etisserant@166: /*
etisserant@166: This file is part of CanFestival, a library implementing CanOpen Stack.
etisserant@166:
etisserant@166: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@166:
etisserant@166: See COPYING file for copyrights details.
etisserant@166:
etisserant@166: This library is free software; you can redistribute it and/or
etisserant@166: modify it under the terms of the GNU Lesser General Public
etisserant@166: License as published by the Free Software Foundation; either
etisserant@166: version 2.1 of the License, or (at your option) any later version.
etisserant@166:
etisserant@166: This library is distributed in the hope that it will be useful,
etisserant@166: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@166: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
etisserant@166: Lesser General Public License for more details.
etisserant@166:
etisserant@166: You should have received a copy of the GNU Lesser General Public
etisserant@166: License along with this library; if not, write to the Free Software
etisserant@166: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
etisserant@166: */
etisserant@166:
etisserant@166: #if defined(WIN32) && !defined(__CYGWIN__)
etisserant@166: #include <windows.h>
etisserant@166: #include "getopt.h"
etisserant@166: void pause(void)
etisserant@166: {
etisserant@166: system("PAUSE");
etisserant@166: }
etisserant@166: #else
etisserant@169: #include <unistd.h>
etisserant@166: #include <stdio.h>
etisserant@166: #include <string.h>
etisserant@166: #include <stdlib.h>
etisserant@166: #include <signal.h>
etisserant@166: #endif
etisserant@166:
etisserant@166: #include "canfestival.h"
etisserant@166: #include "TestMasterMicroMod.h"
etisserant@166: #include "TestMaster.h"
etisserant@331: UNS8 slavenodeid = 0x40;
etisserant@166:
etisserant@166:
etisserant@166: /*****************************************************************************/
etisserant@378: void TestMaster_heartbeatError(CO_Data* d, UNS8 heartbeatID)
etisserant@166: {
etisserant@166: eprintf("TestMaster_heartbeatError %d\n", heartbeatID);
etisserant@166: }
etisserant@166:
etisserant@166: /********************************************************
etisserant@166: * ConfigureSlaveNode is responsible to
etisserant@166: * - setup master RPDO 1 to receive TPDO 1 from id 0x40
etisserant@166: * - setup master TPDO 1 to send RPDO 1 to id 0x40
etisserant@166: ********************************************************/
etisserant@378: void TestMaster_initialisation(CO_Data* d)
etisserant@166: {
etisserant@166: UNS32 PDO1_COBID = 0x0180 + slavenodeid;
etisserant@166: UNS32 PDO2_COBID = 0x0200 + slavenodeid;
etisserant@166: UNS8 size = sizeof(UNS32);
etisserant@166:
etisserant@166: eprintf("TestMaster_initialisation\n");
etisserant@166:
etisserant@166: /*****************************************
etisserant@166: * Define RPDOs to match slave ID=0x40 TPDOs*
etisserant@166: *****************************************/
etisserant@175: writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
etisserant@166: 0x1400, /*UNS16 index*/
etisserant@166: 0x01, /*UNS8 subind*/
etisserant@166: &PDO1_COBID, /*void * pSourceData,*/
etisserant@166: &size, /* UNS8 * pExpectedSize*/
etisserant@166: RW); /* UNS8 checkAccess */
etisserant@166:
etisserant@166:
etisserant@166: /*****************************************
etisserant@166: * Define TPDOs to match slave ID=0x40 RPDOs*
etisserant@166: *****************************************/
