Workaround Alchemy task not beeing waken up when closing file descriptor it is waiting on, sequel of Xenomai3 all posix file ops
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<!-- Created with Inkscape (http://www.inkscape.org/) -->
<svg
xmlns:dc="http://purl.org/dc/elements/1.1/"
xmlns:cc="http://web.resource.org/cc/"
xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
xmlns:svg="http://www.w3.org/2000/svg"
xmlns="http://www.w3.org/2000/svg"
xmlns:xlink="http://www.w3.org/1999/xlink"
xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
width="841.88977pt"
height="595.27557pt"
id="svg2"
sodipodi:version="0.32"
inkscape:version="0.45"
sodipodi:docbase="/home/edouard/workspace/CanFestival-3/doc"
sodipodi:docname="canfestival_overview.svg"
version="1.0"
inkscape:export-filename="/home/edouard/workspace/CanFestival-3/doc/canfestival_overview.png"
inkscape:export-xdpi="87.57"
inkscape:export-ydpi="87.57"
inkscape:output_extension="org.inkscape.output.svg.inkscape"
sodipodi:modified="true">
<defs
id="defs4">
<linearGradient
id="linearGradient10920">
<stop
id="stop10922"
offset="0"
style="stop-color:#000000;stop-opacity:1;" />
<stop
id="stop10924"
offset="1"
style="stop-color:#88873c;stop-opacity:1;" />
</linearGradient>
<linearGradient
id="linearGradient2182">
<stop
style="stop-color:#000000;stop-opacity:1;"
offset="0"
id="stop2184" />
<stop
style="stop-color:#48883c;stop-opacity:1;"
offset="1"
id="stop2186" />
</linearGradient>
</defs>
<sodipodi:namedview
id="base"
pagecolor="#ffffff"
bordercolor="#666666"
borderopacity="1.0"
inkscape:pageopacity="0.0"
inkscape:pageshadow="2"
inkscape:zoom="0.98994949"
inkscape:cx="249.67273"
inkscape:cy="390.99214"
inkscape:document-units="px"
inkscape:current-layer="layer1"
showguides="true"
inkscape:guide-bbox="true"
inkscape:window-width="1672"
inkscape:window-height="965"
inkscape:window-x="0"
inkscape:window-y="0" />
<metadata
id="metadata7">
<rdf:RDF>
<cc:Work
rdf:about="">
<dc:format>image/svg+xml</dc:format>
<dc:type
rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
</cc:Work>
</rdf:RDF>
</metadata>
<g
inkscape:label="Calque 1"
inkscape:groupmode="layer"
id="layer1">
<path
sodipodi:nodetypes="ccc"
id="path2474"
d="M 10.508418,492.62359 L 18.310526,505.17437 L 22.431313,490.98232"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#f30000;stroke-width:4;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
<path
sodipodi:nodetypes="cc"
id="path2476"
d="M 44.39517,382.36341 C -10.321738,472.35723 28.583493,546.94488 44.39516,625.33274"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#f30000;stroke-width:4.00000095;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
<rect
ry="71.644768"
y="82.979507"
x="774.23804"
height="614.17108"
width="260.60794"
id="rect10043"
style="color:#000000;fill:#6f6f6f;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:4.34227753;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
rx="71.644806" />
<g
id="g18903"
transform="translate(0,6)">
<path
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#d5d5d5;stroke-width:3.99999809;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible;opacity:1"
d="M 752.59931,185.23734 L 752.59931,584.52305"
id="path18889"
sodipodi:nodetypes="cc" />
<path
id="path18891"
d="M 711.17074,405.23734 L 752.59931,405.23734"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#d5d5d5;stroke-width:3.99999809;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible;opacity:1"
sodipodi:nodetypes="cc" />
<path
sodipodi:nodetypes="cc"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#d5d5d5;stroke-width:3.99999809;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible;opacity:1"
d="M 711.17074,465.23734 L 752.59931,465.23734"
id="path18893" />
<path
id="path18895"
d="M 711.17074,525.23734 L 752.59931,525.23734"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#d5d5d5;stroke-width:3.99999809;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible;opacity:1"
sodipodi:nodetypes="cc" />
<path
id="path18897"
d="M 711.17074,345.23734 L 752.59931,345.23734"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#d5d5d5;stroke-width:3.99999809;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible;opacity:1"
