more flexibel nmt slave config, add mode = automatic to restart nodes…

… that are rebooting, also start automatic node when node starts

include/canopen.hrl

@@ -254,10 +254,9 @@
 
 %%
 -define(COBID_TO_CANID(ID),
-	if ?is_cobid_extended((ID)) ->
-		((ID) band ?COBID_ENTRY_ID_MASK) bor ?CAN_EFF_FLAG;
-	   true ->
-		((ID) band ?CAN_SFF_MASK)
+	case ?is_cobid_extended((ID)) of
+	    true -> ((ID) band ?COBID_ENTRY_ID_MASK) bor ?CAN_EFF_FLAG;
+	    false -> ((ID) band ?CAN_SFF_MASK)
 	end).
 
 -define(CANID_TO_COBID(ID),
@@ -418,6 +417,7 @@
 -type uint32() :: non_neg_integer().
 
 -type nmt_role() :: slave | master | autonomous.
+-type nmt_conf() :: default | undefined | string().
 -type nid_type() :: nodeid | xnodeid.
 
 %% SDO configuration parameters
@@ -460,7 +460,7 @@
 	  last     ::uint1(),      %% Flag indicating if last segment is received
 	  node_pid :: pid(),       %% Pid of the node
 	  client   :: term(),     %% Delayed gen_server:reply caller
-	  ctx      :: record(sdo_ctx),  %% general parameters
+	  ctx      :: #sdo_ctx{},  %% general parameters
 	  buf      :: term(),      %% Data buffer
 	  mref     :: term()      %% Ref to application
       }).
@@ -530,6 +530,7 @@
 	  toggle = 0,       %% Node guard toggle for nodeid
 	  xtoggle = 0,      %% Node guard toggle for xnodeid
 	  nmt_role = autonomous, %% NMT role (master/slav/autonomous)
+	  nmt_conf = default,    %% where to read nmt slave config
 	  node_guard_timer, %% Node guard supervision of master
 	  node_guard_error = false, %% Lost contact with NMT master
 	  node_life_time = 0, %% Node guard supervision of master

priv/nmt.conf

@@ -0,0 +1,10 @@
+%%
+%%  {{nodeid,N}, [{mode, automatic | manual } |
+%%        {guard_time, GT} |
+%%        {life_factor, LF} |
+%%        {heartbeat_time, Time} ]}
+%%  N must be a number between 1..126
+%%  Both GT and LF must be set to activate node guarding
+%%  mode = automatice only works in supervision = none
+%% 
+{{nodeid,10}, [{mode, automatic}] }.

src/co_api.erl

@@ -140,6 +140,7 @@
 	{product, integer()} | 
 	{revision, integer()} | 
 	{nmt_role, nmt_role()} | 
+	{nmt_conf, nmt_conf()} | 
 	{supervision, supervision()} | 
 	{inact_timeout, timeout() } |
 	{dict, obj_dict()} | 
@@ -247,6 +248,15 @@ verify_option(nmt_role, NewValue)
     ok;
 verify_option(nmt_role, _NewValue) ->
     {error, "Option nmt_role can only be set to slave/master/autonomous."};
+verify_option(nmt_conf, NewValue) 
+  when NewValue =:= default;
+       NewValue =:= undefined;
+       NewValue =:= "";
+       is_list(NewValue) ->
+    ok;
+verify_option(nmt_conf, _NewValue) ->
+    {error, "Option nmt_conf can only be set to default/file-name."};
+
 verify_option(supervision, NewValue) 
   when NewValue == node_guard;
        NewValue == heartbeat;

src/co_lib.erl

@@ -68,8 +68,8 @@
 %% Utilities
 -export([utc_time/0,
 	 sec/0,
-         debug/1]).
-
+         debug/1,
+	 text_expand/2]).
 
