author | lbessard |
Fri, 16 Nov 2007 17:41:59 +0100 | |
changeset 316 | 75691a663ec1 |
parent 267 | 96c688ebcde7 |
child 365 | 9b76e0881beb |
permissions | -rw-r--r-- |
255 | 1 |
/* |
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This file is part of CanFestival, a library implementing CanOpen Stack. |
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4 |
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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12 |
version 2.1 of the License, or (at your option) any later version. |
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||
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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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||
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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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105 |
|
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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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112 |
} |
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113 |
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enum { READ_TIMEOUT = 500 }; |
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OVERLAPPED overlapped; |
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117 |
::memset(&overlapped, 0, sizeof overlapped); |
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overlapped.hEvent = m_read_event; |
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119 |
::ResetEvent(overlapped.hEvent); |
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unsigned long event_mask = 0; |
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121 |
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122 |
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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125 |
return false; |
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126 |
} |
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128 |
// get number of bytes in the input que |
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129 |
COMSTAT stat; |
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130 |
::memset(&stat, 0, sizeof stat); |
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131 |
unsigned long errors = 0; |
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132 |
::ClearCommError(m_port, &errors, &stat); |
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133 |
if (stat.cbInQue == 0) |
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134 |
return false; |
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135 |
char buffer[3000]; |
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136 |
|
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137 |
unsigned long bytes_to_read = min(stat.cbInQue, sizeof (buffer)); |
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138 |
|
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139 |
unsigned long bytes_read = 0; |
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140 |
::ReadFile(m_port, buffer, bytes_to_read, &bytes_read, &overlapped); |
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141 |
// wait for read operation completion |
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142 |
::WaitForSingleObject(overlapped.hEvent, READ_TIMEOUT); |
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143 |
// get number of bytes read |
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144 |
::GetOverlappedResult(m_port, &overlapped, &bytes_read, FALSE); |
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145 |
result = false; |
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146 |
if (bytes_read > 0) |
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147 |
{ |
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148 |
m_residual_buffer.append(buffer, bytes_read); |
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149 |
res_buffer_size = (long)m_residual_buffer.size(); |
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150 |
result = get_can_data(m_residual_buffer.c_str(), res_buffer_size, m); |
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151 |
if (result) |
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152 |
m_residual_buffer.erase(0, res_buffer_size); |
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153 |
} |
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154 |
return result; |
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155 |
} |
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156 |
|
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157 |
bool can_uvccm_win32::open_rs232(int port, int baud_rate) |
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158 |
{ |
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|
159 |
if (m_port != INVALID_HANDLE_VALUE) |
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|
160 |
return true; |
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|
161 |
|
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162 |
std::ostringstream device_name; |
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163 |
device_name << "COM" << port; |
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164 |
|
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165 |
m_port = ::CreateFile(device_name.str().c_str(), |
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166 |
GENERIC_READ | GENERIC_WRITE, |
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167 |
0, // exclusive access |
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168 |
NULL, // no security |
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169 |
OPEN_EXISTING, |
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170 |
FILE_FLAG_OVERLAPPED, // overlapped I/O |
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|
171 |
NULL); // null template |
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|
172 |
|
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173 |
// Check the returned handle for INVALID_HANDLE_VALUE and then set the buffer sizes. |
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174 |
if (m_port == INVALID_HANDLE_VALUE) |
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|
175 |
return false; |
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|
176 |
|
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|
177 |
// SetCommMask(m_hCom,EV_RXCHAR|EV_TXEMPTY|EV_CTS|EV_DSR|EV_RLSD|EV_BREAK|EV_ERR|EV_RING); // |
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|
178 |
::SetCommMask(m_port, EV_RXFLAG); |
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|
179 |
|
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180 |
COMMTIMEOUTS timeouts; |
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|
181 |
::memset(&timeouts, 0, sizeof (timeouts)); |
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|
182 |
timeouts.ReadIntervalTimeout = -1; |
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|
183 |
timeouts.ReadTotalTimeoutConstant = 0; |
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|
184 |
timeouts.ReadTotalTimeoutMultiplier = 0; |
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185 |
timeouts.WriteTotalTimeoutConstant = 5000; |
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|
186 |
timeouts.WriteTotalTimeoutMultiplier = 0; |
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|
187 |
SetCommTimeouts(m_port, &timeouts); // |
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|
188 |
|
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189 |
::SetupComm(m_port, 1024, 512); // set buffer sizes |
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|
190 |
|
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191 |
// 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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|
192 |
DCB dcb; |
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|
193 |
::memset(&dcb, 0, sizeof (dcb)); |
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|
194 |
::GetCommState(m_port, &dcb); |
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195 |
dcb.BaudRate = baud_rate; |
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196 |
dcb.ByteSize = 8; |
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|
197 |
dcb.Parity = NOPARITY; |
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|
198 |
dcb.StopBits = ONESTOPBIT; |
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|
199 |
dcb.fAbortOnError = TRUE; |
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200 |
dcb.EvtChar = 0x0A; // '\n' character |
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|
201 |
::SetCommState(m_port, &dcb); |
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|
202 |
|
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
203 |
::PurgeComm(m_port, PURGE_RXABORT | PURGE_RXCLEAR | PURGE_TXABORT | PURGE_TXCLEAR); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
204 |
|
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|
205 |
m_read_event = ::CreateEvent(NULL, TRUE, FALSE, NULL); |
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|
206 |
m_write_event = ::CreateEvent(NULL, TRUE, FALSE, NULL); |
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|
207 |
|
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|
208 |
return true; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
209 |
} |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
210 |
|
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|
211 |
bool can_uvccm_win32::close_rs232() |
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|
212 |
{ |
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|
213 |
if (m_port != INVALID_HANDLE_VALUE) |
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|
214 |
{ |
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|
215 |
::PurgeComm(m_port, PURGE_RXABORT | PURGE_RXCLEAR | PURGE_TXABORT | PURGE_TXCLEAR); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
216 |
::CloseHandle(m_port); |
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|
217 |
m_port = INVALID_HANDLE_VALUE; |
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|
218 |
