drivers/can_uvccm_win32/can_uvccm_win32.cpp
author Christian Taedcke <hacking@taedcke.com>
Thu, 22 Dec 2011 11:42:44 +0100
changeset 677 54e47953df3e
parent 631 08b6b903f84a
child 706 7c35870a66ea
permissions -rw-r--r--
FIXED: - the macro SUB_PROG_CFLAGS was overwritten for 64bit machines using gcc. Because of this the xenomai compilation failed.
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/*
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This file is part of CanFestival, a library implementing CanOpen Stack. 
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CanFestival Copyright (C): Edouard TISSERANT and Francis DUPIN
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CanFestival Win32 port Copyright (C) 2007 Leonid Tochinski, ChattenAssociates, Inc.
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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*/
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// can_uvccm_win32 adapter (http://www.gridconnect.com)
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// driver for CanFestival-3 Win32 port
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#include <sstream>
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#include <iomanip>
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#if 0  // change to 1 if you use boost
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#include <boost/algorithm/string/case_conv.hpp>
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#else
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#include <algorithm>
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#endif
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extern "C" {
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#include "can_driver.h"
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}
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class can_uvccm_win32
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   {
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   public:
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      class error
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        {
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        };
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      can_uvccm_win32(s_BOARD *board);
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      ~can_uvccm_win32();
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      bool send(const Message *m);
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      bool receive(Message *m);
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   private:
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      bool open_rs232(int port = 1, int baud_rate = 57600);
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      bool close_rs232();
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      bool get_can_data(const char* can_cmd_buf, long& bufsize, Message* m);
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      bool set_can_data(const Message& m, std::string& can_cmd);
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   private:
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      HANDLE m_port;
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      HANDLE m_read_event;
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      HANDLE m_write_event;
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      std::string m_residual_buffer;
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   };
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can_uvccm_win32::can_uvccm_win32(s_BOARD *board) : m_port(INVALID_HANDLE_VALUE),
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      m_read_event(0),
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      m_write_event(0)
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   {
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   if (strcmp( board->baudrate, "125K") || !open_rs232(1))
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      throw error();
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   }
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can_uvccm_win32::~can_uvccm_win32()
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   {
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   close_rs232();
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   }
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bool can_uvccm_win32::send(const Message *m)
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   {
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   if (m_port == INVALID_HANDLE_VALUE)
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      return true;
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   // build can_uvccm_win32 command string
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   std::string can_cmd;
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   set_can_data(*m, can_cmd);
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   OVERLAPPED overlapped;
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   ::memset(&overlapped, 0, sizeof overlapped);
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   overlapped.hEvent = m_write_event;
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   ::ResetEvent(overlapped.hEvent);
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   unsigned long bytes_written = 0;
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   ::WriteFile(m_port, can_cmd.c_str(), (unsigned long)can_cmd.size(), &bytes_written, &overlapped);
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   // wait for write operation completion
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   enum { WRITE_TIMEOUT = 1000 };
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   ::WaitForSingleObject(overlapped.hEvent, WRITE_TIMEOUT);
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   // get number of bytes written
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   ::GetOverlappedResult(m_port, &overlapped, &bytes_written, FALSE);
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   bool result = (bytes_written == can_cmd.size());
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   return false;
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   }
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bool can_uvccm_win32::receive(Message *m)
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   {
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   if (m_port == INVALID_HANDLE_VALUE)
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      return false;
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   long res_buffer_size = (long)m_residual_buffer.size();
