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     3 <title>CanFestival: examples/TestMasterSlave/TestMasterSlave.c Source File</title>
       
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    20 <div class="nav">
       
    21 <a class="el" href="dir_fc8d77725c328f9de5a130dceab5a508.html">examples</a>&nbsp;&raquo&nbsp;<a class="el" href="dir_cb9d6d827bc8780b4808994475b6fec1.html">TestMasterSlave</a></div>
       
    22 <h1>TestMasterSlave.c</h1><a href="TestMasterSlave_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
       
    23 <a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
       
    24 <a name="l00003"></a>00003 <span class="comment"></span>
       
    25 <a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
       
    26 <a name="l00005"></a>00005 <span class="comment"></span>
       
    27 <a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
       
    28 <a name="l00007"></a>00007 <span class="comment"></span>
       
    29 <a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
       
    30 <a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
       
    31 <a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
       
    32 <a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
       
    33 <a name="l00012"></a>00012 <span class="comment"></span>
       
    34 <a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
       
    35 <a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
       
    36 <a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU</span>
       
    37 <a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
       
    38 <a name="l00017"></a>00017 <span class="comment"></span>
       
    39 <a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
       
    40 <a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
       
    41 <a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA</span>
       
    42 <a name="l00021"></a>00021 <span class="comment">*/</span>
       
    43 <a name="l00022"></a>00022 
       
    44 <a name="l00023"></a>00023 <span class="preprocessor">#if defined(WIN32) &amp;&amp; !defined(__CYGWIN__)</span>
       
    45 <a name="l00024"></a>00024 <span class="preprocessor"></span><span class="preprocessor">#include &lt;windows.h&gt;</span>
       
    46 <a name="l00025"></a>00025 <span class="preprocessor">#include "getopt.h"</span>
       
    47 <a name="l00026"></a>00026 <span class="keywordtype">void</span> pause(<span class="keywordtype">void</span>)
       
    48 <a name="l00027"></a>00027 {
       
    49 <a name="l00028"></a>00028         system(<span class="stringliteral">"PAUSE"</span>);
       
    50 <a name="l00029"></a>00029 }
       
    51 <a name="l00030"></a>00030 <span class="preprocessor">#else</span>
       
    52 <a name="l00031"></a>00031 <span class="preprocessor"></span><span class="preprocessor">#include &lt;stdio.h&gt;</span>
       
    53 <a name="l00032"></a>00032 <span class="preprocessor">#include &lt;string.h&gt;</span>
       
    54 <a name="l00033"></a>00033 <span class="preprocessor">#include &lt;unistd.h&gt;</span>
       
    55 <a name="l00034"></a>00034 <span class="preprocessor">#include &lt;stdlib.h&gt;</span>
       
    56 <a name="l00035"></a>00035 <span class="preprocessor">#include &lt;signal.h&gt;</span>
       
    57 <a name="l00036"></a>00036 <span class="preprocessor">#endif</span>
       
    58 <a name="l00037"></a>00037 <span class="preprocessor"></span>
       
    59 <a name="l00038"></a>00038 <span class="preprocessor">#include "<a class="code" href="win32_2canfestival_8h.html">canfestival.h</a>"</span>
       
    60 <a name="l00039"></a>00039 <span class="comment">//#include &lt;can_driver.h&gt;</span>
       
    61 <a name="l00040"></a>00040 <span class="comment">//#include &lt;timers_driver.h&gt;</span>
       
    62 <a name="l00041"></a>00041 
       
    63 <a name="l00042"></a>00042 <span class="preprocessor">#include "<a class="code" href="Master_8h.html">Master.h</a>"</span>
       
    64 <a name="l00043"></a>00043 <span class="preprocessor">#include "<a class="code" href="Slave_8h.html">Slave.h</a>"</span>
       
    65 <a name="l00044"></a>00044 <span class="preprocessor">#include "<a class="code" href="TestMasterSlave_8h.html">TestMasterSlave.h</a>"</span>
       
    66 <a name="l00045"></a>00045 
       
    67 <a name="l00046"></a><a class="code" href="TestMasterSlave_8c.html#bd99872d05af9bf63e28d6f010c1b174">00046</a> <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> <a class="code" href="TestMasterSlave_8c.html#bd99872d05af9bf63e28d6f010c1b174">OnMasterMap1Update</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d, <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a> * unsused_indextable, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> unsused_bSubindex)
       
    68 <a name="l00047"></a>00047 {
       
    69 <a name="l00048"></a>00048         <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"OnSlaveMap1Update:%d\n"</span>, <a class="code" href="TestSlave_8c.html#3b4b401356ff09a256301a35ad988d1f">SlaveMap1</a>);
       
