CO_main_basic.c

/*
 * CANopen main program file for CANopenNode on Linux.
 *
 * @file        CO_main_basic.c
 * @author      Janez Paternoster
 * @copyright   2020 Janez Paternoster
 *
 * This file is part of <https://github.com/CANopenNode/CANopenNode>, a CANopen Stack.
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this
 * file except in compliance with the License. You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software distributed under the License is
 * distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and limitations under the License.
 */

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <sched.h>
#include <signal.h>
#include <errno.h>
#include <stdarg.h>
#include <syslog.h>
#include <time.h>
#include <sys/epoll.h>
#include <net/if.h>
#include <linux/reboot.h>
#include <sys/reboot.h>

#include "CANopen.h"
#include "OD.h"
#include "CO_error.h"
#include "CO_epoll_interface.h"
#include "CO_storageLinux.h"

/* Include optional external application functions */
#ifdef CO_USE_APPLICATION
#include "CO_application.h"
#endif

/* Add trace functionality for recording variables over time */
#if (CO_CONFIG_TRACE) & CO_CONFIG_TRACE_ENABLE
#include "CO_time_trace.h"
#endif

/* Interval of mainline and real-time thread in microseconds */
#ifndef MAIN_THREAD_INTERVAL_US
#define MAIN_THREAD_INTERVAL_US 100000
#endif
#ifndef TMR_THREAD_INTERVAL_US
#define TMR_THREAD_INTERVAL_US 1000
#endif

/* default values for CO_CANopenInit() */
#ifndef NMT_CONTROL
#define NMT_CONTROL                                                                                                    \
    CO_NMT_STARTUP_TO_OPERATIONAL                                                                                      \
    | CO_NMT_ERR_ON_ERR_REG | CO_ERR_REG_GENERIC_ERR | CO_ERR_REG_COMMUNICATION
#endif
#ifndef FIRST_HB_TIME
#define FIRST_HB_TIME 500
#endif
#ifndef SDO_SRV_TIMEOUT_TIME
#define SDO_SRV_TIMEOUT_TIME 1000
#endif
#ifndef SDO_CLI_TIMEOUT_TIME
#define SDO_CLI_TIMEOUT_TIME 500
#endif
#ifndef SDO_CLI_BLOCK
#define SDO_CLI_BLOCK false
#endif
#ifndef OD_STATUS_BITS
#define OD_STATUS_BITS NULL
#endif
/* CANopen gateway enable switch for CO_epoll_processMain() */
#ifndef GATEWAY_ENABLE
#define GATEWAY_ENABLE true
#endif
/* Interval for time stamp message in milliseconds */
#ifndef TIME_STAMP_INTERVAL_MS
#define TIME_STAMP_INTERVAL_MS 10000
#endif

/* Definitions for application specific data storage objects */
#ifndef CO_STORAGE_APPLICATION
#define CO_STORAGE_APPLICATION
#endif
/* Interval for automatic data storage in microseconds */
#ifndef CO_STORAGE_AUTO_INTERVAL
#define CO_STORAGE_AUTO_INTERVAL 60000000
#endif

/* CANopen object */
CO_t* CO = NULL;

/* Active node-id, copied from pendingNodeId in the communication reset */
static uint8_t CO_activeNodeId = CO_LSS_NODE_ID_ASSIGNMENT;

/* Data block for mainline data, which can be stored to non-volatile memory */
typedef struct {
    /* Pending CAN bit rate, can be set by argument or LSS slave. */
    uint16_t pendingBitRate;
    /* Pending CANopen NodeId, can be set by argument or LSS slave. */
    uint8_t pendingNodeId;
} mainlineStorage_t;

mainlineStorage_t mlStorage = {0};

#if (CO_CONFIG_TRACE) & CO_CONFIG_TRACE_ENABLE
static CO_time_t CO_time; /* Object for current time */
#endif

/* Helper functions ***********************************************************/
#ifndef CO_SINGLE_THREAD
/* Realtime thread */
CO_epoll_t epRT;
static void* rt_thread(void* arg);
#endif

