1

/*

     2

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

     3

     4

Copyright (C): Edouard TISSERANT and Francis DUPIN

     5

     6

See COPYING file for copyrights details.

     7

     8

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

     9

modify it under the terms of the GNU Lesser General Public

    10

License as published by the Free Software Foundation; either

    11

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

    12

    13

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

    14

but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    16

Lesser General Public License for more details.

    17

    18

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

    19

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

    20

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

    21

*/

    22

    23

    24

#include <wx/wxprec.h>

    25

#include <wx/wx.h>

    26

#include <wx/textctrl.h>

    27

#include <iostream>

    28

    29

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

    30

	#include <windows.h>

    31

    32

	extern "C" {

    33

		#include "getopt.h"

    34

	}

    35

    36

	void pause(void)

    37

	{

    38

		system("PAUSE");

    39

	}

    40

#else

    41

	#include <stdio.h>

    42

	#include <string.h>

    43

	#include <unistd.h>

    44

	#include <stdlib.h>

    45

	#include <signal.h>

    46

#endif

    47

    48

//#include <can_driver.h>

    49

//#include <timers_driver.h>

    50

extern "C" 

    51

  {

    52

	#include "canfestival.h"

    53

  }

    54

#include "CallBack.h"

    55

#include "TestSlaveGui.h"

    56

#include "main.h"

    57

    58

extern wxTextCtrl 	*textLog;

    59

extern int			node_id_ext;

    60

    61

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

    62

void InitNodes(CO_Data* d, UNS32 id)

    63

{

    64

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

    65

		/* Defining the node Id */

    66

		setNodeId(&ObjDict_Data, node_id_ext);

    67

		/* init */

    68

		setState(&ObjDict_Data, Initialisation);

    69

}

    70

    71

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

    72

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

    73

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

    74

int main_can(s_BOARD SlaveBoard, char* LibraryPath)

    75

{

    76

  printf("Bus name: %s        Freq: %s       Driver: %s\n", SlaveBoard.busname, SlaveBoard.baudrate, LibraryPath);

    77

    78

  #ifndef NOT_USE_DYNAMIC_LOADING

    79

	LoadCanDriver(LibraryPath);

    80

  #endif		

    81

	// Open CAN devices

    82

    83

	ObjDict_Data.heartbeatError = Call_heartbeatError;

    84

	ObjDict_Data.initialisation = Call_initialisation;

    85

	ObjDict_Data.preOperational = Call_preOperational;

    86

	ObjDict_Data.operational = Call_operational;

    87

	ObjDict_Data.stopped = Call_stopped;

    88

	ObjDict_Data.post_sync = Call_post_sync;

    89

	ObjDict_Data.post_TPDO = Call_post_TPDO;

    90

	ObjDict_Data.storeODSubIndex = Call_storeODSubIndex;		

    91

    92

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

    93

	  {

    94

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

    95

		return (1);

    96

	  }

    97

    98

	StartTimerLoop(&InitNodes);

    99

   100

	return 0;

   101

}

   102

   103

void stop_slave()

   104

{	

   105

    EnterMutex();

   106

   107

	setState(&ObjDict_Data, Stopped);

   108

    StopTimerLoop();

   109

    canClose(&ObjDict_Data);

   110

   111

    LeaveMutex();

   112

   113

	return;

   114

}