testDrives.cpp

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#include <iostream>

#include "CANopen.h"
#include "CopleyDrive.h"
#include "Drive.h"

pthread_mutex_t CO_CAN_VALID_mtx = PTHREAD_MUTEX_INITIALIZER;
volatile uint32_t CO_timer1ms = 0U;

/* Helper functions ***********************************************************/
void CO_errExit(char *msg) {
    perror(msg);
    exit(EXIT_FAILURE);
}

/* send CANopen generic emergency message */
void CO_error(const uint32_t info) {
    CO_errorReport(CO->em, CO_EM_GENERIC_SOFTWARE_ERROR, CO_EMC_SOFTWARE_INTERNAL, info);
    fprintf(stderr, "canopend generic error: 0x%X\n", info);
}

int main() {
    // Create a Drive Object
    std::cout << "1. Construct a CopleyDrive Object (which implements Drive Class), with NODE ID = 100 \n";
    Drive *testDrive = new CopleyDrive(1);

    std::cout << "2. Try to run the InitPDO() Function \n"
              << testDrive->initPDOs();
}