/* Signal handler */
volatile sig_atomic_t CO_endProgram = 0;

static void
sigHandler(int sig) {
    (void)sig;
    CO_endProgram = 1;
}

/* Message logging function */
void
log_printf(int priority, const char* format, ...) {
    va_list ap;

    va_start(ap, format);
    vsyslog(priority, format, ap);
    va_end(ap);

#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG
    if (CO != NULL) {
        char buf[200];
        time_t timer;
        struct tm* tm_info;
        size_t len;

        timer = time(NULL);
        tm_info = localtime(&timer);
        len = strftime(buf, sizeof(buf), "%Y-%m-%d %H:%M:%S: ", tm_info);

        va_start(ap, format);
        vsnprintf(buf + len, sizeof(buf) - len - 2, format, ap);
        va_end(ap);
        strcat(buf, "\r\n");
        CO_GTWA_log_print(CO->gtwa, buf);
    }
#endif
}

#if (CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER
/* callback for emergency messages */
static void
EmergencyRxCallback(const uint16_t ident, const uint16_t errorCode, const uint8_t errorRegister, const uint8_t errorBit,
                    const uint32_t infoCode) {
    int16_t nodeIdRx = ident ? (ident & 0x7F) : CO_activeNodeId;

    log_printf(LOG_NOTICE, DBG_EMERGENCY_RX, nodeIdRx, errorCode, errorRegister, errorBit, infoCode);
}
#endif

#if ((CO_CONFIG_NMT)&CO_CONFIG_NMT_CALLBACK_CHANGE) || ((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_CHANGE)
/* return string description of NMT state. */
static char*
NmtState2Str(CO_NMT_internalState_t state) {
    switch (state) {
        case CO_NMT_INITIALIZING: return "initializing";
        case CO_NMT_PRE_OPERATIONAL: return "pre-operational";
        case CO_NMT_OPERATIONAL: return "operational";
        case CO_NMT_STOPPED: return "stopped";
        default: return "unknown";
    }
}
#endif

#if (CO_CONFIG_NMT) & CO_CONFIG_NMT_CALLBACK_CHANGE
/* callback for NMT change messages */
static void
NmtChangedCallback(CO_NMT_internalState_t state) {
    log_printf(LOG_NOTICE, DBG_NMT_CHANGE, NmtState2Str(state), state);
}
#endif

#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE
/* callback for monitoring Heartbeat remote NMT state change */
static void
HeartbeatNmtChangedCallback(uint8_t nodeId, uint8_t idx, CO_NMT_internalState_t state, void* object) {
    (void)object;
    log_printf(LOG_NOTICE, DBG_HB_CONS_NMT_CHANGE, nodeId, idx, NmtState2Str(state), state);
}
#endif

/* callback for storing node id and bitrate */
static bool_t
LSScfgStoreCallback(void* object, uint8_t id, uint16_t bitRate) {
    mainlineStorage_t* mainlineStorage = object;
    mainlineStorage->pendingNodeId = id;
    mainlineStorage->pendingBitRate = bitRate;
    return true;
}

/* Print usage */
static void
printUsage(char* progName) {
    printf("Usage: %s <CAN device name> [options]\n", progName);
    printf("\n"
           "Options:\n"
           "  -i <Node ID>        CANopen Node-id (1..127) or 0xFF (LSS unconfigured).\n");
#ifndef CO_SINGLE_THREAD
    printf("  -p <RT priority>    Real-time priority of RT thread (1 .. 99). If not set or\n"
           "                      set to -1, then normal scheduler is used for RT thread.\n");
#endif
    printf("  -r                  Enable reboot on CANopen NMT reset_node command. \n");
#if (CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE
    printf("  -s <storage path>   Path and filename prefix for data storage files.\n"
           "                      By default files are stored in current dictionary.\n");
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
    printf("  -c <interface>      Enable command interface for master functionality.\n"
           "                      One of three types of interfaces can be specified as:\n"
           "                   1. \"stdio\" - Standard IO of a program (terminal).\n"
           "                   2. \"local-<file path>\" - Local socket interface on file\n"
           "                      path, for example \"local-/tmp/CO_command_socket\".\n"
           "                   3. \"tcp-<port>\" - Tcp socket interface on specified \n"
           "                      port, for example \"tcp-60000\".\n"
           "                      Note that this option may affect security of the CAN.\n"
           "  -T <timeout_time>   If -c is specified as local or tcp socket, then this\n"
           "                      parameter specifies socket timeout time in milliseconds.\n"
           "                      Default is 0 - no timeout on established connection.\n");
#endif
    printf("\n"
           "See also: https://github.com/CANopenNode/CANopenNode\n"
           "\n");
}