sodipodi:nodetypes="cc" />
<path
sodipodi:nodetypes="cc"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#d5d5d5;stroke-width:3.99999809;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible;opacity:1"
d="M 711.17074,245.23734 L 752.59931,245.23734"
id="path18899" />
<path
sodipodi:nodetypes="cc"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#d5d5d5;stroke-width:3.99999809;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible;opacity:1"
d="M 711.17074,585.23734 L 752.59931,585.23734"
id="path18901" />
<path
id="path18912"
d="M 711.17074,185.23734 L 752.59931,185.23734"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#d5d5d5;stroke-width:3.99999809;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible;opacity:1"
sodipodi:nodetypes="cc" />
<path
id="path18914"
d="M 753.17074,425.23734 L 816.59931,425.23734"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#d5d5d5;stroke-width:3.99999809;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible;opacity:1"
sodipodi:nodetypes="cc" />
</g>
<text
xml:space="preserve"
style="font-size:48px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
x="524.84515"
y="53.523052"
id="text12903"
sodipodi:linespacing="100%"><tspan
sodipodi:role="line"
id="tspan12905"
x="524.84515"
y="53.523052">Implementation overview</tspan></text>
<rect
rx="71.644852"
style="color:#000000;fill:#6f6f6f;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:4.34228039;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
id="rect12909"
width="198.62337"
height="193.88516"
x="17.516184"
y="518.74823"
ry="71.644791" />
<rect
ry="71.644791"
y="88.748253"
x="17.516184"
height="366.74231"
width="198.62337"
id="rect2426"
style="color:#000000;fill:#6f6f6f;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:4.34228039;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
rx="71.644852" />
<text
sodipodi:linespacing="100%"
id="text12911"
y="120.68625"
x="116.83569"
style="font-size:32px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
xml:space="preserve"><tspan
id="tspan12915"
y="120.68625"
x="116.83569"
sodipodi:role="line">Target</tspan><tspan
y="152.68625"
x="116.83569"
sodipodi:role="line"
id="tspan12931">interface</tspan></text>
<rect
style="color:#000000;fill:#4c9d40;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:4.342278;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
id="rect1307"
width="460.61438"
height="629.13959"
x="261.29205"
y="83.254707"
ry="71.644791"
rx="71.644791" />
<g
id="g11013"
transform="translate(-34.82926,12)">
<g
id="g12851">
<path
style="opacity:0.48648652;color:#000000;fill:#efeeb1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.87500024;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
d="M 812.125,500.75 L 812.125,612.46875 C 812.125,652.15996 844.09005,684.12501 883.78125,684.125 L 1016.9062,684.125 L 1016.9062,515.5 C 1016.9063,507.31692 1010.3081,500.75 1002.125,500.75 L 812.125,500.75 z "
id="path10961"
sodipodi:nodetypes="ccccccc" />
<rect
style="color:#000000;fill:#d3b1ef;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.87499893;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
id="rect10025"
width="122.94017"
height="57.609512"
x="862.40887"
y="607.83673"
ry="11.01127"
rx="11.01127" />
</g>
<use
x="0"
y="0"
xlink:href="#g12851"
id="use12855"
transform="translate(-4,4)"
width="1052.3622"
height="744.09448" />
<use
height="744.09448"
width="1052.3622"
transform="translate(-8,8)"
id="use12857"
xlink:href="#g12851"
y="0"
x="0" />
<use
x="0"
y="0"
xlink:href="#g12851"
id="use12859"
transform="translate(-12,12)"
width="1052.3622"
height="744.09448" />
<text
sodipodi:linespacing="100%"
id="text10947"
y="559.34753"
x="899.07031"
style="font-size:14;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
xml:space="preserve"><tspan
id="tspan10981"
y="559.34753"
x="899.07031"
sodipodi:role="line">(GUI generated .c+.h file,</tspan><tspan
id="tspan10977"
y="573.34753"
x="899.07031"
sodipodi:role="line">one per node,</tspan><tspan
id="tspan10983"
y="587.34753"
x="899.07031"
sodipodi:role="line">to compile and link</tspan><tspan
id="tspan10985"
y="601.34753"
x="899.07031"
sodipodi:role="line"> with your code)</tspan></text>
<text