etisserant@175: writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
etisserant@166: 0x1800, /*UNS16 index*/
etisserant@166: 0x01, /*UNS8 subind*/
etisserant@166: &PDO2_COBID, /*void * pSourceData,*/
etisserant@166: &size, /* UNS8 * pExpectedSize*/
etisserant@166: RW); /* UNS8 checkAccess */
etisserant@166: }
etisserant@166:
greg@454: static int init_step = 0;
etisserant@173:
etisserant@173: /*Froward declaration*/
etisserant@173: static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId);
etisserant@173:
etisserant@173: /**/
etisserant@173: static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
etisserant@173: {
etisserant@173: UNS32 abortCode;
etisserant@173:
etisserant@173: if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
etisserant@173: eprintf("Master : Failed in initializing slave %2.2x, step %d, AbortCode :%4.4x \n", nodeId, init_step, abortCode);
etisserant@173:
etisserant@173: /* Finalise last SDO transfer with this node */
etisserant@173: closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT);
etisserant@173:
etisserant@173: ConfigureSlaveNode(d, nodeId);
etisserant@173: }
etisserant@173:
etisserant@166: /********************************************************
etisserant@166: * ConfigureSlaveNode is responsible to
etisserant@166: * - setup slave TPDO 1 transmit time
etisserant@166: * - setup slave TPDO 2 transmit time
etisserant@166: * - setup slave Heartbeat Producer time
etisserant@166: * - switch to operational mode
etisserant@166: * - send NMT to slave
etisserant@166: ********************************************************
etisserant@166: * This an example of :
etisserant@166: * Network Dictionary Access (SDO) with Callback
etisserant@166: * Slave node state change request (NMT)
etisserant@166: ********************************************************
etisserant@166: * This is called first by TestMaster_preOperational
etisserant@166: * then it called again each time a SDO exchange is
etisserant@166: * finished.
etisserant@166: ********************************************************/
etisserant@166: static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)
etisserant@166: {
etisserant@166: UNS8 res;
etisserant@166: eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId);
etisserant@173: switch(++init_step){
etisserant@173: case 1:
etisserant@173: { /*disable Slave's TPDO 1 */
etisserant@173: UNS32 TPDO_COBId = 0x80000180 + nodeId;
etisserant@173:
etisserant@173: eprintf("Master : disable slave %2.2x TPDO 1 \n", nodeId);
etisserant@173: res = writeNetworkDictCallBack (d, /*CO_Data* d*/
etisserant@173: /**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
etisserant@173: nodeId, /*UNS8 nodeId*/
etisserant@173: 0x1800, /*UNS16 index*/
etisserant@173: 0x01, /*UNS8 subindex*/
etisserant@173: 4, /*UNS8 count*/
etisserant@173: 0, /*UNS8 dataType*/
etisserant@173: &TPDO_COBId,/*void *data*/
etisserant@173: CheckSDOAndContinue); /*SDOCallback_t Callback*/
etisserant@173: }
etisserant@173: break;
etisserant@173:
etisserant@173: case 2:
etisserant@173: { /*setup Slave's TPDO 1 to be transmitted on SYNC*/
etisserant@173: UNS8 Transmission_Type = 0x01;
etisserant@173:
etisserant@166: eprintf("Master : set slave %2.2x TPDO 1 transmit type\n", nodeId);
etisserant@166: res = writeNetworkDictCallBack (d, /*CO_Data* d*/
etisserant@166: /**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
etisserant@166: nodeId, /*UNS8 nodeId*/
