Skip to content

Commit

Permalink
run code format on simple_ng.c
Browse files Browse the repository at this point in the history
  • Loading branch information
@jabratn
jabratn committed Jun 3, 2024
1 parent 966c21d commit ba8b7f3
Showing 1 changed file with 98 additions and 60 deletions.
158 changes: 98 additions & 60 deletions test/simple_ng/simple_ng.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -12,33 +12,32 @@
#include <stdlib.h>
#include <string.h>


typedef struct {
ecx_contextt context;
char * iface;
uint8 group;
int roundtrip_time;
typedef struct
{
ecx_contextt context;
char *iface;
uint8 group;
int roundtrip_time;

/* Used by the context */
uint8 map[4096];
ecx_portt port;
ec_slavet slavelist[EC_MAXSLAVE];
int slavecount;
ec_groupt grouplist[EC_MAXGROUP];
uint8 esibuf[EC_MAXEEPBUF];
uint32 esimap[EC_MAXEEPBITMAP];
ec_eringt elist;
ec_idxstackT idxstack;
boolean ecaterror;
int64 DCtime;
ec_SMcommtypet SMcommtype[EC_MAX_MAPT];
ec_PDOassignt PDOassign[EC_MAX_MAPT];
ec_PDOdesct PDOdesc[EC_MAX_MAPT];
ec_eepromSMt eepSM;
ec_eepromFMMUt eepFMMU;
uint8 map[4096];
ecx_portt port;
ec_slavet slavelist[EC_MAXSLAVE];
int slavecount;
ec_groupt grouplist[EC_MAXGROUP];
uint8 esibuf[EC_MAXEEPBUF];
uint32 esimap[EC_MAXEEPBITMAP];
ec_eringt elist;
ec_idxstackT idxstack;
boolean ecaterror;
int64 DCtime;
ec_SMcommtypet SMcommtype[EC_MAX_MAPT];
ec_PDOassignt PDOassign[EC_MAX_MAPT];
ec_PDOdesct PDOdesc[EC_MAX_MAPT];
ec_eepromSMt eepSM;
ec_eepromFMMUt eepFMMU;
} Fieldbus;


static void
fieldbus_initialize(Fieldbus *fieldbus, char *iface)
{
Expand Down Expand Up @@ -108,14 +107,16 @@ fieldbus_start(Fieldbus *fieldbus)
grp = fieldbus->grouplist + fieldbus->group;

printf("Initializing SOEM on '%s'... ", fieldbus->iface);
if (! ecx_init(context, fieldbus->iface)) {
if (!ecx_init(context, fieldbus->iface))
{
printf("no socket connection\n");
return FALSE;
}
printf("done\n");

printf("Finding autoconfig slaves... ");
if (ecx_config_init(context, FALSE) <= 0) {
if (ecx_config_init(context, FALSE) <= 0)
{
printf("no slaves found\n");
return FALSE;
}
Expand All @@ -125,9 +126,11 @@ fieldbus_start(Fieldbus *fieldbus)
ecx_config_map_group(context, fieldbus->map, fieldbus->group);
printf("mapped %dO+%dI bytes from %d segments",
grp->Obytes, grp->Ibytes, grp->nsegments);
if (grp->nsegments > 1) {
if (grp->nsegments > 1)
{
/* Show how slaves are distrubuted */
for (i = 0; i < grp->nsegments; ++i) {
for (i = 0; i < grp->nsegments; ++i)
{
printf("%s%d", i == 0 ? " (" : "+", grp->IOsegment[i]);
}
printf(" slaves)");
Expand All @@ -152,24 +155,28 @@ fieldbus_start(Fieldbus *fieldbus)
slave->state = EC_STATE_OPERATIONAL;
ecx_writestate(context, 0);
/* Poll the result ten times before giving up */
for (i = 0; i < 10; ++i) {
for (i = 0; i < 10; ++i)
{
printf(".");
fieldbus_roundtrip(fieldbus);
ecx_statecheck(context, 0, EC_STATE_OPERATIONAL, EC_TIMEOUTSTATE / 10);
if (slave->state == EC_STATE_OPERATIONAL) {
if (slave->state == EC_STATE_OPERATIONAL)
{
printf(" all slaves are now operational\n");
return TRUE;
}
}

printf(" failed,");
ecx_readstate(context);
for (i = 1; i <= fieldbus->slavecount; ++i) {
for (i = 1; i <= fieldbus->slavecount; ++i)
{
slave = fieldbus->slavelist + i;
if (slave->state != EC_STATE_OPERATIONAL) {
if (slave->state != EC_STATE_OPERATIONAL)
{
printf(" slave %d is 0x%04X (AL-status=0x%04X %s)",
i, slave->state, slave->ALstatuscode,
ec_ALstatuscode2string(slave->ALstatuscode));
i, slave->state, slave->ALstatuscode,
ec_ALstatuscode2string(slave->ALstatuscode));
}
}
printf("\n");
Expand Down Expand Up @@ -209,20 +216,23 @@ fieldbus_dump(Fieldbus *fieldbus)
wkc = fieldbus_roundtrip(fieldbus);
expected_wkc = grp->outputsWKC * 2 + grp->inputsWKC;
printf("%6d usec WKC %d", fieldbus->roundtrip_time, wkc);
if (wkc < expected_wkc) {
if (wkc < expected_wkc)
{
printf(" wrong (expected %d)\n", expected_wkc);
return FALSE;
}

