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include/nmtSlave.h
author Robert Lehmann <robert.lehmann@sitec-systems.de>
Tue, 28 Jul 2015 16:36:55 +0200
changeset 793 72e9e1064432
parent 561 f9be4262c68d
permissions -rwxr-xr-x
timers_unix: Fix termination problem of WaitReceiveTaskEnd

The function pthread_kill sends the Signal thread and to the own process.
If you use this construct than the application which calls uses the
canfestival api will terminate at the call of canClose. To avoid that
use pthread_cancel instead of pthread_kill. To use the pthread_cancel call
you need to set the cancel ability in the thread function. That means
you need to call pthread_setcancelstate and pthread_setcanceltype.
For the termination of the thread at any time it is important to set the
cancel type to PTHREAD_CANCEL_ASYNCHRONOUS. 
/*
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
*/

/** @defgroup nmtslave NMT Slave
 *  @brief The NMT Slave methods are called automatically when a NMT message from Master are received. 
 *  @ingroup networkmanagement
 */
 
#ifndef __nmtSlave_h__
#define __nmtSlave_h__

#include <applicfg.h>
#include "data.h"

/** 
 * @brief Threat the reception of a NMT message from the master.
 * @param *d Pointer to the CAN data structure
 * @param *m Pointer to the message received
 * @return 
 *  -  0 if OK 
 *  - -1 if the slave is not allowed, by its state, to receive the message
 */
void proceedNMTstateChange (CO_Data* d, Message * m);

/** 
 * @brief Transmit the boot-Up frame when the slave is moving from initialization
 * state to pre_operational state.
 * @param *d Pointer on the CAN data structure
 * @return canSend(bus_id,&m)
 */
UNS8 slaveSendBootUp (CO_Data* d);


#endif /* __nmtSlave_h__ */
canfestival