HGKeeper

* Etherlab Asynchronous execution code

* */

#include <rtdm/rtdm.h>

#include <native/task.h>

#include <native/timer.h>

#include "ecrt.h"

#include "ec_rtdm.h"

#ifdef _WINDOWS_H

#include "iec_types.h"

#else

#include "iec_std_lib.h"

#endif

// declaration of interface variables

%(located_variables_declaration)s

// Optional features

#define CONFIGURE_PDOS %(configure_pdos)d

// process data

static uint8_t *domain1_pd = NULL;

%(used_pdo_entry_offset_variables_declaration)s

const static ec_pdo_entry_reg_t domain1_regs[] = {

%(used_pdo_entry_configuration)s

{}

};

/*****************************************************************************/

#if CONFIGURE_PDOS

%(pdos_configuration_declaration)s

#endif

int rt_fd = -1;

CstructMstrAttach MstrAttach;

char rt_dev_file[64];

long long wait_period_ns = 100000LL;

// EtherCAT

static ec_master_t *master = NULL;

static ec_domain_t *domain1 = NULL;

%(slaves_declaration)s

/* Beremiz plugin functions */

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

{

int rtstatus;

MstrAttach.masterindex = %(master_number)d;

master = ecrt_request_master(MstrAttach.masterindex);

if (!master) return -1;

domain1 = ecrt_master_create_domain(master);

if (!domain1) return -1;

#if CONFIGURE_PDOS

%(slaves_configuration)s

#endif

if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {

fprintf(stderr, "PDO entry registration failed!\n");

return -1;

}

sprintf(&rt_dev_file[0],"%%s%%u",EC_RTDM_DEV_FILE_NAME,0);

rt_fd = rt_dev_open( &rt_dev_file[0], 0);

if (rt_fd < 0) {

printf("Can't open %%s\n", &rt_dev_file[0]);

return -1;

}

// attach the master over rtdm driver

MstrAttach.domainindex = ecrt_domain_index(domain1);

rtstatus = ecrt_rtdm_master_attach(rt_fd, &MstrAttach);

if (rtstatus < 0) {

printf("Cannot attach to master over rtdm\n");

return -1;

}

if (ecrt_master_activate(master))

return -1;

if (!(domain1_pd = ecrt_domain_data(domain1))) {

fprintf(stderr, "domain1_pd: 0x%%.6lx\n", (unsigned long)domain1_pd);

return -1;

}

fprintf(stdout, "Master %(master_number)d activated...\n");

return 0;

}

void __cleanup_%(location)s(void)

{

if (rt_fd >= 0) {

rt_dev_close(rt_fd);

}

//release master

ecrt_release_master(master);

}

void __retrieve_%(location)s(void)

{

// receive ethercat

ecrt_rtdm_master_recieve(rt_fd);

ecrt_rtdm_domain_process(rt_fd);

rt_task_sleep(rt_timer_ns2tsc(wait_period_ns));

// send process data

ecrt_rtdm_domain_queque(rt_fd);

ecrt_rtdm_master_send(rt_fd);

%(retrieve_variables)s

}

void __publish_%(location)s(void)

{

%(publish_variables)s

}

beremiz