etisserant@246: /*
etisserant@246: This file is part of CanFestival, a library implementing CanOpen Stack. 
etisserant@246: 
etisserant@246: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@246: 
etisserant@246: See COPYING file for copyrights details.
etisserant@246: 
etisserant@246: This library is free software; you can redistribute it and/or
etisserant@246: modify it under the terms of the GNU Lesser General Public
etisserant@246: License as published by the Free Software Foundation; either
etisserant@246: version 2.1 of the License, or (at your option) any later version.
etisserant@246: 
etisserant@246: This library is distributed in the hope that it will be useful,
etisserant@246: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@246: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@246: Lesser General Public License for more details.
etisserant@246: 
etisserant@246: You should have received a copy of the GNU Lesser General Public
etisserant@246: License along with this library; if not, write to the Free Software
etisserant@246: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@246: */
etisserant@246: 
etisserant@246: #if defined(WIN32) && !defined(__CYGWIN__)
etisserant@382: #include <windows.h>
Christian@641: #include "getopt.h"
etisserant@246: #else
etisserant@382: #include <stdio.h>
etisserant@382: #include <string.h>
etisserant@382: #include <unistd.h>
etisserant@382: #include <stdlib.h>
etisserant@382: #include <signal.h>
etisserant@246: #endif
etisserant@246: 
Christian@641: 
Christian@641: #include <wx/wxprec.h>
Christian@641: #include <wx/wx.h>
Christian@641: #include <wx/textctrl.h>
Christian@641: #include <iostream>
Christian@641: 
Christian@641: 
Christian@641: 
etisserant@246: //#include <can_driver.h>
etisserant@246: //#include <timers_driver.h>
etisserant@382: extern "C"
etisserant@382: {
etisserant@382: #include "canfestival.h"
etisserant@382: }
etisserant@246: #include "CallBack.h"
etisserant@246: #include "TestSlaveGui.h"
etisserant@246: #include "main.h"
etisserant@246: 
etisserant@382: extern wxTextCtrl *textLog;
etisserant@382: extern int node_id_ext;
etisserant@246: 
etisserant@246: //***************************  INIT  *****************************************
etisserant@382: void
etisserant@382: InitNodes (CO_Data * d, UNS32 id)
etisserant@246: {
etisserant@382:   //****************************** INITIALISATION SLAVE *******************************
etisserant@382:   /* Defining the node Id */
etisserant@382:   setNodeId (&ObjDict_Data, node_id_ext);
etisserant@382:   /* init */
etisserant@382:   setState (&ObjDict_Data, Initialisation);
etisserant@246: }
etisserant@246: 
greg@454: /***************************  EXIT  *****************************************/
greg@454: void Exit(CO_Data* d, UNS32 id)
greg@454: {
greg@454:   	setState (&ObjDict_Data, Stopped);
greg@454: 	canClose (&ObjDict_Data);
greg@454: }
etisserant@246: //****************************************************************************
etisserant@246: //***************************  MAIN  *****************************************
etisserant@246: //****************************************************************************
etisserant@382: int
etisserant@382: main_can (s_BOARD SlaveBoard, char *LibraryPath)
etisserant@246: {
greg@458: #if !defined(WIN32) && !defined(__CYGWIN__)
Christian@641: 	//TimerInit();
Christian@641: #endif	
greg@458: 	TimerInit();
greg@458: 	printf ("Bus name: %s        Freq: %s       Driver: %s\n",
etisserant@382: 	  SlaveBoard.busname, SlaveBoard.baudrate, LibraryPath);
etisserant@246: 
etisserant@382: #ifndef NOT_USE_DYNAMIC_LOADING
etisserant@382:   if (LoadCanDriver (LibraryPath) == NULL)
etisserant@382:     *textLog << wxT ("Unable to load library\n");
etisserant@382: #endif
etisserant@382:   // Open CAN devices
etisserant@246: 
etisserant@382:   ObjDict_Data.heartbeatError = Call_heartbeatError;
etisserant@382:   ObjDict_Data.initialisation = Call_initialisation;
etisserant@382:   ObjDict_Data.preOperational = Call_preOperational;
etisserant@382:   ObjDict_Data.operational = Call_operational;
etisserant@382:   ObjDict_Data.stopped = Call_stopped;
etisserant@382:   ObjDict_Data.post_sync = Call_post_sync;
etisserant@382:   ObjDict_Data.post_TPDO = Call_post_TPDO;
etisserant@382:   ObjDict_Data.storeODSubIndex = Call_storeODSubIndex;
etisserant@246: 
etisserant@382:   if (!canOpen (&SlaveBoard, &ObjDict_Data))
etisserant@382:     {
etisserant@382:       printf ("Cannot open Slave Board (%s,%s)\n", SlaveBoard.busname,
etisserant@382: 	      SlaveBoard.baudrate);
etisserant@382:       return (1);
etisserant@382:     }
etisserant@295: 
etisserant@382:   StartTimerLoop (&InitNodes);
etisserant@295: 
etisserant@382:   return 0;
etisserant@246: }
etisserant@246: 
etisserant@382: void
etisserant@382: stop_slave ()
etisserant@382: {
greg@454:   StopTimerLoop (&Exit);
greg@454:   TimerCleanup();
etisserant@382:   return;
etisserant@246: }