xml:space="preserve"
style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
x="911.854"
y="621.8938"
id="text2345"
sodipodi:linespacing="100%"><tspan
sodipodi:role="line"
id="tspan2347"
x="911.854"
y="621.8938" /><tspan
sodipodi:role="line"
x="914.40088"
y="637.8938"
id="tspan10035">Node DATA </tspan><tspan
id="tspan10975"
sodipodi:role="line"
x="911.854"
y="653.8938">CO_Data</tspan><tspan
id="tspan2357"
sodipodi:role="line"
x="911.854"
y="669.8938">data.h</tspan></text>
<text
xml:space="preserve"
style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
x="898.51172"
y="537.34753"
id="text12863"
sodipodi:linespacing="100%"><tspan
sodipodi:role="line"
x="898.51172"
y="537.34753"
id="tspan12877">OBJECT DICTIONARY</tspan></text>
</g>
<path
sodipodi:nodetypes="ccc"
id="path14818"
d="M 813.74257,664.52305 L 624.82375,664.52305 L 624.82376,195.16589"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#cbcbcb;stroke-width:4;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
<g
id="g4155"
transform="translate(60.20684,-100.7207)">
<rect
style="opacity:1;color:#000000;fill:#efeeb1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.87500024;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
id="rect2251"
width="241.31999"
height="44.312717"
x="443.77701"
y="269.95526"
ry="14.770906"
rx="14.77091" />
<text
xml:space="preserve"
style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
x="564.43311"
y="273.93582"
id="text2253"
sodipodi:linespacing="100%"><tspan
sodipodi:role="line"
id="tspan2255"
x="564.43311"
y="273.93582" /><tspan
sodipodi:role="line"
x="564.43311"
y="289.93582"
id="tspan2257">OD ACCESS</tspan><tspan
sodipodi:role="line"
x="564.43311"
y="305.93582"
id="tspan2259">objaccess.c</tspan></text>
</g>
<text
sodipodi:linespacing="100%"
id="text6009"
y="118.68625"
x="491.17746"
style="font-size:32px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
xml:space="preserve"><tspan
y="118.68625"
x="491.17746"
id="tspan6011"
sodipodi:role="line">CanFestival Library</tspan></text>
<text
sodipodi:linespacing="100%"
id="text6013"
y="320.68625"
x="624.81299"
style="font-size:20px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
xml:space="preserve"><tspan
y="320.68625"
x="624.81299"
sodipodi:role="line"
id="tspan6017">CanOpen Protocols</tspan></text>
<text
sodipodi:linespacing="100%"
id="text6953"
y="160.68625"
x="623.90649"
style="font-size:20px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
xml:space="preserve"><tspan
y="160.68625"
x="623.90649"
sodipodi:role="line"
id="tspan6968">Node Management</tspan></text>
<path
sodipodi:nodetypes="cccc"
id="path7024"
d="M 506.65893,248.52305 L 455.36887,248.52305 L 455.36887,301.09448 L 188.46824,301.09448"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#ffb6b6;stroke-width:4;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
<path
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#ffb6b6;stroke-width:4;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
d="M 469.17074,259.23734 L 469.17074,584.52305"
id="path6970"
sodipodi:nodetypes="cc" />
<path
id="path7012"
d="M 510.59931,405.23734 L 469.17074,405.23734"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#ffb6b6;stroke-width:4;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
sodipodi:nodetypes="cc" />
<path
sodipodi:nodetypes="cc"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#ffb6b6;stroke-width:4;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
d="M 510.59931,465.23734 L 469.17074,465.23734"
id="path7014" />
<path
id="path7016"
d="M 510.59931,525.23734 L 469.17074,525.23734"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#ffb6b6;stroke-width:4;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
sodipodi:nodetypes="cc" />
<path
id="path7022"
d="M 510.59931,345.23734 L 469.17074,345.23734"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#ffb6b6;stroke-width:4;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
sodipodi:nodetypes="cc" />
<path
sodipodi:nodetypes="cc"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#ffb6b6;stroke-width:4;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
d="M 510.59931,259.23734 L 469.17074,259.23734"
id="path13937" />
<g
id="g4162"
