#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;

#define NODE_INIT(nodename, nodeid) \

/* 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--)\

{\

EnterMutex();\

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

LeaveMutex();\

canClose(&nodename##_Data);\

}

void __cleanup_%(locstr)s()

{

%(nodes_close)s

// Stop timer thread

StopTimerLoop();

}

#define NODE_OPEN(nodename)\

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

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

__cleanup_%(locstr)s();\

return -1;\

}\

init_level++;

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

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

{

%(nodes_open)s

#ifndef NOT_USE_DYNAMIC_LOADING

LoadCanDriver("libcanfestival_can_%(candriver)s.so");

#endif

// Start timer thread

StartTimerLoop(&InitNodes);

return 0;

}

void __retrive_%(locstr)s()

{

/*TODO: Send Sync */

EnterMutex();

}

void __publish_%(locstr)s()

{

/*TODO: Call SendPDOEvent */

LeaveMutex();

}