#include "canfestival.h"

%(nodes_includes)s

#define BOARD_DECL(nodename, busname, baudrate)\

s_BOARD nodename##Board = {busname, baudrate};

%(board_decls)s

static int init_level=0;

extern int common_ticktime__;

static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)

{

/* Put the master in operational mode */

setState(d, Operational);

/* Ask slave node to go in operational mode */

masterSendNMTstateChange (d, 0, NMT_Start_Node);

}

#define NODE_DECLARE(nodename, nodeid)\

void nodename##_preOperational()\

{\

ConfigureSlaveNode(&nodename##_Data, nodeid);\

}\

%(nodes_declare)s

#define NODE_INIT(nodename, nodeid) \

/* Artificially force sync state to 1 so that it is not started */\

nodename##_Data.CurrentCommunicationState.csSYNC = -1;\

/* Force sync period to common_ticktime__ so that other node can read it*/\

*nodename##_Data.COB_ID_Sync = 0x40000080;\

*nodename##_Data.Sync_Cycle_Period = common_ticktime__ * 1000;\

/* Defining the node Id */\

setNodeId(&nodename##_Data, nodeid);\

/* init */\

setState(&nodename##_Data, Initialisation);

void InitNodes(CO_Data* d, UNS32 id)

{

%(nodes_init)s

}

#define NODE_CLOSE(nodename) \

if(init_level-- > 0)\

{\

EnterMutex();\

setState(&nodename##_Data, Stopped);\

LeaveMutex();\

canClose(&nodename##_Data);\

}

void __cleanup_%(locstr)s()

{

%(nodes_close)s

// Stop timer thread

if(init_level-- > 0)

StopTimerLoop();

}

#define NODE_OPEN(nodename)\

nodename##_Data.preOperational = nodename##_preOperational;\

if(!canOpen(&nodename##Board,&nodename##_Data)){\

printf("Cannot open " #nodename " Board (%%s,%%s)\n",nodename##Board.busname, nodename##Board.baudrate);\

return -1;\

}\

init_level++;

/*************************** INIT *****************************************/

int __init_%(locstr)s(int argc,char **argv)

{

#ifndef NOT_USE_DYNAMIC_LOADING

if( !LoadCanDriver("%(candriver)s") ){

fprintf(stderr, "Cannot load CAN interface library for CanFestival (%(candriver)s)\n");\

return -1;

}

#endif

%(nodes_open)s

// Start timer thread

StartTimerLoop(&InitNodes);

init_level++;

return 0;

}

#define NODE_SEND_SYNC(nodename)\

sendSYNCMessage(&nodename##_Data);

void __retrive_%(locstr)s()

{

/* Locks the stack, so that no changes occurs while PLC access variables

* TODO : implement buffers to avoid such a big lock

* */

EnterMutex();

/*Send Sync */

%(nodes_send_sync)s

}

#define NODE_PROCEED_SYNC(nodename)\

proceedSYNC(&nodename##_Data);

void __publish_%(locstr)s()

{

/*Call SendPDOEvent */

%(nodes_proceed_sync)s

LeaveMutex();

}