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/*

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 * Etherlab Asynchronous execution code

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 *

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 * */

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#include <rtdm/rtdm.h>

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#include <native/task.h>

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#include <native/timer.h>

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#include "ecrt.h"

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#include "ec_rtdm.h"

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#ifdef _WINDOWS_H

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  #include "iec_types.h"

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#else

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  #include "iec_std_lib.h"

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#endif

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// declaration of interface variables

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%(located_variables_declaration)s

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// Optional features

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#define CONFIGURE_PDOS  %(configure_pdos)d

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// process data

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static uint8_t *domain1_pd = NULL;

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%(used_pdo_entry_offset_variables_declaration)s

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const static ec_pdo_entry_reg_t domain1_regs[] = {

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%(used_pdo_entry_configuration)s

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    {}

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};

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

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#if CONFIGURE_PDOS

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%(pdos_configuration_declaration)s

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#endif

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int rt_fd = -1;

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CstructMstrAttach MstrAttach;

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char rt_dev_file[64];

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long long wait_period_ns = 100000LL;

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// EtherCAT

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static ec_master_t *master = NULL;

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static ec_domain_t *domain1 = NULL;

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%(slaves_declaration)s

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/* Beremiz plugin functions */

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

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{

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	int rtstatus;

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	MstrAttach.masterindex = %(master_number)d;

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	master = ecrt_request_master(MstrAttach.masterindex);

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	if (!master) return -1;

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	domain1 = ecrt_master_create_domain(master);

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	if (!domain1) return -1;

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#if CONFIGURE_PDOS

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	%(slaves_configuration)s

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#endif

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    if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {

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

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        return -1;

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    }

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

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

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    if (rt_fd < 0) {

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

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        return -1;

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    }

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    // attach the master over rtdm driver

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    MstrAttach.domainindex = ecrt_domain_index(domain1);

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    rtstatus = ecrt_rtdm_master_attach(rt_fd, &MstrAttach);

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    if (rtstatus < 0) {

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

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        return -1;

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    }

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    if (ecrt_master_activate(master))

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        return -1;

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

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

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        return -1;

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    }

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

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    return 0;

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}

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void __cleanup_%(location)s(void)

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{

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	if (rt_fd >= 0) {

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		rt_dev_close(rt_fd);

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	}

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	//release master

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	ecrt_release_master(master);

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}

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void __retrieve_%(location)s(void)

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{

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    // receive ethercat

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    ecrt_rtdm_master_recieve(rt_fd);

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    ecrt_rtdm_domain_process(rt_fd);

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    rt_task_sleep(rt_timer_ns2tsc(wait_period_ns));

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    // send process data

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    ecrt_rtdm_domain_queque(rt_fd);

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    ecrt_rtdm_master_send(rt_fd);

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%(retrieve_variables)s

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}

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void __publish_%(location)s(void)

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{

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%(publish_variables)s

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}