beremiz

Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop

2007-09-24, etisserant
eaffcd0a2f03
Parents c31c55601556
Children 805abb954de2
Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop
2 files changed, 109 insertions(+), 2 deletions(-)
  • +34 -2
    plugins/canfestival/canfestival.py
  • +75 -0
    plugins/canfestival/cf_runtime.c
    • --- a/plugins/canfestival/canfestival.py Mon Sep 24 17:06:36 2007 +0200
    +++ b/plugins/canfestival/canfestival.py Mon Sep 24 17:07:42 2007 +0200
    @@ -22,6 +22,8 @@
    <xsd:element name="CanFestivalNode">
    <xsd:complexType>
    <xsd:attribute name="CAN_Device" type="xsd:string" use="required" />
    + <xsd:attribute name="CAN_Baudrate" type="xsd:string" use="required" />
    + <xsd:attribute name="NodeId" type="xsd:string" use="required" />
    <xsd:attribute name="Sync_TPDOs" type="xsd:boolean" use="required" default="true"/>
    </xsd:complexType>
    </xsd:element>
    @@ -81,11 +83,12 @@
    Gen_OD_path = os.path.join(buildpath, "OD_%s.c"%prefix )
    # Create a new copy of the model with DCF loaded with PDO mappings for desired location
    master = config_utils.GenerateConciseDCF(locations, current_location, self, self.CanFestivalNode.getSync_TPDOs())
    + master.SetNodeName("OD_%s"%prefix)
    res = gen_cfile.GenerateFile(Gen_OD_path, master)
    if res :
    raise Exception, res
    - return [(Gen_OD_path,canfestival_config.getCFLAGS(CanFestivalPath))],""
    + return [(Gen_OD_path,canfestival_config.getCFLAGS(CanFestivalPath))],"",False
    class RootClass:
    XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
    @@ -101,6 +104,35 @@
    PlugChildsTypes = [("CanOpenNode",_NodeListPlug)]
    def PlugGenerate_C(self, buildpath, locations, logger):
    - return [],canfestival_config.getLDFLAGS(CanFestivalPath)
    +
    + format_dict = {"locstr" : "_".join(map(str,self.GetCurrentLocation())),
    + "candriver" : self.CanFestivalInstance.getCAN_Driver(),
    + "nodes_includes" : "",
    + "board_decls" : "",
    + "nodes_init" : "",
    + "nodes_open" : "",
    + "nodes_close" : ""}
    + for child in self.IECSortedChilds():
    + childlocstr = "_".join(map(str,child.GetCurrentLocation()))
    + nodename = "OD_%s" % childlocstr
    +
    + format_dict["nodes_includes"] += '#include "%s.h"\n'%(nodename)
    + format_dict["board_decls"] += 'BOARD_DECL(%s, "%s", "%s")\n'%(
    + nodename,
    + child.CanFestivalNode.getCAN_Device(),
    + child.CanFestivalNode.getCAN_Baudrate())
    + format_dict["nodes_init"] += 'NODE_INIT(%s, %s)\n'%(
    + nodename,
    + child.CanFestivalNode.getNodeId())
    + format_dict["nodes_open"] += 'NODE_OPEN(%s)\n'%(nodename)
    + format_dict["nodes_close"] += 'NODE_CLOSE(%s)\n'%(nodename)
    + filename = os.path.join(os.path.split(__file__)[0],"cf_runtime.c")
    + cf_main = open(filename).read() % format_dict
    + cf_main_path = os.path.join(buildpath, "CF_%(locstr)s.c"%format_dict)
    + f = open(cf_main_path,'w')
    + f.write(cf_main)
    + f.close()
    +
    + return [(cf_main_path, canfestival_config.getCFLAGS(CanFestivalPath))],canfestival_config.getLDFLAGS(CanFestivalPath), True
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/plugins/canfestival/cf_runtime.c Mon Sep 24 17:07:42 2007 +0200
    @@ -0,0 +1,75 @@
    +
    +#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();
    +}
    +