1 

     2 #include "canfestival.h"

     3 

     4 %(nodes_includes)s

     5 

     6 #define BOARD_DECL(nodename, busname, baudrate)\

     7     s_BOARD nodename##Board = {busname, baudrate};

     8 

     9 %(board_decls)s

    10 

    11 static int init_level=0;

    12 

    13 #define NODE_INIT(nodename, nodeid) \

    14     /* Defining the node Id */\

    15     setNodeId(&nodename##_Data, nodeid);\

    16     /* init */\

    17     setState(&nodename##_Data, Initialisation);

    18 

    19 void InitNodes(CO_Data* d, UNS32 id)

    20 {

    21     %(nodes_init)s

    22 }

    23 

    24 #define NODE_CLOSE(nodename) \

    25     if(init_level--)\

    26     {\

    27         EnterMutex();\

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

    29         LeaveMutex();\

    30         canClose(&nodename##_Data);\

    31     }

    32 

    33 void __cleanup_%(locstr)s()

    34 {

    35     %(nodes_close)s

    36     

    37     // Stop timer thread

    38     StopTimerLoop();

    39 

    40 }

    41 

    42 #define NODE_OPEN(nodename)\

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

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

    45         __cleanup_%(locstr)s();\

    46         return -1;\

    47     }\

    48     init_level++;

    49 

    50 /***************************  INIT  *****************************************/

    51 int __init_%(locstr)s(int argc,char **argv)

    52 {

    53 

    54     %(nodes_open)s

    55 

    56 #ifndef NOT_USE_DYNAMIC_LOADING

    57     LoadCanDriver("libcanfestival_can_%(candriver)s.so");

    58 #endif      

    59     // Start timer thread

    60     StartTimerLoop(&InitNodes);

    61     return 0;

    62 }

    63 

    64 void __retrive_%(locstr)s()

    65 {

    66     /*TODO: Send Sync */

    67     EnterMutex();

    68 }

    69 

    70 void __publish_%(locstr)s()

    71 {

    72     /*TODO: Call SendPDOEvent */

    73     LeaveMutex();

    74 }

    75