transform="translate(60.20684,-120.7207)">
<rect
ry="14.770906"
y="349.95526"
x="443.77701"
height="44.312717"
width="241.31999"
id="rect2261"
style="opacity:1;color:#000000;fill:#efeeb1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.87500024;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
rx="14.77091" />
<text
sodipodi:linespacing="100%"
id="text2263"
y="353.93582"
x="564.4292"
style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
xml:space="preserve"><tspan
y="353.93582"
x="564.4292"
id="tspan2265"
sodipodi:role="line" /><tspan
id="tspan2267"
y="369.93582"
x="564.4292"
sodipodi:role="line">STATE MACHINE</tspan><tspan
id="tspan2269"
y="385.93582"
x="564.4292"
sodipodi:role="line">states.c</tspan></text>
<text
sodipodi:linespacing="100%"
id="text17447"
y="369.2576"
x="462.20422"
style="font-size:8px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
xml:space="preserve"><tspan
id="tspan17451"
y="369.2576"
x="462.20422"
sodipodi:role="line">Can</tspan><tspan
y="377.2576"
x="462.20422"
sodipodi:role="line"
id="tspan17455">Dispatch</tspan></text>
</g>
<path
sodipodi:nodetypes="cc"
id="path8774"
d="M 455.85521,315.23734 L 455.85521,594.52305"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#bdb6ff;stroke-width:4.00000048;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
<path
sodipodi:nodetypes="cc"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#bdb6ff;stroke-width:4.00000048;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
d="M 509.04698,415.23734 L 455.85521,415.23734"
id="path8776" />
<path
id="path8778"
d="M 509.04698,475.23734 L 455.85521,475.23734"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#bdb6ff;stroke-width:4.00000048;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
sodipodi:nodetypes="cc" />
<path
sodipodi:nodetypes="cc"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#bdb6ff;stroke-width:4.00000048;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
d="M 509.04698,535.23734 L 455.85521,535.23734"
id="path8780" />
<path
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#bdb6ff;stroke-width:4.00000095;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
d="M 515.01269,355.09447 L 456.04336,355.09447"
id="path8786"
sodipodi:nodetypes="cc" />
<g
id="g6984"
transform="translate(5.170737,192)">
<rect
style="color:#000000;fill:#efeeb1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.87500024;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
id="rect2271"
width="240.66035"
height="44.312717"
x="499.38046"
y="197.23451"
ry="14.770906"
rx="14.770906" />
<text
xml:space="preserve"
style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
x="619.6286"
y="201.21507"
id="text2273"
sodipodi:linespacing="100%"><tspan
sodipodi:role="line"
id="tspan2275"
x="619.6286"
y="201.21507" /><tspan
sodipodi:role="line"
x="619.6286"
y="217.21507"
id="tspan2277">SERVICE DATA OBJECTS</tspan><tspan
sodipodi:role="line"
x="619.6286"
y="233.21507"
id="tspan2279">sdo.c</tspan></text>
</g>
<g
id="g6991"
transform="translate(5.170737,172)">
<rect
ry="14.770906"
y="277.2345"
x="499.38046"
height="44.312717"
width="240.66035"
id="rect2281"
style="color:#000000;fill:#efeeb1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.87500024;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
rx="14.770906" />
<text
sodipodi:linespacing="100%"
id="text2283"
y="281.21506"
x="619.37079"
style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
xml:space="preserve"><tspan
y="281.21506"
x="619.37079"
id="tspan2285"
sodipodi:role="line" /><tspan
id="tspan2287"
y="297.21506"
x="619.37079"
sodipodi:role="line">PROCESS DATA OBJECTS</tspan><tspan
id="tspan2289"
y="313.21506"
x="619.37079"
sodipodi:role="line">pdo.c</tspan></text>
</g>
<g
id="g6998"
transform="translate(5.170737,152)">
<rect
style="color:#000000;fill:#efeeb1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.87500024;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
id="rect2333"
width="240.66035"
height="44.312717"
x="499.38046"
y="357.2345"
ry="14.770906"
rx="14.770906" />
<text
xml:space="preserve"
style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
x="619.48798"
y="361.21506"
id="text2335"
sodipodi:linespacing="100%"><tspan
