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/*

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This file is part of CanFestival, a library implementing CanOpen Stack. 

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Copyright (C): Edouard TISSERANT and Francis DUPIN

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See COPYING file for copyrights details.

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This library is free software; you can redistribute it and/or

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modify it under the terms of the GNU Lesser General Public

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License as published by the Free Software Foundation; either

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version 2.1 of the License, or (at your option) any later version.

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This library is distributed in the hope that it will be useful,

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but WITHOUT ANY WARRANTY; without even the implied warranty of

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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

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Lesser General Public License for more details.

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You should have received a copy of the GNU Lesser General Public

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License along with this library; if not, write to the Free Software

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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

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*/

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#if defined(WIN32) && !defined(__CYGWIN__)

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#include <windows.h>

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#include "getopt.h"

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#else

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#include <stdio.h>

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#include <string.h>

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#include <unistd.h>

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#include <stdlib.h>

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#include <signal.h>

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#endif

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#include <wx/wxprec.h>

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#include <wx/wx.h>

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#include <wx/textctrl.h>

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#include <iostream>

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//#include <can_driver.h>

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//#include <timers_driver.h>

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extern "C"

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{

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#include "canfestival.h"

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}

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#include "CallBack.h"

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#include "TestSlaveGui.h"

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#include "main.h"

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extern wxTextCtrl *textLog;

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extern int node_id_ext;

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//***************************  INIT  *****************************************

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void

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InitNodes (CO_Data * d, UNS32 id)

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{

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  //****************************** INITIALISATION SLAVE *******************************

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  /* Defining the node Id */

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  setNodeId (&ObjDict_Data, node_id_ext);

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  /* init */

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  setState (&ObjDict_Data, Initialisation);

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}

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/***************************  EXIT  *****************************************/

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void Exit(CO_Data* d, UNS32 id)

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{

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  	setState (&ObjDict_Data, Stopped);

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	canClose (&ObjDict_Data);

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}

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//****************************************************************************

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//***************************  MAIN  *****************************************

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//****************************************************************************

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int

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main_can (s_BOARD SlaveBoard, char *LibraryPath)

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{

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#if !defined(WIN32) && !defined(__CYGWIN__)

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	//TimerInit();

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#endif	

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	TimerInit();

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	printf ("Bus name: %s        Freq: %s       Driver: %s\n",

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	  SlaveBoard.busname, SlaveBoard.baudrate, LibraryPath);

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#ifndef NOT_USE_DYNAMIC_LOADING

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  if (LoadCanDriver (LibraryPath) == NULL)

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    *textLog << wxT ("Unable to load library\n");

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#endif

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  // Open CAN devices

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  ObjDict_Data.heartbeatError = Call_heartbeatError;

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  ObjDict_Data.initialisation = Call_initialisation;

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  ObjDict_Data.preOperational = Call_preOperational;

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  ObjDict_Data.operational = Call_operational;

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  ObjDict_Data.stopped = Call_stopped;

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  ObjDict_Data.post_sync = Call_post_sync;

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  ObjDict_Data.post_TPDO = Call_post_TPDO;

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  ObjDict_Data.storeODSubIndex = Call_storeODSubIndex;

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  if (!canOpen (&SlaveBoard, &ObjDict_Data))

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    {

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      printf ("Cannot open Slave Board (%s,%s)\n", SlaveBoard.busname,

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	      SlaveBoard.baudrate);

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      return (1);

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    }

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  StartTimerLoop (&InitNodes);

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  return 0;

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}

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void

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stop_slave ()

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{

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  StopTimerLoop (&Exit);

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  TimerCleanup();

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  return;

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}