::CloseHandle(m_read_event); |
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|
219 |
m_read_event = 0; |
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|
220 |
::CloseHandle(m_write_event); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
221 |
m_write_event = 0; |
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|
222 |
m_residual_buffer.clear(); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
223 |
} |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
224 |
return true; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
225 |
} |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
226 |
|
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|
227 |
bool can_uvccm_win32::get_can_data(const char* can_cmd_buf, long& bufsize, Message* m) |
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|
228 |
{ |
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|
229 |
if (bufsize < 5) |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
230 |
{ |
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|
231 |
bufsize = 0; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
232 |
return false; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
233 |
} |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
234 |
|
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
235 |
Message msg; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
236 |
::memset(&msg, 0 , sizeof (msg)); |
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|
237 |
char colon = 0, type = 0, request = 0; |
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|
238 |
std::istringstream buf(std::string(can_cmd_buf, bufsize)); |
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|
239 |
buf >> colon >> type >> std::hex >> msg.cob_id.w >> request; |
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|
240 |
if (colon != ':' || (type != 'S' && type != 'X')) |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
241 |
{ |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
242 |
bufsize = 0; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
243 |
return false; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
244 |
} |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
245 |
if (request == 'N') |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
246 |
{ |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
247 |
msg.rtr = 0; |
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|
248 |
for (msg.len = 0; msg.len < 8; ++msg.len) |
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|
249 |
{ |
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|
250 |
std::string data_byte_str; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
251 |
buf >> std::setw(2) >> data_byte_str; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
252 |
if (data_byte_str[0] == ';') |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
253 |
break; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
254 |
long byte_val = -1; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
255 |
std::istringstream(data_byte_str) >> std::hex >> byte_val; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
256 |
if (byte_val == -1) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
257 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
258 |
bufsize = 0; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
259 |
return false; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
260 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
261 |
msg.data[msg.len] = (UNS8)byte_val; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
262 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
263 |
if (msg.len == 8) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
264 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
265 |
char semicolon = 0; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
266 |
buf >> semicolon; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
267 |
if (semicolon != ';') |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
268 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
269 |
bufsize = 0; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
270 |
return false; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
271 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
272 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
273 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
274 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
275 |
else if (request == 'R') |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
276 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
277 |
msg.rtr = 1; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
278 |
buf >> msg.len; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
279 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
280 |
else |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
281 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
282 |
bufsize = 0; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
283 |
return false; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
284 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
285 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
286 |
bufsize = buf.tellg(); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
287 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
288 |
*m = msg; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
289 |
return true; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
290 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
291 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
292 |
bool can_uvccm_win32::set_can_data(const Message& m, std::string& can_cmd) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
293 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
294 |
// build can_uvccm_win32 command string |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
295 |
std::ostringstream can_cmd_str; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
296 |
can_cmd_str << ":S" << std::hex << m.cob_id.w; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
297 |
if (m.rtr == 1) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
298 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
299 |
can_cmd_str << 'R' << (long)m.len; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
300 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
301 |
else |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
302 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
303 |
can_cmd_str << 'N'; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
304 |
for (int i = 0; i < m.len; ++i) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
305 |
can_cmd_str << std::hex << std::setfill('0') << std::setw(2) << (long)m.data[i]; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
306 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
307 |
can_cmd_str << ';'; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
308 |
can_cmd = can_cmd_str.str(); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
309 |
#ifdef BOOST_VERSION |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
310 |
boost::to_upper(can_cmd); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
311 |
#else |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
312 |
std::transform(can_cmd.begin(),can_cmd.end(),can_cmd.begin(),::toupper); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
313 |
#endif |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
314 |
return true; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
315 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
316 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
317 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
318 |
//------------------------------------------------------------------------ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
319 |
extern "C" |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
320 |
UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
321 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
322 |
return (UNS8)(!(reinterpret_cast<can_uvccm_win32*>(fd0)->receive(m))); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
323 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
324 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
325 |
extern "C" |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
326 |
UNS8 canSend_driver(CAN_HANDLE fd0, Message *m) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
327 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
328 |
return (UNS8)reinterpret_cast<can_uvccm_win32*>(fd0)->send(m); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
329 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
330 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
331 |
extern "C" |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
332 |
CAN_HANDLE canOpen_driver(s_BOARD *board) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
333 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
334 |
try |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
335 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
336 |
return (CAN_HANDLE) new can_uvccm_win32(board); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
337 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
338 |
catch (can_uvccm_win32::error&) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
339 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
340 |
return NULL; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
341 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
342 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
343 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
344 |
extern "C" |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
345 |
int canClose_driver(CAN_HANDLE inst) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
346 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
347 |
delete reinterpret_cast<can_uvccm_win32*>(inst); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
348 |
return 1; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
349 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
350 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
351 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
352 |