Function CO_ODF_trace

extra/CO_trace.c:245–394

OD function for accessing _OD_trace_ (index 0x2400+) from SDO server. * For more information see file CO_SDOserver.h. */

/* OD function for accessing _OD_trace_ (index 0x2400+) from SDO server.
 * For more information see file CO_SDOserver.h. */
static CO_SDO_abortCode_t CO_ODF_trace(CO_ODF_arg_t *ODF_arg) {
    CO_trace_t *trace;
    CO_SDO_abortCode_t ret = CO_SDO_AB_NONE;

    trace = (CO_trace_t*) ODF_arg->object;

    switch(ODF_arg->subIndex) {
    case 1:     /* size */
        if(ODF_arg->reading) {
            uint32_t size = trace->bufferSize;
            uint32_t wp = trace->writePtr;
            uint32_t rp = trace->readPtr;

            if(wp >= rp) {
                CO_setUint32(ODF_arg->data,  wp - rp);
            }
            else {
                CO_setUint32(ODF_arg->data, size - rp + wp);
            }
        }
        else {
            if(CO_getUint32(ODF_arg->data) == 0) {
                /* clear buffer, handle race conditions */
                while(trace->readPtr != 0 || trace->writePtr != 0) {
                    trace->readPtr = 0;
                    trace->writePtr = 0;
                    *trace->triggerTime = 0;
                }
            }
            else {
                ret = CO_SDO_AB_INVALID_VALUE;
            }
        }
        break;

    case 5:     /* plot */
        if(ODF_arg->reading) {
            /* This plot will be transmitted as domain data type. String data
             * will be printed directly to SDO buffer. If there is more data
             * to print, than is the size of SDO buffer, then this function
             * will be called multiple times until internal trace buffer is
             * empty. Internal trace buffer is circular buffer. It is accessed
             * by this function and by higher priority thread. If this buffer
             * is full, there is a danger for race condition. First records
             * from trace buffer may be overwritten somewhere between. If this
             * is detected, then do{}while() loop tries printing again. */
            if(trace->bufferSize == 0 || ODF_arg->dataLength < 100) {
                ret = CO_SDO_AB_OUT_OF_MEM;
            }
            else if(trace->readPtr == trace->writePtr) {
                ret = CO_SDO_AB_NO_DATA;
            }
            else {
                uint32_t rp, t, v, len, freeLen;
                char *s;
                bool_t readPtrOverflowed; /* for handling race conditions */

                /* repeat everything, if trace->readPtr was overflowed in CO_trace_process */