etisserant@166: 0x1800, /*UNS16 index*/
etisserant@166: 0x02, /*UNS8 subindex*/
etisserant@166: 1, /*UNS8 count*/
etisserant@166: 0, /*UNS8 dataType*/
etisserant@166: &Transmission_Type,/*void *data*/
etisserant@173: CheckSDOAndContinue); /*SDOCallback_t Callback*/
etisserant@173: }
etisserant@173: break;
etisserant@173:
etisserant@173: case 3:
etisserant@173: { /*re-enable Slave's TPDO 1 */
etisserant@173: UNS32 TPDO_COBId = 0x00000180 + nodeId;
etisserant@173:
etisserant@173: eprintf("Master : re-enable slave %2.2x TPDO 1\n", nodeId);
etisserant@173: res = writeNetworkDictCallBack (d, /*CO_Data* d*/
etisserant@173: /**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
etisserant@173: nodeId, /*UNS8 nodeId*/
etisserant@173: 0x1800, /*UNS16 index*/
etisserant@173: 0x01, /*UNS8 subindex*/
etisserant@173: 4, /*UNS8 count*/
etisserant@173: 0, /*UNS8 dataType*/
etisserant@173: &TPDO_COBId,/*void *data*/
etisserant@173: CheckSDOAndContinue); /*SDOCallback_t Callback*/
etisserant@173: }
etisserant@166: break;
etisserant@166:
etisserant@173: case 4:
greg@335: { /*disable Slave's RPDO 1 */
etisserant@173: UNS32 TPDO_COBId = 0x80000200 + nodeId;
etisserant@173:
etisserant@173: eprintf("Master : disable slave %2.2x RPDO 1\n", nodeId);
etisserant@173: res = writeNetworkDictCallBack (d, /*CO_Data* d*/
etisserant@173: /**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
etisserant@173: nodeId, /*UNS8 nodeId*/
etisserant@173: 0x1400, /*UNS16 index*/
etisserant@173: 0x01, /*UNS8 subindex*/
etisserant@173: 4, /*UNS8 count*/
etisserant@173: 0, /*UNS8 dataType*/
etisserant@173: &TPDO_COBId,/*void *data*/
etisserant@173: CheckSDOAndContinue); /*SDOCallback_t Callback*/
etisserant@173: }
etisserant@173: break;
etisserant@173:
etisserant@166:
etisserant@173: case 5:
etisserant@173: {
etisserant@173: UNS8 Transmission_Type = 0x01;
etisserant@173:
etisserant@166: eprintf("Master : set slave %2.2x RPDO 1 receive type\n", nodeId);
etisserant@166: res = writeNetworkDictCallBack (d, /*CO_Data* d*/
etisserant@166: /**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
etisserant@173: nodeId, /*UNS8 nodeId*/
etisserant@166: 0x1400, /*UNS16 index*/
etisserant@166: 0x02, /*UNS8 subindex*/
etisserant@166: 1, /*UNS8 count*/
etisserant@166: 0, /*UNS8 dataType*/
etisserant@166: &Transmission_Type,/*void *data*/
etisserant@173: CheckSDOAndContinue); /*SDOCallback_t Callback*/
etisserant@173: }
etisserant@173: break;
etisserant@173:
etisserant@173: case 6:
greg@335: { /*re-enable Slave's RPDO 1 */
etisserant@173: UNS32 TPDO_COBId = 0x00000200 + nodeId;
etisserant@173:
etisserant@173: eprintf("Master : re-enable %2.2x RPDO 1\n", nodeId);
etisserant@173: res = writeNetworkDictCallBack (d, /*CO_Data* d*/
etisserant@173: /**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
etisserant@173: nodeId, /*UNS8 nodeId*/
etisserant@173: 0x1400, /*UNS16 index*/
etisserant@173: 0x01, /*UNS8 subindex*/
etisserant@173: 4, /*UNS8 count*/
etisserant@173: 0, /*UNS8 dataType*/
etisserant@173: &TPDO_COBId,/*void *data*/
etisserant@173: CheckSDOAndContinue); /*SDOCallback_t Callback*/
etisserant@173: }
etisserant@166: break;
etisserant@166:
etisserant@173: case 7:
etisserant@173: {
greg@335: /*set the heartbeat Producer Time*/
etisserant@173: UNS16 Heartbeat_Producer_Time = 0x03E8;
etisserant@166: eprintf("Master : set slave %2.2x heartbeat producer time \n", nodeId);
etisserant@166: res = writeNetworkDictCallBack (d, /*CO_Data* d*/
