| author | etisserant |
| Mon, 24 Sep 2007 17:07:42 +0200 | |
| changeset 52 | eaffcd0a2f03 |
| child 57 | 3b53f9a509d9 |
| permissions | -rw-r--r-- |
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eaffcd0a2f03
Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop
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eaffcd0a2f03
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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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eaffcd0a2f03
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static int init_level=0; |
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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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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--)\ |
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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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StopTimerLoop(); |
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} |
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#define NODE_OPEN(nodename)\ |
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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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__cleanup_%(locstr)s();\ |
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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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%(nodes_open)s |
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#ifndef NOT_USE_DYNAMIC_LOADING |
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LoadCanDriver("libcanfestival_can_%(candriver)s.so");
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#endif |
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// Start timer thread |
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StartTimerLoop(&InitNodes); |
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return 0; |
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} |
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void __retrive_%(locstr)s() |
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{
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/*TODO: Send Sync */ |
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EnterMutex(); |
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} |
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void __publish_%(locstr)s() |
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{
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/*TODO: Call SendPDOEvent */ |
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LeaveMutex(); |
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} |
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