add Exit function to DS401SlaveGui, change StopTimerLoop's arg and add TimerCleanup function in timers_win32
#include "canfestival.h"
#include "Master.h"
#include "Slave.h"
#include "TestMasterSlave.h"
static UNS32 OnMasterMap1Update(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
{
eprintf("OnSlaveMap1Update:%d\n", SlaveMap1);
return 0;
}
s_BOARD SlaveBoard = {"0", "125K"};
s_BOARD MasterBoard = {"1", "125K"};
/*************************** INIT *****************************************/
static void InitNodes(CO_Data* d, UNS32 id)
{
/****************************** INITIALISATION SLAVE *******************************/
if(strcmp(SlaveBoard.baudrate, "none")) {
setNodeId(&TestSlave_Data, 0x02);
setState(&TestSlave_Data, Initialisation);
}
/****************************** INITIALISATION MASTER *******************************/
if(strcmp(MasterBoard.baudrate, "none")){
RegisterSetODentryCallBack(&TestMaster_Data, 0x2000, 0, &OnMasterMap1Update);
// Defining the node Id
setNodeId(&TestMaster_Data, 0x01);
setState(&TestMaster_Data, Initialisation);
}
}
int TestMasterSlave_start (void)
{
if(strcmp(SlaveBoard.baudrate, "none")){
TestSlave_Data.heartbeatError = TestSlave_heartbeatError;
TestSlave_Data.initialisation = TestSlave_initialisation;
TestSlave_Data.preOperational = TestSlave_preOperational;
TestSlave_Data.operational = TestSlave_operational;
TestSlave_Data.stopped = TestSlave_stopped;
TestSlave_Data.post_sync = TestSlave_post_sync;
TestSlave_Data.post_TPDO = TestSlave_post_TPDO;
TestSlave_Data.storeODSubIndex = TestSlave_storeODSubIndex;
TestSlave_Data.post_emcy = TestSlave_post_emcy;
if(!canOpen(&SlaveBoard,&TestSlave_Data)){
eprintf("Cannot open Slave Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate);
return 1;
}
}
if(strcmp(MasterBoard.baudrate, "none")){
TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
TestMaster_Data.initialisation = TestMaster_initialisation;
TestMaster_Data.preOperational = TestMaster_preOperational;
TestMaster_Data.operational = TestMaster_operational;
TestMaster_Data.stopped = TestMaster_stopped;
TestMaster_Data.post_sync = TestMaster_post_sync;
TestMaster_Data.post_TPDO = TestMaster_post_TPDO;
TestMaster_Data.post_emcy = TestMaster_post_emcy;
TestMaster_Data.post_SlaveBootup=TestMaster_post_SlaveBootup;
if(!canOpen(&MasterBoard,&TestMaster_Data)){
eprintf("Cannot open Master Board (%s,%s)\n",MasterBoard.busname, MasterBoard.baudrate);
if(strcmp(MasterBoard.baudrate, "none")) canClose(&TestMaster_Data);
return 1;
}
}
// Start timer thread
StartTimerLoop(&InitNodes);
return 0;
}
void TestMasterSlave_stop (void)
{
eprintf("Finishing.\n");
EnterMutex();
masterSendNMTstateChange (&TestMaster_Data, 0x02, NMT_Reset_Node);
LeaveMutex();
// Stop master
EnterMutex();
setState(&TestMaster_Data, Stopped);
LeaveMutex();
// Stop timer thread
StopTimerLoop();
// Close CAN devices (and can threads)
if(strcmp(SlaveBoard.baudrate, "none")) canClose(&TestSlave_Data);
if(strcmp(MasterBoard.baudrate, "none")) canClose(&TestMaster_Data);
eprintf("End.\n");
}