sodipodi:role="line"
id="tspan2337"
x="619.48798"
y="361.21506" /><tspan
sodipodi:role="line"
x="619.48798"
y="377.21506"
id="tspan2339">NETWORK MANAGEMENT</tspan><tspan
sodipodi:role="line"
x="619.48798"
y="393.21506"
id="tspan2341">nmtMaster.c + nmtSlave.c</tspan></text>
</g>
<g
id="g6977"
transform="translate(5.170737,212)">
<rect
ry="14.770906"
y="117.2345"
x="499.38046"
height="44.312717"
width="240.66035"
id="rect2303"
style="color:#000000;fill:#efeeb1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.87500024;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
rx="14.770906" />
<text
sodipodi:linespacing="100%"
id="text2305"
y="121.21507"
x="619.96844"
style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
xml:space="preserve"><tspan
y="121.21507"
x="619.96844"
id="tspan2307"
sodipodi:role="line" /><tspan
id="tspan2309"
y="137.21507"
x="619.96844"
sodipodi:role="line">SYNCHRONIZATION</tspan><tspan
id="tspan2311"
y="153.21507"
x="619.96844"
sodipodi:role="line">sync.c</tspan></text>
</g>
<path
id="path8782"
d="M 509.04698,595.23734 L 455.85521,595.23734"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#bdb6ff;stroke-width:4.00000048;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
sodipodi:nodetypes="cc" />
<path
sodipodi:nodetypes="cc"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#ffb6b6;stroke-width:4;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
d="M 510.59931,585.23734 L 469.17074,585.23734"
id="path7018" />
<g
id="g7005"
transform="translate(5.170737,132)">
<rect
rx="14.770906"
ry="14.770906"
y="437.2345"
x="499.38046"
height="44.312717"
width="240.66035"
id="rect6045"
style="color:#000000;fill:#efeeb1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.87500024;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
<text
sodipodi:linespacing="100%"
id="text6047"
y="441.21506"
x="619.48798"
style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
xml:space="preserve"><tspan
y="441.21506"
x="619.48798"
id="tspan6049"
sodipodi:role="line" /><tspan
id="tspan6053"
y="457.21506"
x="619.48798"
sodipodi:role="line"> AUTO CAN BAUDRATE</tspan><tspan
id="tspan6067"
y="473.21506"
x="619.48798"
sodipodi:role="line">lss.c</tspan></text>
</g>
<text
xml:space="preserve"
style="font-size:32px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
x="904.5498"
y="120.68625"
id="text10926"
sodipodi:linespacing="100%"><tspan
sodipodi:role="line"
id="tspan10928"
x="904.5498"
y="120.68625">Application</tspan><tspan
sodipodi:role="line"
x="904.5498"
y="152.68625"
id="tspan10987">(master/slave)</tspan></text>
<path
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#ffb6b6;stroke-width:4.00000477;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
d="M 368.88653,307.1123 L 382.38404,301.09463 L 368.88653,295.07698"
id="path14812"
sodipodi:nodetypes="ccc" />
<path
sodipodi:nodetypes="ccc"
id="path14814"
d="M 463.1831,286.69273 L 469.20076,300.19024 L 475.21842,286.69273"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#ffb6b6;stroke-width:4.00000429;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
<path
sodipodi:nodetypes="ccc"
id="path14816"
d="M 337.84788,309.11112 L 324.35037,315.12879 L 337.84789,321.14645"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#bdb6ff;stroke-width:4;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
<text
xml:space="preserve"
style="font-size:10.40019226px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
x="117.68457"
y="660.26733"
id="text17850"
sodipodi:linespacing="100%"><tspan
y="660.26733"
x="117.68457"
id="tspan17864"
sodipodi:role="line">libcanfestival_$(CAN_DRIVER).so</tspan><tspan
y="670.66753"
x="117.68457"
sodipodi:role="line"
id="tspan2438">$(CAN_DRIVER).dll,</tspan><tspan
y="681.06772"
x="117.68457"
sodipodi:role="line"
id="tspan2440">cyg$(CAN_DRIVER).dll</tspan></text>
<text
sodipodi:linespacing="100%"
id="text17893"
y="662.68628"
x="296.53381"
style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:start;line-height:100%;writing-mode:lr-tb;text-anchor:start;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
xml:space="preserve"><tspan
sodipodi:role="line"
id="tspan17895"
x="296.53381"
y="662.68628">libcanfestival.a</tspan></text>
