--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/lifegrd.c	Wed May 10 16:59:40 2006 +0200
@@ -0,0 +1,160 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack. 
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+
+See COPYING file for copyrights details.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+
+#include <data.h>
+#include "lifegrd.h"
+
+e_nodeState getNodeState (CO_Data* d, UNS8 nodeId)
+{
+	e_nodeState networkNodeState = d->NMTable[nodeId];
+	return networkNodeState;
+}
+
+// The Consumer Timer Callback
+void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id)
+{
+        //MSG_WAR(0x00, "ConsumerHearbeatAlarm", 0x00);
+	
+	// call heartbeat error with NodeId
+	(*d->heartbeatError)((UNS8)( ((d->ConsumerHeartbeatEntries[id]) & (UNS32)0x00FF0000) >> (UNS8)16 ));
+}
+
+/* Retourne le node-id */
+void proceedNODE_GUARD(CO_Data* d, Message* m )
+{
+  UNS8 nodeId = (UNS8) GET_NODE_ID((*m));
+  
+  if((m->rtr == 1) ) /* Notice that only the master can have sent this node guarding request */
+  { // Receiving a NMT NodeGuarding (request of the state by the master)
+    //  only answer to the NMT NodeGuarding request, the master is not checked (not implemented)
+    if (nodeId == *d->bDeviceNodeId )
+    {
+      Message msg;
+      msg.cob_id.w = *d->bDeviceNodeId + 0x700;
+      msg.len = (UNS8)0x01;
+      msg.rtr = 0;
+      msg.data[0] = d->nodeState; 
+      if (d->toggle)
+      {
+        msg.data[0] |= 0x80 ;
+        d->toggle = 0 ;
+      }
+      else
+        d->toggle = 1 ; 
+      // send the nodeguard response.
+      MSG_WAR(0x3130, "Sending NMT Nodeguard to master, state: ", d->nodeState);
+      (*d->canSend)(&msg );
+    }  
+
+  }else{ // Not a request CAN  
+
+    MSG_WAR(0x3110, "Received NMT nodeId : ", nodeId);
+    /* the slave's state receievd is stored in the NMTable */
+      // The state is stored on 7 bit
+    d->NMTable[nodeId] = (e_nodeState) ((*m).data[0] & 0x7F) ;
+    
+    /* Boot-Up frame reception */
+    if ( d->NMTable[nodeId] == Initialisation)
+      {
+        // The device send the boot-up message (Initialisation)
+        // to indicate the master that it is entered in pre_operational mode
+        // Because the  device enter automaticaly in pre_operational mode,
+        // the pre_operational mode is stored 
+//        NMTable[bus_id][nodeId] = Pre_operational;
+        MSG_WAR(0x3100, "The NMT is a bootup from node : ", nodeId);
+      }
+      
+    if( d->NMTable[nodeId] != Unknown_state ) {
+        UNS8 index, ConsummerHeartBeat_nodeId ;
+        for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
+        {
+            ConsummerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (UNS8)16 );
+            if ( nodeId == ConsummerHeartBeat_nodeId )
+            {
+                TIMEVAL time = ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
+            	// Renew alarm for next heartbeat.
+            	DelAlarm(d->ConsumerHeartBeatTimers[index]);
+            	d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
+            }
+        }
+    }
+  }
+}
+
+// The Consumer Timer Callback
+void ProducerHearbeatAlarm(CO_Data* d, UNS32 id)
+{
+	if(*d->ProducerHeartBeatTime)
+	{
+		Message msg;
+		// Time expired, the heartbeat must be sent immediately
+		// generate the correct node-id: this is done by the offset 1792
+		// (decimal) and additionaly
+		// the node-id of this device.
+		msg.cob_id.w = *d->bDeviceNodeId + 0x700;
+		msg.len = (UNS8)0x01;
+		msg.rtr = 0;
+		msg.data[0] = d->nodeState; // No toggle for heartbeat !
+		// send the heartbeat
+      		MSG_WAR(0x3130, "Producing heartbeat: ", d->nodeState);
+      		(*d->canSend)(&msg );
+	}else{
+		d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);
+	}
+}
+
+
+void heartbeatInit(CO_Data* d)
+{
+    UNS8 index; // Index to scan the table of heartbeat consumers
+
+    d->toggle = 0;
+
+    for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
+    {
+        TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
+        //MSG_WAR(0x3121, "should_time : ", should_time ) ;
+        if ( time )
+        {
+            	d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0);
+        }
+    }
+
+    if ( *d->ProducerHeartBeatTime )
+    {
+    	TIMEVAL time = *d->ProducerHeartBeatTime;
+    	d->ProducerHeartBeatTimer = SetAlarm(d, 0, &ProducerHearbeatAlarm, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time));
+    }
+}
+
+
+void heartbeatStop(CO_Data* d)
+{
+    UNS8 index;
+    for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
+    {
+        d->ConsumerHeartBeatTimers[index + 1] = DelAlarm(d->ConsumerHeartBeatTimers[index + 1]);;
+    }
+
+    d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer);;
+}
+