etisserant@166: /**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
etisserant@173: nodeId, /*UNS8 nodeId*/
etisserant@166: 0x1017, /*UNS16 index*/
etisserant@166: 0x00, /*UNS8 subindex*/
etisserant@166: 2, /*UNS8 count*/
etisserant@166: 0, /*UNS8 dataType*/
etisserant@166: &Heartbeat_Producer_Time,/*void *data*/
etisserant@173: CheckSDOAndContinue); /*SDOCallback_t Callback*/
etisserant@173: }
etisserant@173: break;
etisserant@173:
etisserant@173: case 8:
etisserant@173: { /*disable Slave's TPDO 2 */
etisserant@173: UNS32 TPDO_COBId = 0x80000280 + nodeId;
etisserant@173:
etisserant@173: eprintf("Master : disable slave %2.2x TPDO 2 \n", nodeId);
etisserant@173: res = writeNetworkDictCallBack (d, /*CO_Data* d*/
etisserant@173: /**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
etisserant@173: nodeId, /*UNS8 nodeId*/
etisserant@173: 0x1801, /*UNS16 index*/
etisserant@173: 0x01, /*UNS8 subindex*/
etisserant@173: 4, /*UNS8 count*/
etisserant@173: 0, /*UNS8 dataType*/
etisserant@173: &TPDO_COBId,/*void *data*/
etisserant@173: CheckSDOAndContinue); /*SDOCallback_t Callback*/
etisserant@173: }
etisserant@173: break;
etisserant@173:
etisserant@173: case 9:
etisserant@173: { /*disable Slave's TPDO 3 */
etisserant@173: UNS32 TPDO_COBId = 0x80000380 + nodeId;
etisserant@173:
etisserant@173: eprintf("Master : disable slave %2.2x TPDO 3 \n", nodeId);
etisserant@173: res = writeNetworkDictCallBack (d, /*CO_Data* d*/
etisserant@173: /**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
etisserant@173: nodeId, /*UNS8 nodeId*/
etisserant@173: 0x1802, /*UNS16 index*/
etisserant@173: 0x01, /*UNS8 subindex*/
etisserant@173: 4, /*UNS8 count*/
etisserant@173: 0, /*UNS8 dataType*/
etisserant@173: &TPDO_COBId,/*void *data*/
etisserant@173: CheckSDOAndContinue); /*SDOCallback_t Callback*/
etisserant@173: }
etisserant@173: break;
etisserant@173:
etisserant@173: case 10:
greg@335: { /*disable Slave's TPDO 4 */
etisserant@173: UNS32 TPDO_COBId = 0x80000480 + nodeId;
etisserant@173:
etisserant@173: eprintf("Master : disable slave %2.2x TPDO 4 \n", nodeId);
etisserant@173: res = writeNetworkDictCallBack (d, /*CO_Data* d*/
etisserant@173: /**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
etisserant@173: nodeId, /*UNS8 nodeId*/
etisserant@173: 0x1803, /*UNS16 index*/
etisserant@173: 0x01, /*UNS8 subindex*/
etisserant@173: 4, /*UNS8 count*/
etisserant@173: 0, /*UNS8 dataType*/
etisserant@173: &TPDO_COBId,/*void *data*/
etisserant@173: CheckSDOAndContinue); /*SDOCallback_t Callback*/
etisserant@173: }
etisserant@173: break;
etisserant@166:
etisserant@173: case 11:
etisserant@166: /* Put the master in operational mode */
etisserant@166: setState(d, Operational);
etisserant@166:
etisserant@166: /* Ask slave node to go in operational mode */
etisserant@173: masterSendNMTstateChange (d, nodeId, NMT_Start_Node);
etisserant@166: }
etisserant@166:
etisserant@166: }
etisserant@166:
etisserant@378: void TestMaster_preOperational(CO_Data* d)
etisserant@166: {
etisserant@166:
etisserant@166: eprintf("TestMaster_preOperational\n");
etisserant@166: ConfigureSlaveNode(&TestMaster_Data, slavenodeid);
etisserant@166:
etisserant@166: }
etisserant@166:
etisserant@378: void TestMaster_operational(CO_Data* d)
etisserant@166: {
etisserant@166: eprintf("TestMaster_operational\n");
etisserant@166: }
etisserant@166:
etisserant@378: void TestMaster_stopped(CO_Data* d)
etisserant@166: {
etisserant@166: eprintf("TestMaster_stopped\n");