/*******************************************************************************
 * Mainline thread
 ******************************************************************************/
int
main(int argc, char* argv[]) {
    int programExit = EXIT_SUCCESS;
    CO_epoll_t epMain;
#ifndef CO_SINGLE_THREAD
    pthread_t rt_thread_id;
    int rtPriority = -1;
#endif
    CO_NMT_reset_cmd_t reset = CO_RESET_NOT;
    CO_ReturnError_t err;
    CO_CANptrSocketCan_t CANptr = {0};
    int opt;
    bool_t firstRun = true;

    char* CANdevice = NULL;      /* CAN device, configurable by arguments. */
    int16_t nodeIdFromArgs = -1; /* May be set by arguments */
    bool_t rebootEnable = false; /* Configurable by arguments */

#if (CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE
    CO_storage_t storage;
    CO_storage_entry_t storageEntries[] = {
        {.addr = &OD_PERSIST_COMM,
         .len = sizeof(OD_PERSIST_COMM),
         .subIndexOD = 2,
         .attr = CO_storage_cmd | CO_storage_restore,
         .filename = {'o', 'd', '_', 'c', 'o', 'm', 'm', '.', 'p', 'e', 'r', 's', 'i', 's', 't', '\0'}},
        {.addr = &mlStorage,
         .len = sizeof(mlStorage),
         .subIndexOD = 4,
         .attr = CO_storage_cmd | CO_storage_auto | CO_storage_restore,
         .filename = {'m', 'a', 'i', 'n', 'l', 'i', 'n', 'e', '.', 'p', 'e', 'r', 's', 'i', 's', 't', '\0'}},
        CO_STORAGE_APPLICATION};
    uint8_t storageEntriesCount = sizeof(storageEntries) / sizeof(storageEntries[0]);
    uint32_t storageInitError = 0;
    uint32_t storageErrorPrev = 0;
    uint32_t storageIntervalTimer = 0;
#endif

#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
    CO_epoll_gtw_t epGtw;
    /* values from CO_commandInterface_t */
    int32_t commandInterface = CO_COMMAND_IF_DISABLED;
    /* local socket path if commandInterface == CO_COMMAND_IF_LOCAL_SOCKET */
    char* localSocketPath = NULL;
    uint32_t socketTimeout_ms = 0;
#else
#define commandInterface 0
#define localSocketPath  NULL
#endif

    /* configure system log */
    setlogmask(LOG_UPTO(LOG_DEBUG));                  /* LOG_DEBUG - log all messages */
    openlog(argv[0], LOG_PID | LOG_PERROR, LOG_USER); /* print also to standard error */