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   bool result = get_can_data(m_residual_buffer.c_str(), res_buffer_size, m);
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   if (result)
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      {
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      m_residual_buffer.erase(0, res_buffer_size);
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      return true;
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      }
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   enum { READ_TIMEOUT = 500 };
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   OVERLAPPED overlapped;
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   ::memset(&overlapped, 0, sizeof overlapped);
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   overlapped.hEvent = m_read_event;
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   ::ResetEvent(overlapped.hEvent);
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   unsigned long event_mask = 0;
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   if (FALSE == ::WaitCommEvent(m_port, &event_mask, &overlapped) && ERROR_IO_PENDING == ::GetLastError())
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      {
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      if (WAIT_TIMEOUT == ::WaitForSingleObject(overlapped.hEvent, READ_TIMEOUT))
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         return false;
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      }
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   // get number of bytes in the input que
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   COMSTAT stat;
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   ::memset(&stat, 0, sizeof stat);
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   unsigned long errors = 0;
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   ::ClearCommError(m_port, &errors, &stat);
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   if (stat.cbInQue == 0)
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      return false;
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   char buffer[3000];
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   unsigned long bytes_to_read = min(stat.cbInQue, sizeof (buffer));
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   unsigned long bytes_read = 0;
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   ::ReadFile(m_port, buffer, bytes_to_read, &bytes_read, &overlapped);
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   // wait for read operation completion
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   ::WaitForSingleObject(overlapped.hEvent, READ_TIMEOUT);
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   // get number of bytes read
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   ::GetOverlappedResult(m_port, &overlapped, &bytes_read, FALSE);
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   result = false;
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   if (bytes_read > 0)
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      {
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      m_residual_buffer.append(buffer, bytes_read);
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      res_buffer_size = (long)m_residual_buffer.size();
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      result = get_can_data(m_residual_buffer.c_str(), res_buffer_size, m);
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      if (result)
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         m_residual_buffer.erase(0, res_buffer_size);
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      }
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   return result;
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   }
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bool can_uvccm_win32::open_rs232(int port, int baud_rate)
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   {
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   if (m_port != INVALID_HANDLE_VALUE)
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      return true;
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   std::ostringstream device_name;
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   device_name << "COM" << port;
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   m_port = ::CreateFile(device_name.str().c_str(),
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                         GENERIC_READ | GENERIC_WRITE,
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                         0,   // exclusive access
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                         NULL,   // no security
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                         OPEN_EXISTING,
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                         FILE_FLAG_OVERLAPPED,   // overlapped I/O
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                         NULL); // null template
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   // Check the returned handle for INVALID_HANDLE_VALUE and then set the buffer sizes.
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   if (m_port == INVALID_HANDLE_VALUE)
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      return false;
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   //  SetCommMask(m_hCom,EV_RXCHAR|EV_TXEMPTY|EV_CTS|EV_DSR|EV_RLSD|EV_BREAK|EV_ERR|EV_RING); //
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   ::SetCommMask(m_port, EV_RXFLAG);
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   COMMTIMEOUTS timeouts;
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   ::memset(&timeouts, 0, sizeof (timeouts));
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   timeouts.ReadIntervalTimeout = -1;
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   timeouts.ReadTotalTimeoutConstant = 0;
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   timeouts.ReadTotalTimeoutMultiplier = 0;
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   timeouts.WriteTotalTimeoutConstant = 5000;
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   timeouts.WriteTotalTimeoutMultiplier = 0;
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   SetCommTimeouts(m_port, &timeouts); //
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   ::SetupComm(m_port, 1024, 512); // set buffer sizes
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   // Port settings are specified in a Data Communication Block (DCB). The easiest way to initialize a DCB is to call GetCommState to fill in its default values, override the values that you want to change and then call SetCommState to set the values.
