//------------------------------------------------------------------------------
static void shutdownPowerlink(void)
{
UINT i;
// NMT_GS_OFF state has not yet been reached
fGsOff_l = FALSE;
#if !defined(CONFIG_KERNELSTACK_DIRECTLINK) && defined(CONFIG_USE_SYNCTHREAD)
system_stopSyncThread();
system_msleep(100);
#endif
// halt the NMT state machine so the processing of POWERLINK frames stops
oplk_execNmtCommand(kNmtEventSwitchOff);
// small loop to implement timeout waiting for thread to terminate
for (i = 0; i < 1000; i++)
{
if (fGsOff_l)
break;
}
printf("Stack is in state off ... Shutdown\n");
oplk_shutdown();
}
//------------------------------------------------------------------------------
static void shutdownPowerlink(tInstance* pInstance_p)
{
UNUSED_PARAMETER(pInstance_p);
PRINTF("Shut down DEMO\n");
oplk_shutdown();
}
/**
********************************************************************************
\brief Destructor
Destructs a POWERLINK object.
*******************************************************************************/
Api::~Api()
{
tOplkError ret;
ret = oplk_execNmtCommand(kNmtEventSwitchOff);
pProcessThread->waitForNmtStateOff();
ret = oplk_freeProcessImage();
ret = oplk_shutdown();
}