    70 <a name="l00049"></a>00049         <span class="keywordflow">return</span> 0;
       
    71 <a name="l00050"></a>00050 }
       
    72 <a name="l00051"></a>00051 
       
    73 <a name="l00052"></a><a class="code" href="TestMasterSlave_8c.html#57b2a6d78660d0ee6ca351fb40ffa859">00052</a> <a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> <a class="code" href="TestMasterSlave_8c.html#57b2a6d78660d0ee6ca351fb40ffa859">SlaveBoard</a> = {<span class="stringliteral">"0"</span>, <span class="stringliteral">"125K"</span>};
       
    74 <a name="l00053"></a><a class="code" href="TestMasterSlave_8c.html#460b5e3b15bb47df23119998ea0fbd31">00053</a> <a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> <a class="code" href="TestMasterSlave_8c.html#460b5e3b15bb47df23119998ea0fbd31">MasterBoard</a> = {<span class="stringliteral">"1"</span>, <span class="stringliteral">"125K"</span>};
       
    75 <a name="l00054"></a>00054 
       
    76 <a name="l00055"></a>00055 <span class="preprocessor">#if !defined(WIN32) || defined(__CYGWIN__)</span>
       
    77 <a name="l00056"></a><a class="code" href="TestMasterSlave_8c.html#f2dc378d0481adcc49b61efb98493a9b">00056</a> <span class="preprocessor"></span><span class="keywordtype">void</span> <a class="code" href="TestMasterSlave_8c.html#f2dc378d0481adcc49b61efb98493a9b">catch_signal</a>(<span class="keywordtype">int</span> sig)
       
    78 <a name="l00057"></a>00057 {
       
    79 <a name="l00058"></a>00058   signal(SIGTERM, <a class="code" href="TestMasterSlave_8c.html#f2dc378d0481adcc49b61efb98493a9b">catch_signal</a>);
       
    80 <a name="l00059"></a>00059   signal(SIGINT, <a class="code" href="TestMasterSlave_8c.html#f2dc378d0481adcc49b61efb98493a9b">catch_signal</a>);
       
    81 <a name="l00060"></a>00060   <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"Got Signal %d\n"</span>,sig);
       
    82 <a name="l00061"></a>00061 }
       
    83 <a name="l00062"></a>00062 <span class="preprocessor">#endif</span>
       
    84 <a name="l00063"></a>00063 <span class="preprocessor"></span>
       
    85 <a name="l00064"></a><a class="code" href="TestMasterSlave_8c.html#97ee70a8770dc30d06c744b24eb2fcfc">00064</a> <span class="keywordtype">void</span> <a class="code" href="TestMasterSlave_8c.html#97ee70a8770dc30d06c744b24eb2fcfc">help</a>()
       
    86 <a name="l00065"></a>00065 {
       
    87 <a name="l00066"></a>00066   printf(<span class="stringliteral">"**************************************************************\n"</span>);
       
    88 <a name="l00067"></a>00067   printf(<span class="stringliteral">"*  TestMasterSlave                                           *\n"</span>);
       
    89 <a name="l00068"></a>00068   printf(<span class="stringliteral">"*                                                            *\n"</span>);
       
    90 <a name="l00069"></a>00069   printf(<span class="stringliteral">"*  A simple example for PC. It does implement 2 CanOpen      *\n"</span>);
       
    91 <a name="l00070"></a>00070   printf(<span class="stringliteral">"*  nodes in the same process. A master and a slave. Both     *\n"</span>);
       
    92 <a name="l00071"></a>00071   printf(<span class="stringliteral">"*  communicate together, exchanging periodically NMT, SYNC,  *\n"</span>);
       
    93 <a name="l00072"></a>00072   printf(<span class="stringliteral">"*  SDO and PDO. Master configure heartbeat producer time     *\n"</span>);
       
    94 <a name="l00073"></a>00073   printf(<span class="stringliteral">"*  at 1000 ms for slave node-id 0x02 by concise DCF.         *\n"</span>);                                  
       
    95 <a name="l00074"></a>00074   printf(<span class="stringliteral">"*                                                            *\n"</span>);
       
    96 <a name="l00075"></a>00075   printf(<span class="stringliteral">"*   Usage:                                                   *\n"</span>);
       
    97 <a name="l00076"></a>00076   printf(<span class="stringliteral">"*   ./TestMasterSlave  [OPTIONS]                             *\n"</span>);
       
    98 <a name="l00077"></a>00077   printf(<span class="stringliteral">"*                                                            *\n"</span>);
       