    /* Get program options */
    if (argc < 2 || strcmp(argv[1], "--help") == 0) {
        printUsage(argv[0]);
        exit(EXIT_SUCCESS);
    }
    while ((opt = getopt(argc, argv, "i:p:rc:T:s:")) != -1) {
        switch (opt) {
            case 'i': {
                long int nodeIdLong = strtol(optarg, NULL, 0);
                nodeIdFromArgs = (nodeIdLong < 0 || nodeIdLong > 0xFF) ? 0 : (uint8_t)strtol(optarg, NULL, 0);
                break;
            }
#ifndef CO_SINGLE_THREAD
            case 'p': rtPriority = strtol(optarg, NULL, 0); break;
#endif
            case 'r': rebootEnable = true; break;
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
            case 'c': {
                const char* comm_stdio = "stdio";
                const char* comm_local = "local-";
                const char* comm_tcp = "tcp-";
                if (strcmp(optarg, comm_stdio) == 0) {
                    commandInterface = CO_COMMAND_IF_STDIO;
                } else if (strncmp(optarg, comm_local, strlen(comm_local)) == 0) {
                    commandInterface = CO_COMMAND_IF_LOCAL_SOCKET;
                    localSocketPath = &optarg[6];
                } else if (strncmp(optarg, comm_tcp, strlen(comm_tcp)) == 0) {
                    const char* portStr = &optarg[4];
                    uint16_t port;
                    int nMatch = sscanf(portStr, "%hu", &port);
                    if (nMatch != 1) {
                        log_printf(LOG_CRIT, DBG_NOT_TCP_PORT, portStr);
                        exit(EXIT_FAILURE);
                    }
                    commandInterface = port;
                } else {
                    log_printf(LOG_CRIT, DBG_ARGUMENT_UNKNOWN, "-c", optarg);
                    exit(EXIT_FAILURE);
                }
                break;
            }
            case 'T': socketTimeout_ms = strtoul(optarg, NULL, 0); break;
#endif
#if (CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE
            case 's': {
                /* add prefix to each storageEntries[i].filename */
                for (uint8_t i = 0; i < storageEntriesCount; i++) {
                    char* filePrefix = optarg;
                    size_t filePrefixLen = strlen(filePrefix);
                    char* file = storageEntries[i].filename;
                    size_t fileLen = strlen(file);
                    if (fileLen + filePrefixLen < CO_STORAGE_PATH_MAX) {
                        memmove(&file[filePrefixLen], &file[0], fileLen + 1);
                        memcpy(&file[0], &filePrefix[0], filePrefixLen);
                    }
                }
                break;
            }
#endif
            default: printUsage(argv[0]); exit(EXIT_FAILURE);
        }
    }

    if (optind < argc) {
        CANdevice = argv[optind];
        CANptr.can_ifindex = if_nametoindex(CANdevice);
    }

    /* Valid NodeId is 1..127 or 0xFF(unconfigured) in case of LSSslaveEnabled */
    if ((nodeIdFromArgs == 0 || nodeIdFromArgs > 127)
        && (!CO_isLSSslaveEnabled(CO) || nodeIdFromArgs != CO_LSS_NODE_ID_ASSIGNMENT)) {
        log_printf(LOG_CRIT, DBG_WRONG_NODE_ID, nodeIdFromArgs);
        printUsage(argv[0]);
        exit(EXIT_FAILURE);
    }

#ifndef CO_SINGLE_THREAD
    if (rtPriority != -1
        && (rtPriority < sched_get_priority_min(SCHED_FIFO) || rtPriority > sched_get_priority_max(SCHED_FIFO))) {
        log_printf(LOG_CRIT, DBG_WRONG_PRIORITY, rtPriority);
        printUsage(argv[0]);
        exit(EXIT_FAILURE);
    }
#endif

    if (CANptr.can_ifindex == 0) {
        log_printf(LOG_CRIT, DBG_NO_CAN_DEVICE, CANdevice);
        exit(EXIT_FAILURE);
    }

    log_printf(LOG_INFO, DBG_CAN_OPEN_INFO, mlStorage.pendingNodeId, "starting");