<rect
style="opacity:1;color:#000000;fill:none;fill-opacity:1;fill-rule:nonzero;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
id="rect17926"
width="218.19295"
height="304.05591"
x="793.97992"
y="182.44966" />
<flowRoot
xml:space="preserve"
style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:start;line-height:100%;writing-mode:lr-tb;text-anchor:start;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
id="flowRoot18801"
transform="translate(0,-10)"><flowRegion
id="flowRegion18803"><use
x="0"
y="0"
xlink:href="#rect17926"
id="use18805"
width="1052.3622"
height="744.09448" /></flowRegion><flowPara
id="flowPara18809">Mandatory:</flowPara><flowPara
id="flowPara18813">- Open CAN interfaces</flowPara><flowPara
id="flowPara18815">- Initiate TImers</flowPara><flowPara
id="flowPara2375" /><flowPara
id="flowPara2377">Optional:</flowPara><flowPara
id="flowPara2381">- Declare some callbacks</flowPara><flowPara
id="flowPara18817" /><flowPara
id="flowPara18819">Each call to the CanFestival API provide a pointer to the related node's CO_Data struct.</flowPara><flowPara
id="flowPara18821" /><flowPara
id="flowPara18823">In order to respect data integrity in the stack, all calls to the API should be made from mandatory nodes callback.</flowPara><flowPara
id="flowPara18825" /><flowPara
id="flowPara18827" /></flowRoot> <g
transform="translate(251.9861,177.8507)"
id="g18829">
<rect
rx="14.770906"
style="opacity:1;color:#000000;fill:#efeeb1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.875;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
id="rect18831"
width="148.84024"
height="139.9716"
x="519.88324"
y="177.73375"
ry="14.77091" />
<use
x="0"
y="0"
xlink:href="#rect18831"
id="use18924"
transform="translate(-4,4)"
width="1052.3622"
height="744.09448" />
<use
height="744.09448"
width="1052.3622"
transform="translate(-8,8)"
id="use18926"
xlink:href="#rect18831"
y="0"
x="0" />
<use
x="0"
y="0"
xlink:href="#rect18831"
id="use18928"
transform="translate(-12,12)"
width="1052.3622"
height="744.09448" />
<text
xml:space="preserve"
style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
x="581.54962"
y="211.93582"
id="text18833"
sodipodi:linespacing="100%"><tspan
sodipodi:role="line"
id="tspan18867"
x="581.54962"
y="211.93582">Node Callbacks:</tspan><tspan
sodipodi:role="line"
id="tspan18869"
x="581.54962"
y="224.74622"
style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans">SDOtimeoutError</tspan><tspan
sodipodi:role="line"
id="tspan18871"
x="581.54962"
y="236.74622"
style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans">heartbeatError</tspan><tspan
sodipodi:role="line"
id="tspan18873"
x="581.54962"
y="248.74622"
style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans">canSend</tspan><tspan
sodipodi:role="line"
id="tspan18875"
x="581.54962"
y="260.74622"
style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans">initialisation</tspan><tspan
sodipodi:role="line"
id="tspan18877"
x="581.54962"
y="272.74622"
style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans">preOperationa</tspan><tspan
sodipodi:role="line"
id="tspan18879"
x="581.54962"
y="284.74622"
style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans">operational</tspan><tspan
sodipodi:role="line"
id="tspan18881"
x="581.54962"
y="296.74622"
style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans">stopped</tspan><tspan
sodipodi:role="line"
id="tspan18883"
x="581.54962"
y="308.74622"
style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans">post_sync</tspan><tspan
sodipodi:role="line"
id="tspan18885"
x="581.54962"
y="320.74622"
style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans">post_TPDO</tspan><tspan
sodipodi:role="line"
id="tspan18887"
x="581.54962"
y="332.74622" /></text>
</g>
<g
id="g18930"
transform="translate(411.9861,177.8507)">
<rect
ry="14.77091"
y="177.73375"
x="519.52521"
height="139.9716"
width="91.977913"
id="rect18932"
style="opacity:1;color:#000000;fill:#efeeb1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.8750006;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
rx="14.770914" />
<text
sodipodi:linespacing="100%"
id="text18940"
y="197.93582"
x="565.54962"