    99 <a name="l00078"></a>00078   printf(<span class="stringliteral">"*   OPTIONS:                                                 *\n"</span>);
       
   100 <a name="l00079"></a>00079   printf(<span class="stringliteral">"*     -l : Can library [\"libcanfestival_can_virtual.so\"]     *\n"</span>);
       
   101 <a name="l00080"></a>00080   printf(<span class="stringliteral">"*                                                            *\n"</span>);
       
   102 <a name="l00081"></a>00081   printf(<span class="stringliteral">"*    Slave:                                                  *\n"</span>);
       
   103 <a name="l00082"></a>00082   printf(<span class="stringliteral">"*     -s : bus name [\"0\"]                                    *\n"</span>);
       
   104 <a name="l00083"></a>00083   printf(<span class="stringliteral">"*     -S : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable)  *\n"</span>);
       
   105 <a name="l00084"></a>00084   printf(<span class="stringliteral">"*                                                            *\n"</span>);
       
   106 <a name="l00085"></a>00085   printf(<span class="stringliteral">"*    Master:                                                 *\n"</span>);
       
   107 <a name="l00086"></a>00086   printf(<span class="stringliteral">"*     -m : bus name [\"1\"]                                    *\n"</span>);
       
   108 <a name="l00087"></a>00087   printf(<span class="stringliteral">"*     -M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable)  *\n"</span>);
       
   109 <a name="l00088"></a>00088   printf(<span class="stringliteral">"*                                                            *\n"</span>);
       
   110 <a name="l00089"></a>00089   printf(<span class="stringliteral">"**************************************************************\n"</span>);
       
   111 <a name="l00090"></a>00090 }
       
   112 <a name="l00091"></a>00091 
       
   113 <a name="l00092"></a>00092 <span class="comment">/***************************  INIT  *****************************************/</span>
       
   114 <a name="l00093"></a><a class="code" href="TestMasterSlave_8c.html#8a51032f7610fe37c131376e5a392fd5">00093</a> <span class="keywordtype">void</span> <a class="code" href="TestMasterSlave_8c.html#8a51032f7610fe37c131376e5a392fd5">InitNodes</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d, <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> <span class="keywordtype">id</span>)
       
   115 <a name="l00094"></a>00094 {
       
   116 <a name="l00095"></a>00095         <span class="comment">/****************************** INITIALISATION SLAVE *******************************/</span>
       
   117 <a name="l00096"></a>00096         <span class="keywordflow">if</span>(strcmp(<a class="code" href="TestMasterSlave_8c.html#57b2a6d78660d0ee6ca351fb40ffa859">SlaveBoard</a>.<a class="code" href="structstruct__s__BOARD.html#5316679ded23cf846c63c06ab51a4646">baudrate</a>, <span class="stringliteral">"none"</span>)) {
       
   118 <a name="l00097"></a>00097                 <span class="comment">/* Defining the node Id */</span>
       
   119 <a name="l00098"></a>00098                 <a class="code" href="states_8c.html#d47a53979b9311a374d029f7923abbe1">setNodeId</a>(&amp;<a class="code" href="TestSlave_8c.html#4d4865305ebccdc72343c4faa0a25f47">TestSlave_Data</a>, 0x02);
       
   120 <a name="l00099"></a>00099                 <span class="comment">/* init */</span>
       
   121 <a name="l00100"></a>00100                 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(&amp;<a class="code" href="TestSlave_8c.html#4d4865305ebccdc72343c4faa0a25f47">TestSlave_Data</a>, <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646eb3ae26d7a1629aa0fc6c83f46306cf5">Initialisation</a>);
       
   122 <a name="l00101"></a>00101         }
       
   123 <a name="l00102"></a>00102 
       
   124 <a name="l00103"></a>00103         <span class="comment">/****************************** INITIALISATION MASTER *******************************/</span>
       
   125 <a name="l00104"></a>00104         <span class="keywordflow">if</span>(strcmp(<a class="code" href="TestMasterSlave_8c.html#460b5e3b15bb47df23119998ea0fbd31">MasterBoard</a>.<a class="code" href="structstruct__s__BOARD.html#5316679ded23cf846c63c06ab51a4646">baudrate</a>, <span class="stringliteral">"none"</span>)){
       
   126 <a name="l00105"></a>00105                 <a class="code" href="objacces_8c.html#514e7b9c13835a86446b1cd38fa34049">RegisterSetODentryCallBack</a>(&amp;<a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>, 0x2000, 0, &amp;<a class="code" href="TestMasterSlave_8c.html#bd99872d05af9bf63e28d6f010c1b174">OnMasterMap1Update</a>);
       
