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#include "canfestival.h"

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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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%(board_decls)s

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static int init_level=0;

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extern int common_ticktime__;

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static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)

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{

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    /* Put the master in operational mode */

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    setState(d, Operational);

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    /* Ask slave node to go in operational mode */

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    masterSendNMTstateChange (d, 0, NMT_Start_Node);

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}

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#define NODE_DECLARE(nodename, nodeid)\

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void nodename##_preOperational()\

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{\

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    ConfigureSlaveNode(&nodename##_Data, nodeid);\

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}\

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%(nodes_declare)s

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#define NODE_INIT(nodename, nodeid) \

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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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    /* 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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void InitNodes(CO_Data* d, UNS32 id)

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{

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    %(nodes_init)s

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}

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#define NODE_CLOSE(nodename) \

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    if(init_level-- > 0)\

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    {\

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        EnterMutex();\

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

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        LeaveMutex();\

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        canClose(&nodename##_Data);\

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    }

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void __cleanup_%(locstr)s()

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{

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    %(nodes_close)s

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    // Stop timer thread

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    if(init_level-- > 0)

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        StopTimerLoop();

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}

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#define NODE_OPEN(nodename)\

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    nodename##_Data.preOperational = nodename##_preOperational;\

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

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

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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("libcanfestival_can_%(candriver)s.so") ){

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        fprintf(stderr, "Cannot load CAN interface library for CanFestival (%(candriver)s)\n");\

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        return -1;

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    }

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#endif      

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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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    sendSYNCMessage(&nodename##_Data);

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void __retrive_%(locstr)s()

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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()

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{

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    /*Call SendPDOEvent */

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    %(nodes_proceed_sync)s

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    LeaveMutex();

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}

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