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: 
etisserant@246: #include <wx/wxprec.h>
etisserant@246: #include <wx/wx.h>
etisserant@246: #include <wx/textctrl.h>
etisserant@246: #include <iostream>
etisserant@246: 
etisserant@246: #if defined(WIN32) && !defined(__CYGWIN__)
etisserant@246: 	#include <windows.h>
etisserant@246: 
etisserant@246: 	extern "C" {
etisserant@246: 		#include "getopt.h"
etisserant@246: 	}
etisserant@246: 
etisserant@246: 	void pause(void)
etisserant@246: 	{
etisserant@246: 		system("PAUSE");
etisserant@246: 	}
etisserant@246: #else
etisserant@246: 	#include <stdio.h>
etisserant@246: 	#include <string.h>
etisserant@246: 	#include <unistd.h>
etisserant@246: 	#include <stdlib.h>
etisserant@246: 	#include <signal.h>
etisserant@246: #endif
etisserant@246: 
etisserant@246: //#include <can_driver.h>
etisserant@246: //#include <timers_driver.h>
etisserant@246: extern "C" 
etisserant@246:   {
etisserant@246: 	#include "canfestival.h"
etisserant@246:   }
etisserant@246: #include "CallBack.h"
etisserant@246: #include "TestSlaveGui.h"
etisserant@246: #include "main.h"
etisserant@246: 
etisserant@246: extern wxTextCtrl 	*textLog;
etisserant@246: extern int			node_id_ext;
etisserant@246: 
etisserant@246: UNS32 OnMasterMap1Update(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
etisserant@246: {
etisserant@246: 	return 0;
etisserant@246: }
etisserant@246: 
etisserant@246: s_BOARD MasterBoard = {"1", "125K"};
etisserant@246: 
etisserant@246: #if !defined(WIN32) || defined(__CYGWIN__)
etisserant@246: void catch_signal(int sig)
etisserant@246: {
etisserant@246:   signal(SIGTERM, catch_signal);
etisserant@246:   signal(SIGINT, catch_signal);
etisserant@246:   printf("Got Signal %d\n",sig);
etisserant@246: }
etisserant@246: #endif
etisserant@246: 
etisserant@246: //***************************  INIT  *****************************************
etisserant@246: void InitNodes(CO_Data* d, UNS32 id)
etisserant@246: {
etisserant@246: 	//****************************** INITIALISATION SLAVE *******************************
etisserant@246: 		/* Defining the node Id */
etisserant@246: 		setNodeId(&ObjDict_Data, node_id_ext);
etisserant@246: 		/* init */
etisserant@246: 		setState(&ObjDict_Data, Initialisation);
etisserant@246: }
etisserant@246: 
etisserant@246: //****************************************************************************
etisserant@246: //***************************  MAIN  *****************************************
etisserant@246: //****************************************************************************
etisserant@246: int main_can(s_BOARD SlaveBoard, char* LibraryPath)
etisserant@246: {
etisserant@246:   printf("Bus name: %s        Freq: %s       Driver: %s\n", SlaveBoard.busname, SlaveBoard.baudrate, LibraryPath);
etisserant@246: 
etisserant@246:   #if !defined(WIN32) || defined(__CYGWIN__)
etisserant@246: 	signal(SIGTERM, catch_signal);
etisserant@246: 	signal(SIGINT, catch_signal);
etisserant@246:   #endif
etisserant@246: 
etisserant@246:   #ifndef NOT_USE_DYNAMIC_LOADING
etisserant@246: 	LoadCanDriver(LibraryPath);
etisserant@246:   #endif		
etisserant@246: 	// Open CAN devices
etisserant@246: 
etisserant@246: 	ObjDict_Data.heartbeatError = Call_heartbeatError;
etisserant@246: 	ObjDict_Data.initialisation = Call_initialisation;
etisserant@246: 	ObjDict_Data.preOperational = Call_preOperational;
etisserant@246: 	ObjDict_Data.operational = Call_operational;
etisserant@246: 	ObjDict_Data.stopped = Call_stopped;
etisserant@246: 	ObjDict_Data.post_sync = Call_post_sync;
etisserant@246: 	ObjDict_Data.post_TPDO = Call_post_TPDO;
etisserant@246: 	ObjDict_Data.storeODSubIndex = Call_storeODSubIndex;		
etisserant@246: 
etisserant@246: 	if(!canOpen(&SlaveBoard,&ObjDict_Data))
etisserant@246: 	  {
etisserant@246: 		printf("Cannot open Slave Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate);
etisserant@246: 		return (1);
etisserant@246: 	  }
etisserant@246: 	// Start timer thread
etisserant@246: 	//printf("nodeid slave=%x\n",node_id_ext);
etisserant@246: 	StartTimerLoop(&InitNodes);
etisserant@246: 	return 0;
etisserant@246: }
etisserant@246: 
etisserant@246: void stop_slave()
etisserant@246: {	
etisserant@246: 	StopTimerLoop();
etisserant@246: 	// Close CAN devices (and can threads)
etisserant@246: 	// Stop master
etisserant@246: 	setState(&ObjDict_Data, Stopped);
etisserant@246: 	//canClose(&ObjDict_Data);
etisserant@246: 	//canClose(&TestMaster_Data);
etisserant@246: 	return;
etisserant@246: }