 %%--------------------------------------------------------------------
 %% @doc
@@ -1245,3 +1245,89 @@ debug(true) ->
     ale:trace(on, self(), debug);
 debug(false) ->
     ale:trace(off, self(), debug).
+
+%%
+%% Utility to exand environment "variables" in unicode text
+%% variables are written as ${var} where var is a encoded atom
+%% operating system enviroment is accessed through $(VAR)
+%% and application library dir $/app/
+%%
+text_expand(Text, Env) when is_list(Text) ->
+    %% assume unicode character list!
+    text_expand_(Text, [], Env);
+text_expand(Text, Env) when is_binary(Text) ->
+    %% assume utf8 encoded data!
+    text_expand_(unicode:characters_to_list(Text), [], Env).
+
+text_expand_([$$,${|Text], Acc, Env) ->
+    text_expand_collect_(Text, [], [${,$$], env, Acc, Env);
+text_expand_([$$,$(|Text], Acc, Env) ->
+    text_expand_collect_(Text, [], [$(,$$], shell, Acc, Env);
+text_expand_([$$,$/|Text], Acc, Env) ->
+    text_expand_collect_(Text, [], [$/,$$], lib, Acc, Env);
+text_expand_([$\\,C|Text], Acc, Env) ->
+    text_expand_(Text, [C|Acc], Env);
+text_expand_([C|Text], Acc, Env) ->
+    text_expand_(Text, [C|Acc], Env);
+text_expand_([], Acc, _Env) ->
+    lists:reverse(Acc).
+
+
+text_expand_collect_([$)|Text], Var, _Pre, shell, Acc, Env) ->
+    case os:getenv(rev_variable(Var)) of
+	false ->
+	    text_expand_(Text, Acc, Env);
+	Value ->
+	    Acc1 = lists:reverse(Value, Acc),
+	    text_expand_(Text, Acc1, Env)
+    end;
+text_expand_collect_([$/|Text], Var, _Pre, lib, Acc, Env) ->
+    try erlang:list_to_existing_atom(rev_variable(Var)) of
+	App ->
+	    case code:lib_dir(App) of
+		{error,_} ->
+		    text_expand_(Text, Acc, Env);
+		Value ->
+		    Acc1 = lists:reverse(Value, Acc),
+		    text_expand_(Text, Acc1, Env)
+	    end
+    catch
+	error:_ ->
+	    text_expand_(Text, Acc, Env)
+    end;
+text_expand_collect_([$}|Text], Var, _Pre, env, Acc, Env) ->
+    try erlang:list_to_existing_atom(rev_variable(Var)) of
+	Key ->
+	    case lists:keyfind(Key, 1, Env) of
+		false ->
+		    text_expand_(Text, Acc, Env);
+		{_,Val} ->
+		    Value = lists:flatten(io_lib:format("~w", [Val])),
+		    Acc1 = lists:reverse(Value, Acc),
+		    text_expand_(Text, Acc1, Env)
+	    end
+    catch
+	error:_ ->
+	    text_expand_(Text, Acc, Env)
+    end;
+text_expand_collect_([C|Text], Var, Pre, Shell, Acc, Env) ->
+    if C >= $a, C =< $z;
+       C >= $A, C =< $Z;
+       C >= $0, C =< $9;
+       C == $_; C == $@;
+       C == $\s; C == $\t -> %% space and tab allowed in begining and end
+	    text_expand_collect_(Text, [C|Var], Pre, Shell, Acc, Env);
+       true ->
+	    %% char not allowed in variable named
+	    text_expand_(Text,  [C | Var ++ Pre ++ Acc], Env)
+    end;
+text_expand_collect_([], Var, Pre, _Shell, Acc, Env) ->
+    text_expand_([],  Var ++ Pre ++ Acc, Env).
+
+rev_variable(Var) ->
+    trim_hd(lists:reverse(trim_hd(Var))).
+
+trim_hd([$\s|Cs]) -> trim_hd(Cs);
+trim_hd([$\t|Cs]) -> trim_hd(Cs);
+trim_hd(Cs) -> Cs.
+