    /* Allocate memory for CANopen objects */
    uint32_t heapMemoryUsed = 0;
    CO_config_t* config_ptr = NULL;
#ifdef CO_MULTIPLE_OD
    /* example usage of CO_MULTIPLE_OD (but still single OD here) */
    CO_config_t co_config = {0};
    OD_INIT_CONFIG(co_config); /* helper macro from OD.h */
#if (CO_CONFIG_LEDS) & CO_CONFIG_LEDS_ENABLE
    co_config.CNT_LEDS = 1;
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_SLAVE
    co_config.CNT_LSS_SLV = 1;
#endif
#if (CO_CONFIG_LSS) & CO_CONFIG_LSS_MASTER
    co_config.CNT_LSS_MST = 1;
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
    co_config.CNT_GTWA = 1;
#endif
#if (CO_CONFIG_TRACE) & CO_CONFIG_TRACE_ENABLE
    co_config.CNT_TRACE = 1;
#endif
    config_ptr = &co_config;
#endif /* CO_MULTIPLE_OD */
    CO = CO_new(config_ptr, &heapMemoryUsed);
    if (CO == NULL) {
        log_printf(LOG_CRIT, DBG_GENERAL, "CO_new(), heapMemoryUsed=", heapMemoryUsed);
        exit(EXIT_FAILURE);
    }

#if (CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE
    err = CO_storageLinux_init(&storage, CO->CANmodule, OD_ENTRY_H1010_storeParameters,
                               OD_ENTRY_H1011_restoreDefaultParameters, storageEntries, storageEntriesCount,
                               &storageInitError);

    if (err != CO_ERROR_NO && err != CO_ERROR_DATA_CORRUPT) {
        char* filename = storageInitError < storageEntriesCount ? storageEntries[storageInitError].filename : "???";
        log_printf(LOG_CRIT, DBG_STORAGE, filename);
        exit(EXIT_FAILURE);
    }
#endif
#ifdef CO_USE_APPLICATION
    /* Execute optional external application code */
    uint32_t errInfo_app_programStart = 0;
    err = app_programStart(&mlStorage.pendingBitRate, &mlStorage.pendingNodeId, &errInfo_app_programStart);
    if (err != CO_ERROR_NO) {
        if (err == CO_ERROR_OD_PARAMETERS) {
            log_printf(LOG_CRIT, DBG_OD_ENTRY, errInfo_app_programStart);
        } else {
            log_printf(LOG_CRIT, DBG_CAN_OPEN, "app_programStart()", err);
        }
        exit(EXIT_FAILURE);
    }
#endif

    /* Overwrite node-id, if specified by program arguments */
    if (nodeIdFromArgs > 0) {
        mlStorage.pendingNodeId = (uint8_t)nodeIdFromArgs;
    }
    /* verify stored values */
    if (mlStorage.pendingNodeId < 1 || mlStorage.pendingNodeId > 127) {
        mlStorage.pendingNodeId = CO_LSS_NODE_ID_ASSIGNMENT;
    }

    /* Catch signals SIGINT and SIGTERM */
    if (signal(SIGINT, sigHandler) == SIG_ERR) {
        log_printf(LOG_CRIT, DBG_ERRNO, "signal(SIGINT, sigHandler)");
        exit(EXIT_FAILURE);
    }
    if (signal(SIGTERM, sigHandler) == SIG_ERR) {
        log_printf(LOG_CRIT, DBG_ERRNO, "signal(SIGTERM, sigHandler)");
        exit(EXIT_FAILURE);
    }

    /* get current time for CO_TIME_set(), since January 1, 1984, UTC. */
    struct timespec ts;
    if (clock_gettime(CLOCK_REALTIME, &ts) == -1) {
        log_printf(LOG_CRIT, DBG_GENERAL, "clock_gettime(main)", 0);
        exit(EXIT_FAILURE);
    }
    uint16_t time_days = (uint16_t)(ts.tv_sec / (24 * 60 * 60));
    time_days -= 5113; /* difference between Unix epoch and CANopen Epoch */
    uint32_t time_ms = (uint32_t)(ts.tv_sec % (24 * 60 * 60)) * 1000;
    time_ms += ts.tv_nsec / 1000000;

