

PNIO_UINT16 cp1616::Cp1616IODevice::cp_session_key_ [private]

Definition at line 251 of file cp1616_io_device.h.

Cp1616IODevice * cp1616::Cp1616IODevice::device_instance_ = 0 [static, private]

Definition at line 232 of file cp1616_io_device.h.

int cp1616::Cp1616IODevice::idx_table_[DEVICE_DATA_ENTRIES] [private]

Definition at line 254 of file cp1616_io_device.h.

int cp1616::Cp1616IODevice::indata_ind_flag_ [private]

Definition at line 249 of file cp1616_io_device.h.

std::vector<std::vector <std::vector<PNIO_UINT8> > > cp1616::Cp1616IODevice::input_data_

Table of input controller data - IO Device output data.

Definition at line 194 of file cp1616_io_device.h.

std::vector<std::vector<PNIO_IOXS> > cp1616::Cp1616IODevice::input_data_iocs_ [private]

Definition at line 240 of file cp1616_io_device.h.

std::vector<std::vector<PNIO_IOXS> > cp1616::Cp1616IODevice::input_data_iops_ [private]

Definition at line 241 of file cp1616_io_device.h.

std::vector<std::vector<PNIO_UINT32> > cp1616::Cp1616IODevice::input_data_length_ [private]

Definition at line 239 of file cp1616_io_device.h.

const int cp1616::Cp1616IODevice::MAX_INDATA_IND_COUNT = 500 [static, private]

Definition at line 258 of file cp1616_io_device.h.

const int cp1616::Cp1616IODevice::MAX_OFFLINE_IND_COUNT = 100 [static, private]

Definition at line 259 of file cp1616_io_device.h.

const int cp1616::Cp1616IODevice::MAX_PRM_END_COUNT = 500 [static, private]

Definition at line 257 of file cp1616_io_device.h.

int cp1616::Cp1616IODevice::offline_ind_flag_ [private]

Definition at line 250 of file cp1616_io_device.h.

std::vector<std::vector<std::vector<PNIO_UINT8> > > cp1616::Cp1616IODevice::output_data_

Table of Output controller data - IO Device input data.

Definition at line 199 of file cp1616_io_device.h.

std::vector<std::vector<PNIO_IOXS> > cp1616::Cp1616IODevice::output_data_iocs_ [private]

Definition at line 244 of file cp1616_io_device.h.

std::vector<std::vector<PNIO_IOXS> > cp1616::Cp1616IODevice::output_data_iops_ [private]

Definition at line 245 of file cp1616_io_device.h.

std::vector<std::vector<PNIO_UINT32> > cp1616::Cp1616IODevice::output_data_length_ [private]

Definition at line 243 of file cp1616_io_device.h.

DeviceData* cp1616::Cp1616IODevice::p_device_data_

pointer to device_data table which holds STEP7 configuration params

Definition at line 189 of file cp1616_io_device.h.

int cp1616::Cp1616IODevice::prm_end_ind_flag_ [private]

Definition at line 248 of file cp1616_io_device.h.

const int cp1616::Cp1616IODevice::WAIT_FOR_CALLBACK_PERIOD = 100000 [static, private]

Definition at line 256 of file cp1616_io_device.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation