equal
deleted
inserted
replaced
77 if(init_level_c-- > 0)\ |
77 if(init_level_c-- > 0)\ |
78 {\ |
78 {\ |
79 canClose(&nodename##_Data);\ |
79 canClose(&nodename##_Data);\ |
80 } |
80 } |
81 |
81 |
82 void __cleanup_%(locstr)s() |
82 void __cleanup_%(locstr)s(void) |
83 { |
83 { |
84 // Stop timer thread |
84 // Stop timer thread |
85 if(init_level-- > 0){ |
85 if(init_level-- > 0){ |
86 int init_level_c = init_level; |
86 int init_level_c = init_level; |
87 StopTimerLoop(&Exit); |
87 StopTimerLoop(&Exit); |
88 %(nodes_close)s |
88 %(nodes_close)s |
89 } |
89 } |
90 |
90 |
91 TimerCleanup(); |
91 TimerCleanup(); |
92 } |
92 } |
|
93 |
|
94 #ifndef stderr |
|
95 #define fprintf(...) |
|
96 #define fflush(...) |
|
97 #endif |
93 |
98 |
94 #define NODE_OPEN(nodename)\ |
99 #define NODE_OPEN(nodename)\ |
95 if(!canOpen(&nodename##Board,&nodename##_Data)){\ |
100 if(!canOpen(&nodename##Board,&nodename##_Data)){\ |
96 fprintf(stderr,"Cannot open CAN intefrace %%s at speed %%s\n for CANopen node \"" #nodename "\"",nodename##Board.busname, nodename##Board.baudrate);\ |
101 fprintf(stderr,"Cannot open CAN intefrace %%s at speed %%s\n for CANopen node \"" #nodename "\"",nodename##Board.busname, nodename##Board.baudrate);\ |
97 fflush(stderr);\ |
102 fflush(stderr);\ |
103 int __init_%(locstr)s(int argc,char **argv) |
108 int __init_%(locstr)s(int argc,char **argv) |
104 { |
109 { |
105 #ifndef NOT_USE_DYNAMIC_LOADING |
110 #ifndef NOT_USE_DYNAMIC_LOADING |
106 if( !LoadCanDriver("%(candriver)s") ){ |
111 if( !LoadCanDriver("%(candriver)s") ){ |
107 fprintf(stderr, "Cannot load CAN interface library for CanFestival (%(candriver)s)\n");\ |
112 fprintf(stderr, "Cannot load CAN interface library for CanFestival (%(candriver)s)\n");\ |
108 fflush(stderr); |
113 fflush(stderr);\ |
109 return -1; |
114 return -1;\ |
110 } |
115 } |
111 #endif |
116 #endif |
112 |
117 |
113 TimerInit(); |
118 TimerInit(); |
114 |
119 |
121 } |
126 } |
122 |
127 |
123 #define NODE_SEND_SYNC(nodename)\ |
128 #define NODE_SEND_SYNC(nodename)\ |
124 sendSYNCMessage(&nodename##_Data); |
129 sendSYNCMessage(&nodename##_Data); |
125 |
130 |
126 void __retrieve_%(locstr)s() |
131 void __retrieve_%(locstr)s(void) |
127 { |
132 { |
128 /* Locks the stack, so that no changes occurs while PLC access variables |
133 /* Locks the stack, so that no changes occurs while PLC access variables |
129 * TODO : implement buffers to avoid such a big lock |
134 * TODO : implement buffers to avoid such a big lock |
130 * */ |
135 * */ |
131 EnterMutex(); |
136 EnterMutex(); |
134 } |
139 } |
135 |
140 |
136 #define NODE_PROCEED_SYNC(nodename)\ |
141 #define NODE_PROCEED_SYNC(nodename)\ |
137 proceedSYNC(&nodename##_Data); |
142 proceedSYNC(&nodename##_Data); |
138 |
143 |
139 void __publish_%(locstr)s() |
144 void __publish_%(locstr)s(void) |
140 { |
145 { |
141 /* Process sync event */ |
146 /* Process sync event */ |
142 %(nodes_proceed_sync)s |
147 %(nodes_proceed_sync)s |
143 LeaveMutex(); |
148 LeaveMutex(); |
144 } |
149 } |