    /* Create epoll functions */
    err = CO_epoll_create(&epMain, MAIN_THREAD_INTERVAL_US);
    if (err != CO_ERROR_NO) {
        log_printf(LOG_CRIT, DBG_GENERAL, "CO_epoll_create(main), err=", err);
        exit(EXIT_FAILURE);
    }
#ifndef CO_SINGLE_THREAD
    err = CO_epoll_create(&epRT, TMR_THREAD_INTERVAL_US);
    if (err != CO_ERROR_NO) {
        log_printf(LOG_CRIT, DBG_GENERAL, "CO_epoll_create(RT), err=", err);
        exit(EXIT_FAILURE);
    }
    CANptr.epoll_fd = epRT.epoll_fd;
#else
    CANptr.epoll_fd = epMain.epoll_fd;
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
    err = CO_epoll_createGtw(&epGtw, epMain.epoll_fd, commandInterface, socketTimeout_ms, localSocketPath);
    if (err != CO_ERROR_NO) {
        log_printf(LOG_CRIT, DBG_GENERAL, "CO_epoll_createGtw(), err=", err);
        exit(EXIT_FAILURE);
    }
#endif

    while (reset != CO_RESET_APP && reset != CO_RESET_QUIT && CO_endProgram == 0) {
        /* CANopen communication reset - initialize CANopen objects *******************/
        uint32_t errInfo;

        /* Wait rt_thread. */
        if (!firstRun) {
            CO_LOCK_OD(CO->CANmodule);
            CO->CANmodule->CANnormal = false;
            CO_UNLOCK_OD(CO->CANmodule);
        }

        /* Enter CAN configuration. */
        CO_CANsetConfigurationMode((void*)&CANptr);
        CO_CANmodule_disable(CO->CANmodule);

        /* initialize CANopen */
        err = CO_CANinit(CO, (void*)&CANptr, 0 /* bit rate not used */);
        if (err != CO_ERROR_NO) {
            log_printf(LOG_CRIT, DBG_CAN_OPEN, "CO_CANinit()", err);
            programExit = EXIT_FAILURE;
            CO_endProgram = 1;
            continue;
        }

        CO_LSS_address_t lssAddress = {.identity = {.vendorID = OD_PERSIST_COMM.x1018_identity.vendor_ID,
                                                    .productCode = OD_PERSIST_COMM.x1018_identity.productCode,
                                                    .revisionNumber = OD_PERSIST_COMM.x1018_identity.revisionNumber,
                                                    .serialNumber = OD_PERSIST_COMM.x1018_identity.serialNumber}};
        err = CO_LSSinit(CO, &lssAddress, &mlStorage.pendingNodeId, &mlStorage.pendingBitRate);
        if (err != CO_ERROR_NO) {
            log_printf(LOG_CRIT, DBG_CAN_OPEN, "CO_LSSinit()", err);
            programExit = EXIT_FAILURE;
            CO_endProgram = 1;
            continue;
        }

        CO_activeNodeId = mlStorage.pendingNodeId;
        errInfo = 0;

        err = CO_CANopenInit(CO,                   /* CANopen object */
                             NULL,                 /* alternate NMT */
                             NULL,                 /* alternate em */
                             OD,                   /* Object dictionary */
                             OD_STATUS_BITS,       /* Optional OD_statusBits */
                             NMT_CONTROL,          /* CO_NMT_control_t */
                             FIRST_HB_TIME,        /* firstHBTime_ms */
                             SDO_SRV_TIMEOUT_TIME, /* SDOserverTimeoutTime_ms */
                             SDO_CLI_TIMEOUT_TIME, /* SDOclientTimeoutTime_ms */
                             SDO_CLI_BLOCK,        /* SDOclientBlockTransfer */
                             CO_activeNodeId, &errInfo);
        if (err != CO_ERROR_NO && err != CO_ERROR_NODE_ID_UNCONFIGURED_LSS) {
            if (err == CO_ERROR_OD_PARAMETERS) {
                log_printf(LOG_CRIT, DBG_OD_ENTRY, errInfo);
            } else {
                log_printf(LOG_CRIT, DBG_CAN_OPEN, "CO_CANopenInit()", err);
            }
            programExit = EXIT_FAILURE;
            CO_endProgram = 1;
            continue;
        }

