drivers/can_tcp_win32/can_tcp_win32.cpp
author etisserant
Mon, 23 Jun 2008 17:54:18 +0200
changeset 483 763ae2ca410a
parent 384 83793fc7ce48
child 631 08b6b903f84a
permissions -rwxr-xr-x
LSS patch from Edward. Now, SetNodeId is not called from nmtslave anymore in case of LSS.
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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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extern "C"
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	UNS8 canChangeBaudRate_driver( CAN_HANDLE fd, char* baud)
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	{
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	cerr << "canChangeBaudRate not yet supported by this driver\n";
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	return 0;
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	}