   127 <a name="l00106"></a>00106                 
       
   128 <a name="l00107"></a>00107                 <span class="comment">/* Defining the node Id */</span>
       
   129 <a name="l00108"></a>00108                 <a class="code" href="states_8c.html#d47a53979b9311a374d029f7923abbe1">setNodeId</a>(&amp;<a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>, 0x01);
       
   130 <a name="l00109"></a>00109 
       
   131 <a name="l00110"></a>00110                 <span class="comment">/* init */</span>
       
   132 <a name="l00111"></a>00111                 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(&amp;<a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>, <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646eb3ae26d7a1629aa0fc6c83f46306cf5">Initialisation</a>);
       
   133 <a name="l00112"></a>00112                         
       
   134 <a name="l00113"></a>00113         }
       
   135 <a name="l00114"></a>00114 }
       
   136 <a name="l00115"></a>00115 
       
   137 <a name="l00116"></a>00116 <span class="comment">/****************************************************************************/</span>
       
   138 <a name="l00117"></a>00117 <span class="comment">/***************************  MAIN  *****************************************/</span>
       
   139 <a name="l00118"></a>00118 <span class="comment">/****************************************************************************/</span>
       
   140 <a name="l00119"></a><a class="code" href="TestMasterSlave_8c.html#3c04138a5bfe5d72780bb7e82a18e627">00119</a> <span class="keywordtype">int</span> <a class="code" href="appli_8c.html#ef83014be811ae964a5ef7f0af7b46a2">main</a>(<span class="keywordtype">int</span> argc,<span class="keywordtype">char</span> **argv)
       
   141 <a name="l00120"></a>00120 {
       
   142 <a name="l00121"></a>00121 
       
   143 <a name="l00122"></a>00122   <span class="keywordtype">int</span> c;
       
   144 <a name="l00123"></a>00123   <span class="keyword">extern</span> <span class="keywordtype">char</span> *<a class="code" href="TestMasterSlave_2getopt_8c.html#db50a0eab9fed92fc3bfc7dfa4f2c410">optarg</a>;
       
   145 <a name="l00124"></a>00124   <span class="keywordtype">char</span>* LibraryPath=<span class="stringliteral">"libcanfestival_can_virtual.so"</span>;
       
   146 <a name="l00125"></a>00125 
       
   147 <a name="l00126"></a>00126   <span class="keywordflow">while</span> ((c = <a class="code" href="TestMasterSlave_2getopt_8c.html#1b2ada39ab92162c6ec9c67c8093fa2e">getopt</a>(argc, argv, <span class="stringliteral">"-m:s:M:S:l:"</span>)) != EOF)
       
   148 <a name="l00127"></a>00127   {
       
   149 <a name="l00128"></a>00128     <span class="keywordflow">switch</span>(c)
       
   150 <a name="l00129"></a>00129     {
       
   151 <a name="l00130"></a>00130       <span class="keywordflow">case</span> <span class="charliteral">'s'</span> :
       
   152 <a name="l00131"></a>00131         <span class="keywordflow">if</span> (optarg[0] == 0)
       
   153 <a name="l00132"></a>00132         {
       
   154 <a name="l00133"></a>00133           <a class="code" href="TestMasterSlave_8c.html#97ee70a8770dc30d06c744b24eb2fcfc">help</a>();
       
   155 <a name="l00134"></a>00134           exit(1);
       
   156 <a name="l00135"></a>00135         }
       
   157 <a name="l00136"></a>00136         <a class="code" href="TestMasterSlave_8c.html#57b2a6d78660d0ee6ca351fb40ffa859">SlaveBoard</a>.<a class="code" href="structstruct__s__BOARD.html#fb28847fd702021b624afe1f7d4b25b2">busname</a> = optarg;
       
   158 <a name="l00137"></a>00137         <span class="keywordflow">break</span>;
       
   159 <a name="l00138"></a>00138       <span class="keywordflow">case</span> <span class="charliteral">'m'</span> :
       
   160 <a name="l00139"></a>00139         <span class="keywordflow">if</span> (optarg[0] == 0)
       
   161 <a name="l00140"></a>00140         {
       
   162 <a name="l00141"></a>00141           <a class="code" href="TestMasterSlave_8c.html#97ee70a8770dc30d06c744b24eb2fcfc">help</a>();
       
   163 <a name="l00142"></a>00142           exit(1);
       
