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/*

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This file is part of CanFestival, a library implementing CanOpen Stack. 

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Copyright (C): Edouard TISSERANT

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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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#include "Socket.h"

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#include <iostream>

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using namespace std;

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extern "C" {

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#include "can_driver.h"

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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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      string l = reinterpret_cast<SocketClient*>(fd0)->ReceiveLine();

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      int res = sscanf(l.c_str(),"{0x%3hx,%1hhd,%1hhd,{0x%2hhx,0x%2hhx,0x%2hhx,0x%2hhx,0x%2hhx,0x%2hhx,0x%2hhx,0x%2hhx}}",

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                &m->cob_id,

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                &m->rtr,

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                &m->len,

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                &m->data[0],

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                &m->data[1],

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                &m->data[2],

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                &m->data[3],

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                &m->data[4],

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                &m->data[5],

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                &m->data[6],

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                &m->data[7]

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                );

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#if defined DEBUG_MSG_CONSOLE_ON

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  printf("in : ");

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  print_message(m);

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#endif

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      return res==11 ? 0 : 1 ;

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   }

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extern "C"

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   UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)

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   {

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        char s[1024];        

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        sprintf(s,"{0x%3.3x,%1d,%1d,{0x%2.2x,0x%2.2x,0x%2.2x,0x%2.2x,0x%2.2x,0x%2.2x,0x%2.2x,0x%2.2x}}",

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                m->cob_id,

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                m->rtr,

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                m->len,

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                m->data[0],

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                m->data[1],

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                m->data[2],

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                m->data[3],

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                m->data[4],

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                m->data[5],

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                m->data[6],

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                m->data[7]

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                );

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        reinterpret_cast<SocketClient*>(fd0)->SendLine(s);

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#if defined DEBUG_MSG_CONSOLE_ON

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  printf("out : ");

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  print_message(m);

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#endif

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        return 0;

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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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      Socket* s;

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      try {

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        s = new SocketClient(board->busname, 11898);

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        //s.SendLine("GET / HTTP/1.0");

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        //s.SendLine("Host: www.google.com");

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      } 

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      catch (const char* _s) {

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        cerr << _s << endl;

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        return NULL;

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      } 

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      catch (std::string _s) {

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        cerr << _s << endl;

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        return NULL;

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      } 

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      catch (...) {

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        cerr << "unhandled exception\n";

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        return NULL;

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      }

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      return (CAN_HANDLE) s;

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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<SocketClient*>(inst);

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   return 1;

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   }

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