style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
xml:space="preserve"><tspan
style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans"
y="197.93582"
x="565.54962"
id="tspan18960"
sodipodi:role="line">Nodes</tspan><tspan
style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans"
y="209.93582"
x="565.54962"
sodipodi:role="line"
id="tspan19022">Initialisation</tspan><tspan
style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans"
y="221.93582"
x="565.54962"
sodipodi:role="line"
id="tspan19018" /><tspan
style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans"
y="233.93582"
x="565.54962"
sodipodi:role="line"
id="tspan19024">Called at</tspan><tspan
style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans"
y="245.93582"
x="565.54962"
sodipodi:role="line"
id="tspan19028">initialisation</tspan><tspan
style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans"
y="257.93582"
x="565.54962"
sodipodi:role="line"
id="tspan19030">of stack,</tspan><tspan
style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans"
y="269.93582"
x="565.54962"
sodipodi:role="line"
id="tspan19032">once CAN</tspan><tspan
style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans"
y="281.93582"
x="565.54962"
sodipodi:role="line"
id="tspan19034">interfaces</tspan><tspan
y="293.93582"
x="565.54962"
id="tspan18962"
sodipodi:role="line"
style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;font-family:Bitstream Vera Sans">opened.</tspan></text>
</g>
<path
sodipodi:nodetypes="cc"
id="path2394"
d="M 455.01269,315.09447 L 192.04336,315.09447"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#bdb6ff;stroke-width:4.00000095;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
<path
sodipodi:nodetypes="cc"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#d5d5d5;stroke-width:3.99999809;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
d="M 240.53386,230.81304 L 208.79172,230.81304"
id="path2396" />
<g
transform="translate(-259.7932,17.8507)"
id="g2398">
<rect
rx="14.770906"
style="opacity:1;color:#000000;fill:#efeeb1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.875;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
id="rect2400"
width="183.69043"
height="44.312717"
x="501.7005"
y="189.95525"
ry="14.770906" />
<text
xml:space="preserve"
style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
x="593.54962"
y="193.93582"
id="text2402"
sodipodi:linespacing="100%"><tspan
sodipodi:role="line"
id="tspan2404"
x="593.54962"
y="193.93582" /><tspan
sodipodi:role="line"
x="593.54962"
y="209.93582"
id="tspan2406">SCHEDULING</tspan><tspan
sodipodi:role="line"
x="593.54962"
y="225.93582"
id="tspan2408">timer.c</tspan></text>
</g>
<g
transform="translate(-10.82926,-154.42963)"
id="g2410">
<rect
rx="20.028"
style="color:#000000;fill:#efeeb1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.87499928;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
id="rect2412"
width="183.69043"
height="60.0825"
x="36.736599"
y="354.35071"
ry="20.027502" />
<text
xml:space="preserve"
style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
x="128.57401"
y="356.4429"
id="text2414"
sodipodi:linespacing="100%"><tspan
sodipodi:role="line"
id="tspan2416"
x="128.57401"
y="356.4429" /><tspan
sodipodi:role="line"
x="128.57401"
y="372.4429"
id="tspan2418">SYSTEM TIMERS</tspan><tspan
sodipodi:role="line"
x="128.57401"
y="388.4429"
id="tspan2420">INTERFACE</tspan><tspan
sodipodi:role="line"
x="128.57401"
y="404.4429"
id="tspan2422">timers_xxx.c</tspan></text>
</g>
<text
sodipodi:linespacing="100%"
id="text2428"
y="166.68628"
x="36.533813"
style="font-size:12px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:start;line-height:100%;writing-mode:lr-tb;text-anchor:start;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
xml:space="preserve"><tspan
sodipodi:role="line"
id="tspan2430"
x="36.533813"
y="166.68628">libcanfestival_$(TARGET).a</tspan><tspan
sodipodi:role="line"
x="36.533813"
y="178.68628"
id="tspan2432">canfestival_$(TARGET).lib</tspan></text>
<path
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#ffb6b6;stroke-width:4;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
d="M 110.39517,382.00723 L 110.39518,628.90785"
id="path2466"