   164 <a name="l00143"></a>00143         }
       
   165 <a name="l00144"></a>00144         <a class="code" href="TestMasterSlave_8c.html#460b5e3b15bb47df23119998ea0fbd31">MasterBoard</a>.<a class="code" href="structstruct__s__BOARD.html#fb28847fd702021b624afe1f7d4b25b2">busname</a> = optarg;
       
   166 <a name="l00145"></a>00145         <span class="keywordflow">break</span>;
       
   167 <a name="l00146"></a>00146       <span class="keywordflow">case</span> <span class="charliteral">'S'</span> :
       
   168 <a name="l00147"></a>00147         <span class="keywordflow">if</span> (optarg[0] == 0)
       
   169 <a name="l00148"></a>00148         {
       
   170 <a name="l00149"></a>00149           <a class="code" href="TestMasterSlave_8c.html#97ee70a8770dc30d06c744b24eb2fcfc">help</a>();
       
   171 <a name="l00150"></a>00150           exit(1);
       
   172 <a name="l00151"></a>00151         }
       
   173 <a name="l00152"></a>00152         <a class="code" href="TestMasterSlave_8c.html#57b2a6d78660d0ee6ca351fb40ffa859">SlaveBoard</a>.<a class="code" href="structstruct__s__BOARD.html#5316679ded23cf846c63c06ab51a4646">baudrate</a> = optarg;
       
   174 <a name="l00153"></a>00153         <span class="keywordflow">break</span>;
       
   175 <a name="l00154"></a>00154       <span class="keywordflow">case</span> <span class="charliteral">'M'</span> :
       
   176 <a name="l00155"></a>00155         <span class="keywordflow">if</span> (optarg[0] == 0)
       
   177 <a name="l00156"></a>00156         {
       
   178 <a name="l00157"></a>00157           <a class="code" href="TestMasterSlave_8c.html#97ee70a8770dc30d06c744b24eb2fcfc">help</a>();
       
   179 <a name="l00158"></a>00158           exit(1);
       
   180 <a name="l00159"></a>00159         }
       
   181 <a name="l00160"></a>00160         <a class="code" href="TestMasterSlave_8c.html#460b5e3b15bb47df23119998ea0fbd31">MasterBoard</a>.<a class="code" href="structstruct__s__BOARD.html#5316679ded23cf846c63c06ab51a4646">baudrate</a> = optarg;
       
   182 <a name="l00161"></a>00161         <span class="keywordflow">break</span>;
       
   183 <a name="l00162"></a>00162       <span class="keywordflow">case</span> <span class="charliteral">'l'</span> :
       
   184 <a name="l00163"></a>00163         <span class="keywordflow">if</span> (optarg[0] == 0)
       
   185 <a name="l00164"></a>00164         {
       
   186 <a name="l00165"></a>00165           <a class="code" href="TestMasterSlave_8c.html#97ee70a8770dc30d06c744b24eb2fcfc">help</a>();
       
   187 <a name="l00166"></a>00166           exit(1);
       
   188 <a name="l00167"></a>00167         }
       
   189 <a name="l00168"></a>00168         LibraryPath = optarg;
       
   190 <a name="l00169"></a>00169         <span class="keywordflow">break</span>;
       
   191 <a name="l00170"></a>00170       <span class="keywordflow">default</span>:
       
   192 <a name="l00171"></a>00171         <a class="code" href="TestMasterSlave_8c.html#97ee70a8770dc30d06c744b24eb2fcfc">help</a>();
       
   193 <a name="l00172"></a>00172         exit(1);
       
   194 <a name="l00173"></a>00173     }
       
   195 <a name="l00174"></a>00174   }
       
   196 <a name="l00175"></a>00175 
       
   197 <a name="l00176"></a>00176 <span class="preprocessor">#if !defined(WIN32) || defined(__CYGWIN__)</span>
       
   198 <a name="l00177"></a>00177 <span class="preprocessor"></span>  <span class="comment">/* install signal handler for manual break */</span>
       
   199 <a name="l00178"></a>00178         signal(SIGTERM, <a class="code" href="TestMasterSlave_8c.html#f2dc378d0481adcc49b61efb98493a9b">catch_signal</a>);
       
   200 <a name="l00179"></a>00179         signal(SIGINT, <a class="code" href="TestMasterSlave_8c.html#f2dc378d0481adcc49b61efb98493a9b">catch_signal</a>);
       
   201 <a name="l00180"></a>00180 <span class="preprocessor">#endif</span>
       
   202 <a name="l00181"></a>00181 <span class="preprocessor"></span>
       
   203 <a name="l00182"></a>00182 <span class="preprocessor">#ifndef NOT_USE_DYNAMIC_LOADING</span>
       
   204 <a name="l00183"></a>00183 <span class="preprocessor"></span>        <a class="code" href="unix_8c.html#a6eed61fc15f41f772d4645d7a5edeb5">LoadCanDriver</a>(LibraryPath);
       
   205 <a name="l00184"></a>00184 <span class="preprocessor">#endif          </span>
       
   206 <a name="l00185"></a>00185 <span class="preprocessor"></span>        <span class="comment">// Open CAN devices</span>
       
   207 <a name="l00186"></a>00186 
       
   208 <a name="l00187"></a>00187         <span class="keywordflow">if</span>(strcmp(<a class="code" href="TestMasterSlave_8c.html#57b2a6d78660d0ee6ca351fb40ffa859">SlaveBoard</a>.<a class="code" href="structstruct__s__BOARD.html#5316679ded23cf846c63c06ab51a4646">baudrate</a>, <span class="stringliteral">"none"</span>)){
       
   209 <a name="l00188"></a>00188                 
       
   210 <a name="l00189"></a>00189                 <a class="code" href="TestSlave_8c.html#4d4865305ebccdc72343c4faa0a25f47">TestSlave_Data</a>.<a class="code" href="structstruct__CO__Data.html#2ec2bc87656945d2c7dda7ebe662b245">heartbeatError</a> = <a class="code" href="Slave_8c.html#da03f81a4976684fe32771da3024e487">TestSlave_heartbeatError</a>;
       
   211 <a name="l00190"></a>00190                 <a class="code" href="TestSlave_8c.html#4d4865305ebccdc72343c4faa0a25f47">TestSlave_Data</a>.<a class="code" href="structstruct__CO__Data.html#b45e9ca46cffe7924c35ae136db6a2b6">initialisation</a> = <a class="code" href="Slave_8c.html#58b26580ced4c123c0af29a291bbaa00">TestSlave_initialisation</a>;
       
   212 <a name="l00191"></a>00191                 <a class="code" href="TestSlave_8c.html#4d4865305ebccdc72343c4faa0a25f47">TestSlave_Data</a>.<a class="code" href="structstruct__CO__Data.html#d7c66fb721e3f6279a6ff03bf91d82e2">preOperational</a> = <a class="code" href="Slave_8c.html#3b4bad40bd7f9f9e5a453ad5a0edca6d">TestSlave_preOperational</a>;
       
   213 <a name="l00192"></a>00192                 <a class="code" href="TestSlave_8c.html#4d4865305ebccdc72343c4faa0a25f47">TestSlave_Data</a>.<a class="code" href="structstruct__CO__Data.html#432ddce132ec2f7473064e4fa8ef3f9a">operational</a> = <a class="code" href="Slave_8c.html#a2eebd6dfb45d05dfbe7a5af67b0e16d">TestSlave_operational</a>;
       
   214 <a name="l00193"></a>00193                 <a class="code" href="TestSlave_8c.html#4d4865305ebccdc72343c4faa0a25f47">TestSlave_Data</a>.<a class="code" href="structstruct__CO__Data.html#89dd7dd17f9dd16b7a06c3cf30c2ca02">stopped</a> = <a class="code" href="Slave_8c.html#62ec5241885c4d8a0e620782e9aaa7ec">TestSlave_stopped</a>;
       
   215 <a name="l00194"></a>00194                 <a class="code" href="TestSlave_8c.html#4d4865305ebccdc72343c4faa0a25f47">TestSlave_Data</a>.<a class="code" href="structstruct__CO__Data.html#7eeaefe180dfceca6e829a0a8018f342">post_sync</a> = <a class="code" href="Slave_8c.html#7ddf0673ec8de041368c7aec2edf40cd">TestSlave_post_sync</a>;
       
   216 <a name="l00195"></a>00195                 <a class="code" href="TestSlave_8c.html#4d4865305ebccdc72343c4faa0a25f47">TestSlave_Data</a>.<a class="code" href="structstruct__CO__Data.html#0cf540e2e36e14c04e1c783dc88d9a0e">post_TPDO</a> = <a class="code" href="Slave_8c.html#b10ae2f1c6529172612a290687865585">TestSlave_post_TPDO</a>;
       
   217 <a name="l00196"></a>00196                 <a class="code" href="TestSlave_8c.html#4d4865305ebccdc72343c4faa0a25f47">TestSlave_Data</a>.<a class="code" href="structstruct__CO__Data.html#d6cd6ffa658b1ed35d887b6bacb990cf">storeODSubIndex</a> = <a class="code" href="Slave_8c.html#0461b31d30605aa041476ae5ef4656b7">TestSlave_storeODSubIndex</a>;             
       