etisserant@166: }
etisserant@166:
etisserant@378: void TestMaster_post_sync(CO_Data* d)
etisserant@166: {
etisserant@166: DO++;
greg@201: eprintf("MicroMod Digital Out: %2.2x\n",DO);
greg@201: eprintf("MicroMod Digital In (by bit): DI1: %2.2x DI2: %2.2x DI3: %2.2x DI4: %2.2x DI5: %2.2x DI6: %2.2x DI7: %2.2x DI8: %2.2x\n",DI1,DI2,DI3,DI4,DI5,DI6,DI7,DI8);
etisserant@166: }
etisserant@166:
etisserant@378: void TestMaster_post_TPDO(CO_Data* d)
etisserant@166: {
etisserant@166: // eprintf("TestMaster_post_TPDO\n");
etisserant@166: }
etisserant@166:
etisserant@166: //s_BOARD SlaveBoard = {"0", "500K"};
etisserant@331: s_BOARD MasterBoard = {"0", "125K"};
etisserant@166:
etisserant@166: #if !defined(WIN32) || defined(__CYGWIN__)
etisserant@166: void catch_signal(int sig)
etisserant@166: {
etisserant@166: signal(SIGTERM, catch_signal);
etisserant@166: signal(SIGINT, catch_signal);
etisserant@166:
etisserant@166: eprintf("Got Signal %d\n",sig);
etisserant@166: }
etisserant@166: #endif
etisserant@166:
greg@454: void help(void)
etisserant@166: {
etisserant@166: printf("**************************************************************\n");
etisserant@166: printf("* TestMasterMicroMod *\n");
etisserant@166: printf("* *\n");
etisserant@166: printf("* A simple example for PC. *\n");
etisserant@166: printf("* A CanOpen master that control a MicroMod module: *\n");
greg@180: printf("* - setup module TPDO 1 transmit type *\n");
greg@180: printf("* - setup module RPDO 1 transmit type *\n");
etisserant@166: printf("* - setup module hearbeatbeat period *\n");
greg@180: printf("* - disable others TPDOs *\n");
etisserant@166: printf("* - set state to operational *\n");
greg@180: printf("* - send periodic SYNC *\n");
etisserant@166: printf("* - send periodic RPDO 1 to Micromod (digital output) *\n");
etisserant@166: printf("* - listen Micromod's TPDO 1 (digital input) *\n");
greg@201: printf("* - Mapping RPDO 1 bit per bit (digital input) *\n");
etisserant@166: printf("* *\n");
etisserant@166: printf("* Usage: *\n");
etisserant@166: printf("* ./TestMasterMicroMod [OPTIONS] *\n");
etisserant@166: printf("* *\n");
etisserant@166: printf("* OPTIONS: *\n");
etisserant@166: printf("* -l : Can library [\"libcanfestival_can_virtual.so\"] *\n");
etisserant@166: printf("* *\n");
etisserant@166: printf("* Slave: *\n");
etisserant@166: printf("* -i : Slave Node id format [0x01 , 0x7F] *\n");
etisserant@166: printf("* *\n");
etisserant@166: printf("* Master: *\n");
etisserant@166: printf("* -m : bus name [\"1\"] *\n");
etisserant@169: printf("* -M : 1M,500K,250K,125K,100K,50K,20K,10K *\n");
etisserant@166: printf("* *\n");
etisserant@166: printf("**************************************************************\n");
etisserant@166: }
etisserant@166:
etisserant@166: /*************************** INIT *****************************************/
etisserant@166: void InitNodes(CO_Data* d, UNS32 id)
etisserant@166: {
etisserant@166: /****************************** INITIALISATION MASTER *******************************/
etisserant@166: if(MasterBoard.baudrate){
etisserant@166: /* Defining the node Id */
etisserant@166: setNodeId(&TestMaster_Data, 0x01);
etisserant@166:
etisserant@166: /* init */
etisserant@166: setState(&TestMaster_Data, Initialisation);
etisserant@166: }
etisserant@166: }
etisserant@166:
greg@454: /*************************** EXIT *****************************************/
greg@454: void Exit(CO_Data* d, UNS32 id)
greg@454: {