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   DCB dcb;
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   ::memset(&dcb, 0, sizeof (dcb));
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   ::GetCommState(m_port, &dcb);
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   dcb.BaudRate = baud_rate;
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   dcb.ByteSize = 8;
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   dcb.Parity = NOPARITY;
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   dcb.StopBits = ONESTOPBIT;
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   dcb.fAbortOnError = TRUE;
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   dcb.EvtChar = 0x0A; // '\n' character
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   ::SetCommState(m_port, &dcb);
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   ::PurgeComm(m_port, PURGE_RXABORT | PURGE_RXCLEAR | PURGE_TXABORT | PURGE_TXCLEAR);
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   m_read_event = ::CreateEvent(NULL, TRUE, FALSE, NULL);
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   m_write_event = ::CreateEvent(NULL, TRUE, FALSE, NULL);
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   return true;
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   }
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bool can_uvccm_win32::close_rs232()
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   {
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   if (m_port != INVALID_HANDLE_VALUE)
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      {
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      ::PurgeComm(m_port, PURGE_RXABORT | PURGE_RXCLEAR | PURGE_TXABORT | PURGE_TXCLEAR);
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      ::CloseHandle(m_port);
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      m_port = INVALID_HANDLE_VALUE;
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      ::CloseHandle(m_read_event);
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      m_read_event = 0;
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      ::CloseHandle(m_write_event);
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      m_write_event = 0;
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      m_residual_buffer.clear();
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      }
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   return true;
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   }
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bool can_uvccm_win32::get_can_data(const char* can_cmd_buf, long& bufsize, Message* m)
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   {
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   if (bufsize < 5)
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      {
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      bufsize = 0;
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      return false;
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      }
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   Message msg;
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   ::memset(&msg, 0 , sizeof (msg));
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   char colon = 0, type = 0, request = 0;
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   std::istringstream buf(std::string(can_cmd_buf, bufsize));
365
9b76e0881beb Changed cob_id from struct{UNS32} to UNS16
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   buf >> colon >> type >> std::hex >> msg.cob_id >> request;
145
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   if (colon != ':' || (type != 'S' && type != 'X'))
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      {
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      bufsize = 0;
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      return false;
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   244
      }
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   if (request == 'N')
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      {
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      msg.rtr = 0;
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      for (msg.len = 0; msg.len < 8; ++msg.len)
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         {
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         std::string data_byte_str;
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         buf >> std::setw(2) >> data_byte_str;
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         if (data_byte_str[0] == ';')
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            break;
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         long byte_val = -1;
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         std::istringstream(data_byte_str) >> std::hex >> byte_val;
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         if (byte_val == -1)
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            {
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   258
            bufsize = 0;
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   259
            return false;
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   260
            }
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         msg.data[msg.len] = (UNS8)byte_val;
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         }
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      if (msg.len == 8)
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         {
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         char semicolon = 0;
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         buf >> semicolon;
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         if (semicolon != ';')
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            {
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   269
            bufsize = 0;
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            return false;
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            }
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         }
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      }
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   else if (request == 'R')
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      {
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      msg.rtr = 1;
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      buf >> msg.len;
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      }
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   else
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      {
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      bufsize = 0;
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      return false;
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      }
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   bufsize = buf.tellg();
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   *m = msg;
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   return true;
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   }
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bool can_uvccm_win32::set_can_data(const Message& m, std::string& can_cmd)
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   {
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   // build can_uvccm_win32 command string
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   std::ostringstream can_cmd_str;
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   can_cmd_str << ":S" << std::hex << m.cob_id;
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   if (m.rtr == 1)
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      {
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      can_cmd_str << 'R' << (long)m.len;
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      }
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   else
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      {
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      can_cmd_str << 'N';
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      for (int i = 0; i < m.len; ++i)
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         can_cmd_str << std::hex << std::setfill('0') << std::setw(2) << (long)m.data[i];
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      }
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   can_cmd_str << ';';
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   can_cmd = can_cmd_str.str();
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#ifdef BOOST_VERSION
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   boost::to_upper(can_cmd);
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#else
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   std::transform(can_cmd.begin(),can_cmd.end(),can_cmd.begin(),::toupper);
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#endif
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   return true;
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   }
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//------------------------------------------------------------------------
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extern "C"
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   UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
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   {
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   return (UNS8)(!(reinterpret_cast<can_uvccm_win32*>(fd0)->receive(m)));
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   }
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extern "C"
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   UNS8 canSend_driver(CAN_HANDLE fd0, Message const *m)
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   {
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   return (UNS8)reinterpret_cast<can_uvccm_win32*>(fd0)->send(m);
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   }
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extern "C"
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   CAN_HANDLE canOpen_driver(s_BOARD *board)
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   {
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   try
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      {
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      return (CAN_HANDLE) new can_uvccm_win32(board);
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      }
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   catch (can_uvccm_win32::error&)
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      {
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      return NULL;
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      }
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   }
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extern "C"
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   int canClose_driver(CAN_HANDLE inst)
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   {
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   delete reinterpret_cast<can_uvccm_win32*>(inst);
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   return 1;
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   }
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extern "C"
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	UNS8 canChangeBaudRate_driver( CAN_HANDLE fd, char* baud)
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	{
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	return 0;
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	}