--- a/plugins/canfestival/cf_runtime.c	Tue Sep 25 10:30:51 2007 +0200
+++ b/plugins/canfestival/cf_runtime.c	Mon Oct 01 21:44:40 2007 +0200
@@ -9,8 +9,14 @@
 %(board_decls)s
 
 static int init_level=0;
+extern int common_ticktime__;
 
 #define NODE_INIT(nodename, nodeid) \
+    /* Artificially force sync state to 1 so that it is not started */\
+    nodename##_Data.CurrentCommunicationState.csSYNC = -1;\
+    /* Force sync period to common_ticktime__ so that other node can read it*/\
+    *nodename##_Data.COB_ID_Sync = 0x40000080;\
+    *nodename##_Data.Sync_Cycle_Period = common_ticktime__ * 1000;\
     /* Defining the node Id */\
     setNodeId(&nodename##_Data, nodeid);\
     /* init */\
@@ -22,7 +28,7 @@
 }
 
 #define NODE_CLOSE(nodename) \
-    if(init_level--)\
+    if(init_level-- > 0)\
     {\
         EnterMutex();\
         setState(&nodename##_Data, Stopped);\
@@ -35,14 +41,14 @@
     %(nodes_close)s
     
     // Stop timer thread
-    StopTimerLoop();
+    if(init_level-- > 0)
+        StopTimerLoop();
 
 }
 
 #define NODE_OPEN(nodename)\
     if(!canOpen(&nodename##Board,&nodename##_Data)){\
         printf("Cannot open " #nodename " Board (%%s,%%s)\n",nodename##Board.busname, nodename##Board.baudrate);\
-        __cleanup_%(locstr)s();\
         return -1;\
     }\
     init_level++;
@@ -50,26 +56,41 @@
 /***************************  INIT  *****************************************/
 int __init_%(locstr)s(int argc,char **argv)
 {
+#ifndef NOT_USE_DYNAMIC_LOADING
+    if( !LoadCanDriver("libcanfestival_can_%(candriver)s.so") ){
+        fprintf(stderr, "Cannot load CAN interface library for CanFestival (%(candriver)s)\n");\
+        return -1;
+    }
+#endif      
 
     %(nodes_open)s
 
-#ifndef NOT_USE_DYNAMIC_LOADING
-    LoadCanDriver("libcanfestival_can_%(candriver)s.so");
-#endif      
     // Start timer thread
     StartTimerLoop(&InitNodes);
+    init_level++;
     return 0;
 }
 
+#define NODE_SEND_SYNC(nodename)\
+    sendSYNCMessage(&nodename##_Data);
+
 void __retrive_%(locstr)s()
 {
-    /*TODO: Send Sync */
+    /* Locks the stack, so that no changes occurs while PLC access variables
+     * TODO : implement buffers to avoid such a big lock  
+     *  */
     EnterMutex();
+    /*Send Sync */
+    %(nodes_send_sync)s
 }
 
+#define NODE_PROCEED_SYNC(nodename)\
+    proceedSYNC(&nodename##_Data);
+
 void __publish_%(locstr)s()
 {
-    /*TODO: Call SendPDOEvent */
+    /*Call SendPDOEvent */
+    %(nodes_proceed_sync)s
     LeaveMutex();
 }