greg@454: masterSendNMTstateChange(&TestMaster_Data, 0x02, NMT_Reset_Node);
greg@454:
greg@454: //Stop master
greg@454: setState(&TestMaster_Data, Stopped);
greg@454: }
etisserant@166: /****************************************************************************/
etisserant@166: /*************************** MAIN *****************************************/
etisserant@166: /****************************************************************************/
etisserant@166: int main(int argc,char **argv)
etisserant@166: {
etisserant@166:
etisserant@191: int c;
etisserant@166: extern char *optarg;
etisserant@166: char* LibraryPath="libcanfestival_can_virtual.so";
etisserant@166: char *snodeid;
etisserant@166: while ((c = getopt(argc, argv, "-m:s:M:S:l:i:")) != EOF)
etisserant@166: {
etisserant@166: switch(c)
etisserant@166: {
etisserant@166: case 'm' :
etisserant@166: if (optarg[0] == 0)
etisserant@166: {
etisserant@166: help();
etisserant@166: exit(1);
etisserant@166: }
etisserant@166: MasterBoard.busname = optarg;
etisserant@166: break;
etisserant@166: case 'M' :
etisserant@166: if (optarg[0] == 0)
etisserant@166: {
etisserant@166: help();
etisserant@166: exit(1);
etisserant@166: }
etisserant@166: MasterBoard.baudrate = optarg;
etisserant@166: break;
etisserant@166: case 'l' :
etisserant@166: if (optarg[0] == 0)
etisserant@166: {
etisserant@166: help();
etisserant@166: exit(1);
etisserant@166: }
etisserant@166: LibraryPath = optarg;
etisserant@166: break;
etisserant@166: case 'i' :
etisserant@166: if (optarg[0] == 0)
etisserant@166: {
etisserant@166: help();
etisserant@166: exit(1);
etisserant@166: }
etisserant@166: snodeid = optarg;
etisserant@166: sscanf(snodeid,"%x",&slavenodeid);
etisserant@166: break;
etisserant@166: default:
etisserant@166: help();
etisserant@166: exit(1);
etisserant@166: }
etisserant@166: }
etisserant@166:
etisserant@166: #if !defined(WIN32) || defined(__CYGWIN__)
etisserant@166: /* install signal handler for manual break */
etisserant@166: signal(SIGTERM, catch_signal);
etisserant@166: signal(SIGINT, catch_signal);
greg@454: TimerInit();
etisserant@166: #endif
etisserant@166:
etisserant@166: #ifndef NOT_USE_DYNAMIC_LOADING
etisserant@166: LoadCanDriver(LibraryPath);
etisserant@166: #endif
etisserant@166:
etisserant@169: TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
etisserant@169: TestMaster_Data.initialisation = TestMaster_initialisation;
etisserant@169: TestMaster_Data.preOperational = TestMaster_preOperational;
etisserant@169: TestMaster_Data.operational = TestMaster_operational;
etisserant@169: TestMaster_Data.stopped = TestMaster_stopped;
etisserant@169: TestMaster_Data.post_sync = TestMaster_post_sync;
etisserant@169: TestMaster_Data.post_TPDO = TestMaster_post_TPDO;
etisserant@169:
etisserant@169: if(!canOpen(&MasterBoard,&TestMaster_Data)){
etisserant@169: eprintf("Cannot open Master Board\n");
etisserant@169: goto fail_master;
etisserant@166: }
etisserant@166:
etisserant@166: // Start timer thread
etisserant@166: StartTimerLoop(&InitNodes);
etisserant@166:
etisserant@166: // wait Ctrl-C
etisserant@166: pause();
etisserant@166: eprintf("Finishing.\n");
etisserant@166:
etisserant@166: // Stop timer thread
greg@454: StopTimerLoop(&Exit);
etisserant@166:
etisserant@166: fail_master:
etisserant@166: if(MasterBoard.baudrate) canClose(&TestMaster_Data);
etisserant@166:
greg@454: TimerCleanup();
etisserant@166: return 0;
etisserant@166: }
etisserant@166:
etisserant@166: