--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/canfestival/cf_runtime.c	Tue May 08 17:08:45 2012 +0200
@@ -0,0 +1,150 @@
+
+#include "canfestival.h"
+
+/* CanFestival nodes generated OD headers*/
+%(nodes_includes)s
+
+#define BOARD_DECL(nodename, busname, baudrate)\
+    s_BOARD nodename##Board = {busname, baudrate};
+
+/* CAN channels declaration */
+%(board_decls)s
+
+/* Keep track of init level to cleanup correctly */
+static int init_level=0;
+/* Retrieve PLC cycle time */
+extern int common_ticktime__;
+
+/* Called once all NetworkEdit declares slaves have booted*/
+static void Master_post_SlaveBootup(CO_Data* d, UNS8 nodeId)
+{
+    /* Put the master in operational mode */
+    setState(d, Operational);
+
+    /* Ask slave node to go in operational mode */
+    masterSendNMTstateChange (d, 0, NMT_Start_Node);
+}
+
+/* Per master node slavebootup callbacks. Checks that
+ * every node have booted before calling Master_post_SlaveBootup */
+%(slavebootups)s
+
+/* One slave node post_sync callback.
+ * Used to align PLC tick-time on CANopen SYNC
+ */
+%(post_sync)s
+
+#define NODE_FORCE_SYNC(nodename) \
+    /* 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;
+
+#define NODE_INIT(nodename, nodeid) \
+    /* Defining the node Id */\
+    setNodeId(&nodename##_Data, nodeid);\
+    /* init */\
+    setState(&nodename##_Data, Initialisation);
+
+#define NODE_MASTER_INIT(nodename, nodeid) \
+    NODE_FORCE_SYNC(nodename) \
+    NODE_INIT(nodename, nodeid)
+
+#define NODE_SLAVE_INIT(nodename, nodeid) \
+    NODE_INIT(nodename, nodeid)
+
+void InitNodes(CO_Data* d, UNS32 id)
+{
+    %(slavebootup_register)s
+    %(post_sync_register)s
+    %(nodes_init)s
+}
+
+#define NODE_STOP(nodename) \
+    if(init_level-- > 0)\
+    {\
+        masterSendNMTstateChange(&nodename##_Data, 0, NMT_Reset_Node);\
+        setState(&nodename##_Data, Stopped);\
+    }
+
+void Exit(CO_Data* d, UNS32 id)
+{
+    %(nodes_stop)s
+}
+
+#define NODE_CLOSE(nodename) \
+    if(init_level_c-- > 0)\
+    {\
+      canClose(&nodename##_Data);\
+    }
+
+void __cleanup_%(locstr)s(void)
+{
+    // Stop timer thread
+    if(init_level-- > 0){
+    int init_level_c = init_level;
+        StopTimerLoop(&Exit);
+        %(nodes_close)s
+    }
+
+    TimerCleanup();
+}
+
+#ifndef stderr
+#define fprintf(...)
+#define fflush(...)
+#endif
+
+#define NODE_OPEN(nodename)\
+    if(!canOpen(&nodename##Board,&nodename##_Data)){\
+        fprintf(stderr,"Cannot open CAN intefrace %%s at speed %%s\n for CANopen node \"" #nodename "\"",nodename##Board.busname, nodename##Board.baudrate);\
+        fflush(stderr);\
+        return -1;\
+    }\
+    init_level++;
+
+/***************************  INIT  *****************************************/
+int __init_%(locstr)s(int argc,char **argv)
+{
+#ifndef NOT_USE_DYNAMIC_LOADING
+    if( !LoadCanDriver("%(candriver)s") ){
+        fprintf(stderr, "Cannot load CAN interface library for CanFestival (%(candriver)s)\n");\
+        fflush(stderr);\
+        return -1;\
+    }
+#endif
+
+    TimerInit();
+
+    %(nodes_open)s
+
+    // Start timer thread
+    StartTimerLoop(&InitNodes);
+    init_level++;
+    return 0;
+}
+
+#define NODE_SEND_SYNC(nodename)\
+    sendSYNCMessage(&nodename##_Data);
+
+void __retrieve_%(locstr)s(void)
+{
+    /* 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(void)
+{
+    /* Process sync event */
+    %(nodes_proceed_sync)s
+    LeaveMutex();
+}
+