sodipodi:nodetypes="cc" />
<path
sodipodi:nodetypes="ccc"
id="path2468"
d="M 116.41299,480.48957 L 110.39532,466.99206 L 104.37768,480.48957"
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#ffb6b6;stroke-width:4.00000477;stroke-linecap:round;stroke-linejoin:round;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible" />
<path
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#bdb6ff;stroke-width:4;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
d="M 118.41182,491.52822 L 124.42949,505.02572 L 130.44715,491.52821"
id="path2470"
sodipodi:nodetypes="ccc" />
<path
style="color:#000000;fill:none;fill-opacity:0.75;fill-rule:evenodd;stroke:#bdb6ff;stroke-width:4.00000095;stroke-linecap:round;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
d="M 124.39517,382.36341 L 124.39516,625.33274"
id="path2472"
sodipodi:nodetypes="cc" />
<use
x="0"
y="0"
xlink:href="#rect18831"
id="use2448"
transform="translate(-477.47549,101.80629)"
width="1052.3622"
height="744.09448" />
<text
sodipodi:linespacing="100%"
id="text2450"
y="315.32974"
x="116.96068"
style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
xml:space="preserve"><tspan
y="315.32974"
x="116.96068"
id="tspan2452"
sodipodi:role="line" /><tspan
id="tspan2456"
y="331.32974"
x="116.96068"
sodipodi:role="line">OS interface</tspan><tspan
y="347.32974"
x="116.96068"
sodipodi:role="line"
id="tspan2460">unix.c</tspan><tspan
y="363.32974"
x="116.96068"
sodipodi:role="line"
id="tspan2464">or</tspan><tspan
y="379.32974"
x="116.96068"
sodipodi:role="line"
id="tspan2462">win32.c</tspan></text>
<g
id="g8884"
transform="translate(-10.82926,355.42856)">
<rect
ry="20.027502"
y="231.34967"
x="36.736599"
height="60.0825"
width="183.69043"
id="rect19040"
style="color:#000000;fill:#efeeb1;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.87499928;stroke-linecap:butt;stroke-linejoin:miter;marker:none;marker-start:none;marker-mid:none;marker-end:none;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;visibility:visible;display:inline;overflow:visible"
rx="20.028" />
<text
xml:space="preserve"
style="font-size:16px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
x="128.57401"
y="232.4429"
id="text8812"
sodipodi:linespacing="100%"><tspan
sodipodi:role="line"
id="tspan8814"
x="128.57401"
y="232.4429" /><tspan
sodipodi:role="line"
x="128.57401"
y="248.4429"
id="tspan8816">CAN DRIVER</tspan><tspan
sodipodi:role="line"
x="128.57401"
y="264.4429"
id="tspan8820">INTERFACE</tspan><tspan
sodipodi:role="line"
x="128.57401"
y="280.4429"
id="tspan8818">can_xxx.c</tspan></text>
<text
sodipodi:linespacing="100%"
id="text8822"
y="246.4429"
x="204.57401"
style="font-size:8px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
xml:space="preserve"><tspan
y="246.4429"
x="204.57401"
id="tspan8824"
sodipodi:role="line" /><tspan
id="tspan8830"
y="254.4429"
x="204.57401"
sodipodi:role="line">RCV</tspan></text>
<text
xml:space="preserve"
style="font-size:8px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
x="204.57401"
y="264.4429"
id="text8836"
sodipodi:linespacing="100%"><tspan
sodipodi:role="line"
id="tspan8838"
x="204.57401"
y="264.4429" /><tspan
sodipodi:role="line"
x="204.57401"
y="272.4429"
id="tspan8840">TRS</tspan></text>
</g>
<text
xml:space="preserve"
style="font-size:32px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:center;line-height:100%;writing-mode:lr-tb;text-anchor:middle;fill:#ffffff;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
x="116.83569"
y="546.68628"
id="text2442"
sodipodi:linespacing="100%"><tspan
sodipodi:role="line"
x="116.83569"
y="546.68628"
id="tspan2444">CAN</tspan><tspan
id="tspan2446"
sodipodi:role="line"
x="116.83569"
y="578.68628">interface</tspan></text>
<text
xml:space="preserve"
style="font-size:12px;font-style:normal;font-weight:normal;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;font-family:Bitstream Vera Sans"
x="23.39595"
y="480.36346"
id="text3447"><tspan
sodipodi:role="line"
id="tspan3449"
x="23.39595"
y="480.36346">Dynamicaly </tspan><tspan
sodipodi:role="line"
x="23.39595"
y="495.36346"
id="tspan3453">loaded</tspan><tspan
sodipodi:role="line"
x="23.39595"
y="510.36346"
id="tspan3451">or Linked</tspan></text>
</g>
</svg>