printf(" O:");
for (n = 0; n < grp->Obytes; ++n) {
for (n = 0; n < grp->Obytes; ++n)
{
printf(" %02X", grp->outputs[n]);
}
printf(" I:");
for (n = 0; n < grp->Ibytes; ++n) {
for (n = 0; n < grp->Ibytes; ++n)
{
printf(" %02X", grp->inputs[n]);
}
printf(" T: %lld\n", (long long) fieldbus->DCtime);
printf(" T: %lld\n", (long long)fieldbus->DCtime);
return TRUE;
}

Expand All @@ -238,55 +248,74 @@ fieldbus_check_state(Fieldbus *fieldbus)
grp = context->grouplist + fieldbus->group;
grp->docheckstate = FALSE;
ecx_readstate(context);
for (i = 1; i <= fieldbus->slavecount; ++i) {
for (i = 1; i <= fieldbus->slavecount; ++i)
{
slave = context->slavelist + i;
if (slave->group != fieldbus->group) {
if (slave->group != fieldbus->group)
{
/* This slave is part of another group: do nothing */
} else if (slave->state != EC_STATE_OPERATIONAL) {
}
else if (slave->state != EC_STATE_OPERATIONAL)
{
grp->docheckstate = TRUE;
if (slave->state == EC_STATE_SAFE_OP + EC_STATE_ERROR) {
if (slave->state == EC_STATE_SAFE_OP + EC_STATE_ERROR)
{
printf("* Slave %d is in SAFE_OP+ERROR, attempting ACK\n", i);
slave->state = EC_STATE_SAFE_OP + EC_STATE_ACK;
ecx_writestate(context, i);
} else if(slave->state == EC_STATE_SAFE_OP) {
}
else if (slave->state == EC_STATE_SAFE_OP)
{
printf("* Slave %d is in SAFE_OP, change to OPERATIONAL\n", i);
slave->state = EC_STATE_OPERATIONAL;
ecx_writestate(context, i);
} else if(slave->state > EC_STATE_NONE) {
if (ecx_reconfig_slave(context, i, EC_TIMEOUTRET)) {
}
else if (slave->state > EC_STATE_NONE)
{
if (ecx_reconfig_slave(context, i, EC_TIMEOUTRET))
{
slave->islost = FALSE;
printf("* Slave %d reconfigured\n", i);
}
} else if(! slave->islost) {
}
else if (!slave->islost)
{
ecx_statecheck(context, i, EC_STATE_OPERATIONAL, EC_TIMEOUTRET);
if (slave->state == EC_STATE_NONE) {
if (slave->state == EC_STATE_NONE)
{
slave->islost = TRUE;
printf("* Slave %d lost\n", i);
}
}
} else if (slave->islost) {
if(slave->state != EC_STATE_NONE) {
}
else if (slave->islost)
{
if (slave->state != EC_STATE_NONE)
{
slave->islost = FALSE;
printf("* Slave %d found\n", i);
} else if (ecx_recover_slave(context, i, EC_TIMEOUTRET)) {
}
else if (ecx_recover_slave(context, i, EC_TIMEOUTRET))
{
slave->islost = FALSE;
printf("* Slave %d recovered\n", i);
}
}
}

if (! grp->docheckstate) {
if (!grp->docheckstate)
{
printf("All slaves resumed OPERATIONAL\n");
}
}

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

if (argc != 2) {
ec_adaptert * adapter = NULL;
if (argc != 2)
{
ec_adaptert *adapter = NULL;
printf("Usage: simple_ng IFNAME1\n"
"IFNAME1 is the NIC interface name, e.g. 'eth0'\n");

Expand All @@ -302,18 +331,27 @@ main(int argc, char *argv[])
}

fieldbus_initialize(&fieldbus, argv[1]);
if (fieldbus_start(&fieldbus)) {
if (fieldbus_start(&fieldbus))
{
int i, min_time, max_time;
min_time = max_time = 0;
for (i = 1; i <= 10000; ++i) {
for (i = 1; i <= 10000; ++i)
{
printf("Iteration %4d:", i);
if (! fieldbus_dump(&fieldbus)) {
if (!fieldbus_dump(&fieldbus))
{
fieldbus_check_state(&fieldbus);
} else if (i == 1) {
}
else if (i == 1)
{
min_time = max_time = fieldbus.roundtrip_time;
} else if (fieldbus.roundtrip_time < min_time) {
}
else if (fieldbus.roundtrip_time < min_time)
{
min_time = fieldbus.roundtrip_time;
} else if (fieldbus.roundtrip_time > max_time) {
}
else if (fieldbus.roundtrip_time > max_time)
{
max_time = fieldbus.roundtrip_time;
}
osal_usleep(5000);
Expand Down

0 comments on commit ba8b7f3

Please sign in to comment.