        /* initialize part of threadMain and callbacks */
        CO_epoll_initCANopenMain(&epMain, CO);
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
        CO_epoll_initCANopenGtw(&epGtw, CO);
#endif
        CO_LSSslave_initCfgStoreCall(CO->LSSslave, &mlStorage, LSScfgStoreCallback);
        if (!CO->nodeIdUnconfigured) {
            if (errInfo != 0) {
                CO_errorReport(CO->em, CO_EM_INCONSISTENT_OBJECT_DICT, CO_EMC_DATA_SET, errInfo);
            }
#if (CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER
            CO_EM_initCallbackRx(CO->em, EmergencyRxCallback);
#endif
#if (CO_CONFIG_NMT) & CO_CONFIG_NMT_CALLBACK_CHANGE
            CO_NMT_initCallbackChanged(CO->NMT, NmtChangedCallback);
#endif
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE
            CO_HBconsumer_initCallbackNmtChanged(CO->HBcons, 0, NULL, HeartbeatNmtChangedCallback);
#endif
#if (CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE
            if (storageInitError != 0) {
                CO_errorReport(CO->em, CO_EM_NON_VOLATILE_MEMORY, CO_EMC_HARDWARE, storageInitError);
            }
#endif
#ifdef CO_USE_APPLICATION
            if (errInfo_app_programStart != 0) {
                CO_errorReport(CO->em, CO_EM_INCONSISTENT_OBJECT_DICT, CO_EMC_DATA_SET, errInfo_app_programStart);
            }
#endif

#if (CO_CONFIG_TRACE) & CO_CONFIG_TRACE_ENABLE
            /* Initialize time */
            CO_time_init(&CO_time, CO->SDO[0], &OD_time.epochTimeBaseMs, &OD_time.epochTimeOffsetMs, 0x2130);
#endif
            log_printf(LOG_INFO, DBG_CAN_OPEN_INFO, CO_activeNodeId, "communication reset");
        } else {
            log_printf(LOG_INFO, DBG_CAN_OPEN_INFO, CO_activeNodeId, "node-id not initialized");
        }

        /* First time only initialization. */
        if (firstRun) {
            firstRun = false;
            CO_TIME_set(CO->TIME, time_ms, time_days, TIME_STAMP_INTERVAL_MS);
#ifndef CO_SINGLE_THREAD
            /* Create rt_thread and set priority */
            if (pthread_create(&rt_thread_id, NULL, rt_thread, NULL) != 0) {
                log_printf(LOG_CRIT, DBG_ERRNO, "pthread_create(rt_thread)");
                programExit = EXIT_FAILURE;
                CO_endProgram = 1;
                continue;
            }
            if (rtPriority > 0) {
                struct sched_param param;

                param.sched_priority = rtPriority;
                if (pthread_setschedparam(rt_thread_id, SCHED_FIFO, &param) != 0) {
                    log_printf(LOG_CRIT, DBG_ERRNO, "pthread_setschedparam()");
                    programExit = EXIT_FAILURE;
                    CO_endProgram = 1;
                    continue;
                }
            }
#endif
        } /* if(firstRun) */

#ifdef CO_USE_APPLICATION
        /* Execute optional external application code */
        app_communicationReset(CO);
#endif

        errInfo = 0;
        err = CO_CANopenInitPDO(CO,     /* CANopen object */
                                CO->em, /* emergency object */
                                OD,     /* Object dictionary */
                                CO_activeNodeId, &errInfo);
        if (err != CO_ERROR_NO && err != CO_ERROR_NODE_ID_UNCONFIGURED_LSS) {
            if (err == CO_ERROR_OD_PARAMETERS) {
                log_printf(LOG_CRIT, DBG_OD_ENTRY, errInfo);
            } else {
                log_printf(LOG_CRIT, DBG_CAN_OPEN, "CO_CANopenInitPDO()", err);
            }
            programExit = EXIT_FAILURE;
            CO_endProgram = 1;
            continue;
        }

