bcrt/bcmil.cpp

#include "declarations.h"
#include "WDMTMKv2.cpp"

TTmkEventData tmkEvD;
HANDLE hBcEvent;
HANDLE hRtEvent;

int nTmk;
unsigned long dwGoodStarts = 0, dwBusyStarts = 0, dwErrStarts = 0, dwStatStarts = 0;
unsigned long dwStarts = 0L;
TMK_DATA wSubAddr, wState, wStatus;

MIL::MIL(int dev_index)     //open the driver, configuration, create event
{
    qDebug() << "MIL constructor";
    if (TmkOpen())
    {
        qDebug() << "TmkOpen() error";
        closeAll();
    }
    else
    {
        if ((dev_index > tmkgetmaxn()) || (dev_index < 0))
            closeAll();
        else
        {
            this->m_TmkIndex = dev_index;

            if (tmkconfig(this->m_TmkIndex))
                closeAll();

            this->m_hEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
            ResetEvent(this->m_hEvent);
            tmkdefevent(this->m_hEvent, TRUE);
        }
    }
}

int MIL::WaitInt(TMK_DATA wCtrlCode)
{
    //Wait for an interrupt */
    DWORD k;
    k = WaitForSingleObject(hBcEvent, 1000);
    switch (k)
    {
        case WAIT_OBJECT_0:
            ResetEvent(hBcEvent);
        break;

        case WAIT_TIMEOUT:
           qDebug() << "Interrupt timeout error\n";
        return 1;

        default:
            qDebug() << "k = " << k;
            qDebug() << "Interrupt wait error\n";
            return 1;
    }

    /* Get interrupt data */
    /* We do not need to check tmkEvD.nInt because bcstartx with CX_NOSIG */
    /* guarantees us only single interrupt of single type nInt == 3       */
    tmkgetevd(&tmkEvD);

    if (tmkEvD.bcx.wResultX & SX_IB_MASK)
    {
        /* We have set bit(s) in Status Word */
        if (((tmkEvD.bcx.wResultX & SX_ERR_MASK) == SX_NOERR) || ((tmkEvD.bcx.wResultX & SX_ERR_MASK) == SX_TOD))
        {
            wStatus = bcgetansw(wCtrlCode);     /* We have either no errors or Data Time Out (No Data) error */
            if (wStatus & BUSY_MASK)            /* We have BUSY bit set */
                ++dwBusyStarts;
            else                                /* We have unknown bit(s) set */
                ++dwStatStarts;
        }
        else                                    /* We have an error */
            ++dwErrStarts;
    }
    else if (tmkEvD.bcx.wResultX & SX_ERR_MASK) /* We have an error */
        ++dwErrStarts;
    else                                        /* We have a completed message */
        ++dwGoodStarts;

    ++dwStarts;
    return 0;
}

MIL::~MIL()
{
    qDebug() << "MIL destructor";
}

BC_MIL::BC_MIL(int dev_index): MIL(dev_index)
{
    qDebug() << "BC_MIL constructor";
    //Find first configured device
    for (nTmk = 0; nTmk <= MAX_TMK_NUMBER; ++nTmk)
        if (!tmkselect(nTmk))
            break;
    if (nTmk > MAX_TMK_NUMBER)
    {
        qDebug() << "tmkselect error";
        closeAll();
    }
    //Try to reset in BC mode
    if (bcreset())
    {
        qDebug() << "bcreset error";
        closeAll();
    }
}

BC_MIL::~BC_MIL()
{
    qDebug() << "BC_MIL destructor";
}

RT_MIL::RT_MIL(int dev_index, unsigned short Addr): MIL(dev_index)
{
    qDebug() << "RT_MIL constructor";
    this->m_Addr = Addr;

    //Find first configured device
    for (nTmk = 0; nTmk <= MAX_TMK_NUMBER; ++nTmk)
        if (!tmkselect(nTmk))
            break;
    if (nTmk > MAX_TMK_NUMBER)
    {
        qDebug() << "tmkselect error";
        closeAllrt();
    }
    //Try to reset in RT mode
    if (rtreset())
    {
        qDebug() << "rtreset error";
        closeAllrt();
    }
    //Set RT address, set flag mode, enable data irqs
    rtdefaddress(Addr);
    rtdefmode(rtgetmode()|RT_FLAG_MODE);
    //rtdefmode(rtgetmode()&~RT_FLAG_MODE);
    rtdefirqmode(rtgetirqmode()&~RT_DATA_BL);

    for (wSubAddr = 1; wSubAddr <= 30; ++wSubAddr)
    {
    /* Ready to receive, not ready to transmit */
        rtdefsubaddr(RT_RECEIVE, wSubAddr);
        rtclrflag();
        rtdefsubaddr(RT_TRANSMIT, wSubAddr);
        rtclrflag();
    }
}

RT_MIL::~RT_MIL()
{
    qDebug() << "RT_MIL destructor";
}

void MIL::closeAll()
{
    qDebug() << "Close All";
    //printf("\nGood: %ld, Busy: %ld, Error: %ld, Status: %ld\n", dwGoodStarts, dwBusyStarts, dwErrStarts, dwStatStarts);
    bcreset();
  /* Close all opened things */
    CloseHandle(hBcEvent);
    tmkdone(ALL_TMKS);
    TmkClose();
}

void MIL::closeAllrt()
{
    qDebug() << "Close All";
    //printf("\nGood: %ld, Busy: %ld, Error: %ld, Status: %ld\n", dwGoodStarts, dwBusyStarts, dwErrStarts, dwStatStarts);
    rtreset();
  /* Close all opened things */
    CloseHandle(hRtEvent);
    tmkdone(ALL_TMKS);
    TmkClose();
}