etisserant@52: 
etisserant@52: #include "canfestival.h"
etisserant@52: 
etisserant@52: %(nodes_includes)s
etisserant@52: 
etisserant@52: #define BOARD_DECL(nodename, busname, baudrate)\
etisserant@52:     s_BOARD nodename##Board = {busname, baudrate};
etisserant@52: 
etisserant@52: %(board_decls)s
etisserant@52: 
etisserant@52: static int init_level=0;
etisserant@52: 
etisserant@52: #define NODE_INIT(nodename, nodeid) \
etisserant@52:     /* Defining the node Id */\
etisserant@52:     setNodeId(&nodename##_Data, nodeid);\
etisserant@52:     /* init */\
etisserant@52:     setState(&nodename##_Data, Initialisation);
etisserant@52: 
etisserant@52: void InitNodes(CO_Data* d, UNS32 id)
etisserant@52: {
etisserant@52:     %(nodes_init)s
etisserant@52: }
etisserant@52: 
etisserant@52: #define NODE_CLOSE(nodename) \
etisserant@52:     if(init_level--)\
etisserant@52:     {\
etisserant@52:         EnterMutex();\
etisserant@52:         setState(&nodename##_Data, Stopped);\
etisserant@52:         LeaveMutex();\
etisserant@52:         canClose(&nodename##_Data);\
etisserant@52:     }
etisserant@52: 
etisserant@52: void __cleanup_%(locstr)s()
etisserant@52: {
etisserant@52:     %(nodes_close)s
etisserant@52:     
etisserant@52:     // Stop timer thread
etisserant@52:     StopTimerLoop();
etisserant@52: 
etisserant@52: }
etisserant@52: 
etisserant@52: #define NODE_OPEN(nodename)\
etisserant@52:     if(!canOpen(&nodename##Board,&nodename##_Data)){\
etisserant@52:         printf("Cannot open " #nodename " Board (%%s,%%s)\n",nodename##Board.busname, nodename##Board.baudrate);\
etisserant@52:         __cleanup_%(locstr)s();\
etisserant@52:         return -1;\
etisserant@52:     }\
etisserant@52:     init_level++;
etisserant@52: 
etisserant@52: /***************************  INIT  *****************************************/
etisserant@52: int __init_%(locstr)s(int argc,char **argv)
etisserant@52: {
etisserant@52: 
etisserant@52:     %(nodes_open)s
etisserant@52: 
etisserant@52: #ifndef NOT_USE_DYNAMIC_LOADING
etisserant@52:     LoadCanDriver("libcanfestival_can_%(candriver)s.so");
etisserant@52: #endif      
etisserant@52:     // Start timer thread
etisserant@52:     StartTimerLoop(&InitNodes);
etisserant@52:     return 0;
etisserant@52: }
etisserant@52: 
etisserant@52: void __retrive_%(locstr)s()
etisserant@52: {
etisserant@52:     /*TODO: Send Sync */
etisserant@52:     EnterMutex();
etisserant@52: }
etisserant@52: 
etisserant@52: void __publish_%(locstr)s()
etisserant@52: {
etisserant@52:     /*TODO: Call SendPDOEvent */
etisserant@52:     LeaveMutex();
etisserant@52: }
etisserant@52: