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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 int 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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#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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#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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    /* init */\

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    setState(&nodename##_Data, Initialisation);

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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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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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    %(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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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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