   218 <a name="l00197"></a>00197 
       
   219 <a name="l00198"></a>00198                 <span class="keywordflow">if</span>(!<a class="code" href="unix_8c.html#7476146ad15948a22e7f80a00c89c40a">canOpen</a>(&amp;<a class="code" href="TestMasterSlave_8c.html#57b2a6d78660d0ee6ca351fb40ffa859">SlaveBoard</a>,&amp;<a class="code" href="TestSlave_8c.html#4d4865305ebccdc72343c4faa0a25f47">TestSlave_Data</a>)){
       
   220 <a name="l00199"></a>00199                         <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"Cannot open Slave Board (%s,%s)\n"</span>,<a class="code" href="TestMasterSlave_8c.html#57b2a6d78660d0ee6ca351fb40ffa859">SlaveBoard</a>.<a class="code" href="structstruct__s__BOARD.html#fb28847fd702021b624afe1f7d4b25b2">busname</a>, <a class="code" href="TestMasterSlave_8c.html#57b2a6d78660d0ee6ca351fb40ffa859">SlaveBoard</a>.<a class="code" href="structstruct__s__BOARD.html#5316679ded23cf846c63c06ab51a4646">baudrate</a>);
       
   221 <a name="l00200"></a>00200                         <span class="keywordflow">goto</span> fail_slave;
       
   222 <a name="l00201"></a>00201                 }
       
   223 <a name="l00202"></a>00202         }
       
   224 <a name="l00203"></a>00203         <span class="keywordflow">if</span>(strcmp(<a class="code" href="TestMasterSlave_8c.html#460b5e3b15bb47df23119998ea0fbd31">MasterBoard</a>.<a class="code" href="structstruct__s__BOARD.html#5316679ded23cf846c63c06ab51a4646">baudrate</a>, <span class="stringliteral">"none"</span>)){
       
   225 <a name="l00204"></a>00204                 
       
   226 <a name="l00205"></a>00205                 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>.<a class="code" href="structstruct__CO__Data.html#2ec2bc87656945d2c7dda7ebe662b245">heartbeatError</a> = <a class="code" href="Master_8c.html#47eb45e75b4db150fb465fcf171ef4b4">TestMaster_heartbeatError</a>;
       
   227 <a name="l00206"></a>00206                 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>.<a class="code" href="structstruct__CO__Data.html#b45e9ca46cffe7924c35ae136db6a2b6">initialisation</a> = <a class="code" href="Master_8c.html#e08dfb379eebaa62524fac5bba2196d5">TestMaster_initialisation</a>;
       
   228 <a name="l00207"></a>00207                 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>.<a class="code" href="structstruct__CO__Data.html#d7c66fb721e3f6279a6ff03bf91d82e2">preOperational</a> = <a class="code" href="Master_8c.html#8fe2bae5bb407a3a71ee5fa5ea5d617f">TestMaster_preOperational</a>;
       
   229 <a name="l00208"></a>00208                 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>.<a class="code" href="structstruct__CO__Data.html#432ddce132ec2f7473064e4fa8ef3f9a">operational</a> = <a class="code" href="Master_8c.html#81c297f2b4b9676e906286bf46541fc1">TestMaster_operational</a>;
       
   230 <a name="l00209"></a>00209                 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>.<a class="code" href="structstruct__CO__Data.html#89dd7dd17f9dd16b7a06c3cf30c2ca02">stopped</a> = <a class="code" href="Master_8c.html#897d573cafc13ac80abbc207c0ee41b0">TestMaster_stopped</a>;
       
   231 <a name="l00210"></a>00210                 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>.<a class="code" href="structstruct__CO__Data.html#7eeaefe180dfceca6e829a0a8018f342">post_sync</a> = <a class="code" href="Master_8c.html#9a8f72cab7f649481ca84ab2222dd179">TestMaster_post_sync</a>;
       
   232 <a name="l00211"></a>00211                 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>.<a class="code" href="structstruct__CO__Data.html#0cf540e2e36e14c04e1c783dc88d9a0e">post_TPDO</a> = <a class="code" href="Master_8c.html#5e466aa03eae00c269cf20359a7ee074">TestMaster_post_TPDO</a>;
       
   233 <a name="l00212"></a>00212                 
       
   234 <a name="l00213"></a>00213                 <span class="keywordflow">if</span>(!<a class="code" href="unix_8c.html#7476146ad15948a22e7f80a00c89c40a">canOpen</a>(&amp;<a class="code" href="TestMasterSlave_8c.html#460b5e3b15bb47df23119998ea0fbd31">MasterBoard</a>,&amp;<a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>)){
       
