canfestival/cf_runtime.c
author Andrey Skvortsov <andrej.skvortzov@gmail.com>
Fri, 12 Oct 2018 11:35:15 +0300
changeset 2454 2e5acbded4a1
parent 1428 e14003eb4d42
permissions -rw-r--r--
python3 support: pylint, W1622 # (next-method-called) Called a next() method on an object
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#include "canfestival.h"
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#include "dcf.h"
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/* CanFestival nodes generated OD headers*/
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%(nodes_includes)s
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#define BOARD_DECL(nodename, busname, baudrate)\
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    s_BOARD nodename##Board = {busname, baudrate};
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/* CAN channels declaration */
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%(board_decls)s
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/* Keep track of init level to cleanup correctly */
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static int init_level=0;
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/* Retrieve PLC cycle time */
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extern unsigned long long common_ticktime__;
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/* Per master node slavebootup callbacks. Checks that
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 * every node have booted before calling Master_post_SlaveBootup */
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%(slavebootups)s
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/* One slave node post_sync callback.
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 * Used to align PLC tick-time on CANopen SYNC
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 */
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%(post_sync)s
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/* Triggers DCF transission
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 */
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%(pre_op)s
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#define NODE_FORCE_SYNC(nodename) \
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    /* Artificially force sync state to 1 so that it is not started */\
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    nodename##_Data.CurrentCommunicationState.csSYNC = -1;\
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    /* Force sync period to common_ticktime__ so that other node can read it*/\
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    *nodename##_Data.COB_ID_Sync = 0x40000080;\
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    *nodename##_Data.Sync_Cycle_Period = common_ticktime__ / 1000;
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static void DeferedInitAlarm(CO_Data* d, UNS32 id){
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    /* Node will start beeing active on the network after this */
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    setState(d, Initialisation);
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}
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#define NODE_INIT(nodename, nodeid) \
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    /* Defining the node Id */\
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    setNodeId(&nodename##_Data, nodeid);\
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    SetAlarm(&nodename##_Data,0,&DeferedInitAlarm,MS_TO_TIMEVAL(100),0);
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#define NODE_MASTER_INIT(nodename, nodeid) \
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    NODE_FORCE_SYNC(nodename) \
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    NODE_INIT(nodename, nodeid)
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#define NODE_SLAVE_INIT(nodename, nodeid) \
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    NODE_INIT(nodename, nodeid)
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static void InitNodes(CO_Data* d, UNS32 id)
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{
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    %(slavebootup_register)s
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    %(post_sync_register)s
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    %(pre_op_register)s
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    %(nodes_init)s
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}
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#define NODE_STOP(nodename) \
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    if(init_level-- > 0)\
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    {\
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        masterSendNMTstateChange(&nodename##_Data, 0, NMT_Reset_Node);\
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        setState(&nodename##_Data, Stopped);\
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    }
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static void Exit(CO_Data* d, UNS32 id)
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{
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    %(nodes_stop)s
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}
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#define NODE_CLOSE(nodename) \
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    if(init_level_c-- > 0)\
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    {\
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      canClose(&nodename##_Data);\
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    }
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void __cleanup_%(locstr)s(void)
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{
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    // Stop timer thread
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    if(init_level-- > 0){
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    int init_level_c = init_level;
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        StopTimerLoop(&Exit);
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        %(nodes_close)s
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    }
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    TimerCleanup();
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}
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#ifndef stderr
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#define fprintf(...)
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#define fflush(...)
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#endif
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#define NODE_OPEN(nodename)\
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    if(!canOpen(&nodename##Board,&nodename##_Data)){\
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        fprintf(stderr,"Cannot open CAN intefrace %%s at speed %%s\n for CANopen node \"" #nodename "\"",nodename##Board.busname, nodename##Board.baudrate);\
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        fflush(stderr);\
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        return -1;\
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    }\
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    init_level++;
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/***************************  INIT  *****************************************/
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int __init_%(locstr)s(int argc,char **argv)
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{
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#ifndef NOT_USE_DYNAMIC_LOADING
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    if( !LoadCanDriver("%(candriver)s") ){
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        fprintf(stderr, "Cannot load CAN interface library for CanFestival (%(candriver)s)\n");\
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        fflush(stderr);\
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        return -1;\
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    }
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#endif
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    TimerInit();
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    %(nodes_open)s
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    // Start timer thread
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    StartTimerLoop(&InitNodes);
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    init_level++;
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    return 0;
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}
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#define NODE_SEND_SYNC(nodename)\
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    if(getState(&nodename##_Data)==Operational){\
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        sendSYNCMessage(&nodename##_Data);\
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    }
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void __retrieve_%(locstr)s(void)
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{
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    /* Locks the stack, so that no changes occurs while PLC access variables
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     * TODO : implement buffers to avoid such a big lock
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     *  */
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    EnterMutex();
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    /* Send Sync */
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    %(nodes_send_sync)s
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}
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#define NODE_PROCEED_SYNC(nodename)\
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    proceedSYNC(&nodename##_Data);
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void __publish_%(locstr)s(void)
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{
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    /* Process sync event */
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    %(nodes_proceed_sync)s
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    LeaveMutex();
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}
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