        /* start CAN */
        CO_CANsetNormalMode(CO->CANmodule);

        reset = CO_RESET_NOT;

        log_printf(LOG_INFO, DBG_CAN_OPEN_INFO, CO_activeNodeId, "running ...");

        while (reset == CO_RESET_NOT && CO_endProgram == 0) {
            /* loop for normal program execution ******************************************/
            CO_epoll_wait(&epMain);
#ifdef CO_SINGLE_THREAD
            CO_epoll_processRT(&epMain, CO, false);
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
            CO_epoll_processGtw(&epGtw, CO, &epMain);
#endif
            CO_epoll_processMain(&epMain, CO, GATEWAY_ENABLE, &reset);
            CO_epoll_processLast(&epMain);

#ifdef CO_USE_APPLICATION
            /* Execute optional external application code */
            app_programAsync(CO, epMain.timeDifference_us);
#endif

#if (CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE
            /* don't save more often than interval */
            if (storageIntervalTimer < CO_STORAGE_AUTO_INTERVAL) {
                storageIntervalTimer += epMain.timeDifference_us;
            } else {
                uint32_t mask = CO_storageLinux_auto_process(&storage, false);
                if (mask != storageErrorPrev && !CO->nodeIdUnconfigured) {
                    if (mask != 0) {
                        CO_errorReport(CO->em, CO_EM_NON_VOLATILE_AUTO_SAVE, CO_EMC_HARDWARE, mask);
                    } else {
                        CO_errorReset(CO->em, CO_EM_NON_VOLATILE_AUTO_SAVE, 0);
                    }
                }
                storageErrorPrev = mask;
                storageIntervalTimer = 0;
            }
#endif
        }
    } /* while(reset != CO_RESET_APP */

    /* program exit ***************************************************************/
    /* join threads */
    CO_endProgram = 1;
#ifndef CO_SINGLE_THREAD
    if (pthread_join(rt_thread_id, NULL) != 0) {
        log_printf(LOG_CRIT, DBG_ERRNO, "pthread_join()");
        exit(EXIT_FAILURE);
    }
#endif
#ifdef CO_USE_APPLICATION
    /* Execute optional external application code */
    app_programEnd();
#endif

#if (CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE
    CO_storageLinux_auto_process(&storage, true);
#endif

    /* delete objects from memory */
#ifndef CO_SINGLE_THREAD
    CO_epoll_close(&epRT);
#endif
    CO_epoll_close(&epMain);
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
    CO_epoll_closeGtw(&epGtw);
#endif
    CO_CANsetConfigurationMode((void*)&CANptr);
    CO_delete(CO);

    log_printf(LOG_INFO, DBG_CAN_OPEN_INFO, CO_activeNodeId, "finished");

    /* Flush all buffers (and reboot) */
    if (rebootEnable && reset == CO_RESET_APP) {
        sync();
        if (reboot(LINUX_REBOOT_CMD_RESTART) != 0) {
            log_printf(LOG_CRIT, DBG_ERRNO, "reboot()");
            exit(EXIT_FAILURE);
        }
    }

    exit(programExit);
}

#ifndef CO_SINGLE_THREAD
/*******************************************************************************
 * Realtime thread for CAN receive and threadTmr
 ******************************************************************************/
static void*
rt_thread(void* arg) {
    (void)arg;
    /* Endless loop */
    while (CO_endProgram == 0) {

        CO_epoll_wait(&epRT);
        CO_epoll_processRT(&epRT, CO, true);
        CO_epoll_processLast(&epRT);

#if (CO_CONFIG_TRACE) & CO_CONFIG_TRACE_ENABLE
        /* Monitor variables with trace objects */
        CO_time_process(&CO_time);
        for (i = 0; i < OD_traceEnable && i < co->CNT_TRACE; i++) {
            CO_trace_process(CO->trace[i], *CO_time.epochTimeOffsetMs);
        }
#endif

#ifdef CO_USE_APPLICATION
        /* Execute optional external application code */
        app_programRt(CO, epRT.timeDifference_us);
#endif
    }

    return NULL;
}
#endif