drivers/can_virtual/can_virtual.c
author frdupin
Mon, 29 Jan 2007 09:42:22 +0100
changeset 75 debc68b124b7
parent 0 4472ee7c6c3e
child 145 e747d2e26af0
permissions -rw-r--r--
compiler compatibility : accessDictionaryError contains nothing out of debogue mode
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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 and Francis DUPIN
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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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/*
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	Virtual CAN driver.
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*/
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#include <stdlib.h>
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#include <sys/types.h>
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#include <unistd.h>
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#include <stdio.h>
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#include <applicfg.h>
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#include "timer.h"
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#include "can_driver.h"
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#include "timers_driver.h"
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#define MAX_NB_CAN_PIPES 10
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typedef struct {
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  char used;
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  int pipe[2];
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  TASK_HANDLE receiveTask;
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  CO_Data* d;
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} CANPipe;
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CANPipe canpipes[MAX_NB_CAN_PIPES] = {{0,{0,0},},};
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/*********functions which permit to communicate with the board****************/
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UNS8 canReceive(CAN_HANDLE fd0, Message *m)
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{
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	if(read(((CANPipe*)fd0)->pipe[0], m, sizeof(Message)) < sizeof(Message))
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	{
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		return 1;
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	}
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	return 0;
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}
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void canReceiveLoop(CAN_HANDLE fd0)
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{
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	CO_Data* d = ((CANPipe*)fd0)->d;
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	Message m;
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	while (1) {
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		if(!canReceive(fd0, &m))
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		{  
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			EnterMutex();
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			canDispatch(d, &m);
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			LeaveMutex();
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		}else{
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			break;
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		}
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	}
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}
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/***************************************************************************/
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UNS8 canSend(CAN_HANDLE fd0, Message *m)
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{
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  int i;
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  // Send to all readers, except myself
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  for(i=0; i < MAX_NB_CAN_PIPES; i++)
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  {
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  	if(canpipes[i].used && &canpipes[i] != (CANPipe*)fd0)
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  	{
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		write(canpipes[i].pipe[1], m, sizeof(Message));
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  	}
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  }
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  return 0;
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}
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/***************************************************************************/
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CAN_HANDLE canOpen(s_BOARD *board)
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{
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  int i;  
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  for(i=0; i < MAX_NB_CAN_PIPES; i++)
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  {
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  	if(!canpipes[i].used)
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	  	break;
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  }
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  /* Create the pipe.  */
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  if (i==MAX_NB_CAN_PIPES || pipe(canpipes[i].pipe))
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    {
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      fprintf (stderr, "Open failed.\n");
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      return (CAN_HANDLE)NULL;
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    }
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   canpipes[i].used = 1;
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   canpipes[i].d = board->d;
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   CreateReceiveTask((CAN_HANDLE) &canpipes[i], &canpipes[i].receiveTask);
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   return (CAN_HANDLE) &canpipes[i];
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}
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/***************************************************************************/
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int canClose(CAN_HANDLE fd0)
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{
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  close(((CANPipe*)fd0)->pipe[0]);
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  close(((CANPipe*)fd0)->pipe[1]);
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  ((CANPipe*)fd0)->used = 0;
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  WaitReceiveTaskEnd(&((CANPipe*)fd0)->receiveTask);
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}
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