/*
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 <wx/wxprec.h>
#include <wx/wx.h>
#include <wx/textctrl.h>
#include <iostream>

#if defined(WIN32) && !defined(__CYGWIN__)
	#include <windows.h>
#else
	#include <stdio.h>
	#include <string.h>
	#include <unistd.h>
	#include <stdlib.h>
	#include <signal.h>
#endif

//#include <can_driver.h>
//#include <timers_driver.h>
extern "C" 
  {
	#include "canfestival.h"
  }
#include "CallBack.h"
#include "TestSlaveGui.h"
#include "main.h"

extern wxTextCtrl 	*textLog;
extern int			node_id_ext;

//***************************  INIT  *****************************************
void InitNodes(CO_Data* d, UNS32 id)
{
	//****************************** INITIALISATION SLAVE *******************************
		/* Defining the node Id */
		setNodeId(&ObjDict_Data, node_id_ext);
		/* init */
		setState(&ObjDict_Data, Initialisation);
}

//****************************************************************************
//***************************  MAIN  *****************************************
//****************************************************************************
int main_can(s_BOARD SlaveBoard, char* LibraryPath)
{
  printf("Bus name: %s        Freq: %s       Driver: %s\n", SlaveBoard.busname, SlaveBoard.baudrate, LibraryPath);

  #ifndef NOT_USE_DYNAMIC_LOADING
	if (LoadCanDriver(LibraryPath) == NULL)
		*textLog << wxT("Unable to load library\n");
  #endif		
	// Open CAN devices

	ObjDict_Data.heartbeatError = Call_heartbeatError;
	ObjDict_Data.initialisation = Call_initialisation;
	ObjDict_Data.preOperational = Call_preOperational;
	ObjDict_Data.operational = Call_operational;
	ObjDict_Data.stopped = Call_stopped;
	ObjDict_Data.post_sync = Call_post_sync;
	ObjDict_Data.post_TPDO = Call_post_TPDO;
	ObjDict_Data.storeODSubIndex = Call_storeODSubIndex;		

	if(!canOpen(&SlaveBoard,&ObjDict_Data))
	  {
		printf("Cannot open Slave Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate);
		return (1);
	  }

	StartTimerLoop(&InitNodes);

	return 0;
}

void stop_slave()
{	
    EnterMutex();
	setState(&ObjDict_Data, Stopped);
    LeaveMutex();

    StopTimerLoop();
    canClose(&ObjDict_Data);

	return;
}