   235 <a name="l00214"></a>00214                         <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"Cannot open Master Board (%s,%s)\n"</span>,<a class="code" href="TestMasterSlave_8c.html#460b5e3b15bb47df23119998ea0fbd31">MasterBoard</a>.<a class="code" href="structstruct__s__BOARD.html#fb28847fd702021b624afe1f7d4b25b2">busname</a>, <a class="code" href="TestMasterSlave_8c.html#460b5e3b15bb47df23119998ea0fbd31">MasterBoard</a>.<a class="code" href="structstruct__s__BOARD.html#5316679ded23cf846c63c06ab51a4646">baudrate</a>);
       
   236 <a name="l00215"></a>00215                         <span class="keywordflow">goto</span> fail_master;
       
   237 <a name="l00216"></a>00216                 }
       
   238 <a name="l00217"></a>00217         }
       
   239 <a name="l00218"></a>00218 
       
   240 <a name="l00219"></a>00219         <span class="comment">// Start timer thread</span>
       
   241 <a name="l00220"></a>00220         <a class="code" href="timers__unix_8c.html#c9e1731843825eb55e7a94894e6a8ec5">StartTimerLoop</a>(&amp;<a class="code" href="TestMasterSlave_8c.html#8a51032f7610fe37c131376e5a392fd5">InitNodes</a>);
       
   242 <a name="l00221"></a>00221 
       
   243 <a name="l00222"></a>00222         <span class="comment">// wait Ctrl-C</span>
       
   244 <a name="l00223"></a>00223         
       
   245 <a name="l00224"></a>00224         pause();
       
   246 <a name="l00225"></a>00225         <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"Finishing.\n"</span>);
       
   247 <a name="l00226"></a>00226         
       
   248 <a name="l00227"></a>00227         <a class="code" href="nmtMaster_8c.html#6170d95d9900ef756921a934c5fb37d2">masterSendNMTstateChange</a> (&amp;<a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>, 0x02, <a class="code" href="def_8h.html#b349b5574a1ea67ff0ef76b9f9b6319e">NMT_Reset_Node</a>);
       
   249 <a name="l00228"></a>00228         <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"reset\n"</span>);
       
   250 <a name="l00229"></a>00229         <span class="comment">// Stop master</span>
       
   251 <a name="l00230"></a>00230         <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(&amp;<a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>, <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec686464d049c6d45e08a294523df186ad77a75">Stopped</a>);
       
   252 <a name="l00231"></a>00231         
       
   253 <a name="l00232"></a>00232         <span class="comment">// Stop timer thread</span>
       
   254 <a name="l00233"></a>00233         <a class="code" href="timers__unix_8c.html#8758484f3cebb0cd44bb247c3f23d5e3">StopTimerLoop</a>();
       
   255 <a name="l00234"></a>00234         
       
   256 <a name="l00235"></a>00235         <span class="comment">// Close CAN devices (and can threads)</span>
       
   257 <a name="l00236"></a>00236         <span class="keywordflow">if</span>(strcmp(<a class="code" href="TestMasterSlave_8c.html#57b2a6d78660d0ee6ca351fb40ffa859">SlaveBoard</a>.<a class="code" href="structstruct__s__BOARD.html#5316679ded23cf846c63c06ab51a4646">baudrate</a>, <span class="stringliteral">"none"</span>)) <a class="code" href="unix_8c.html#02957f72a9b951603adb98a142bd447b">canClose</a>(&amp;<a class="code" href="TestSlave_8c.html#4d4865305ebccdc72343c4faa0a25f47">TestSlave_Data</a>);
       
   258 <a name="l00237"></a>00237 fail_master:
       
   259 <a name="l00238"></a>00238         <span class="keywordflow">if</span>(strcmp(<a class="code" href="TestMasterSlave_8c.html#460b5e3b15bb47df23119998ea0fbd31">MasterBoard</a>.<a class="code" href="structstruct__s__BOARD.html#5316679ded23cf846c63c06ab51a4646">baudrate</a>, <span class="stringliteral">"none"</span>)) <a class="code" href="unix_8c.html#02957f72a9b951603adb98a142bd447b">canClose</a>(&amp;<a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>);    
       
   260 <a name="l00239"></a>00239 fail_slave:
       
   261 <a name="l00240"></a>00240         <span class="keywordflow">return</span> 0;
       
   262 <a name="l00241"></a>00241 }
       
   263 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Fri Jun 8 08:51:39 2007 for CanFestival by&nbsp;
       
   264 <a href="http://www.doxygen.org/index.html">
       
   265 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
       
   266 </body>
       
   267 </html>