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

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	#include <windows.h>

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	extern "C" {

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		#include "getopt.h"

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	}

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	void pause(void)

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	{

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		system("PAUSE");

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	}

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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 <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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UNS32 OnMasterMap1Update(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)

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{

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	return 0;

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}

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s_BOARD MasterBoard = {"1", "125K"};

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

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void catch_signal(int sig)

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{

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  signal(SIGTERM, catch_signal);

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  signal(SIGINT, catch_signal);

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  printf("Got Signal %d\n",sig);

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}

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#endif

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

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void 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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//****************************************************************************

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

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

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int main_can(s_BOARD SlaveBoard, char* LibraryPath)

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{

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

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

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	signal(SIGTERM, catch_signal);

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	signal(SIGINT, catch_signal);

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  #endif

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  #ifndef NOT_USE_DYNAMIC_LOADING

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	LoadCanDriver(LibraryPath);

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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, SlaveBoard.baudrate);

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		return (1);

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	  }

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	// Start timer thread

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	//printf("nodeid slave=%x\n",node_id_ext);

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	StartTimerLoop(&InitNodes);

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	return 0;

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}

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void stop_slave()

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{	

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	StopTimerLoop();

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	// Close CAN devices (and can threads)

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	// Stop master

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	setState(&ObjDict_Data, Stopped);

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	//canClose(&ObjDict_Data);

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	//canClose(&TestMaster_Data);

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	return;

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}