1 /* |
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2 This file is part of CanFestival, a library implementing CanOpen Stack. |
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3 |
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4 Copyright (C): Edouard TISSERANT and Francis DUPIN |
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5 Copyright (C) Win32 Port Leonid Tochinski |
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6 |
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7 See COPYING file for copyrights details. |
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8 |
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9 This library is free software; you can redistribute it and/or |
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10 modify it under the terms of the GNU Lesser General Public |
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11 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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13 |
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14 This library is distributed in the hope that it will be useful, |
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15 but WITHOUT ANY WARRANTY; without even the implied warranty of |
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16 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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17 Lesser General Public License for more details. |
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18 |
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19 You should have received a copy of the GNU Lesser General Public |
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20 License along with this library; if not, write to the Free Software |
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21 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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22 */ |
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23 |
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24 /* |
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25 CAN driver interface. |
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26 */ |
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27 |
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28 #include <windows.h> |
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29 |
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30 extern "C" |
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31 { |
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32 #define DLL_CALL(funcname) (*_##funcname) |
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33 #define FCT_PTR_INIT =NULL |
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34 #include "canfestival.h" |
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35 #include "timer.h" |
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36 |
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37 #include "timers_driver.h" |
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38 }; |
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39 |
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40 typedef UNS8 (*CANRECEIVE_DRIVER_PROC)(void* inst, Message *m); |
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41 typedef UNS8 (*CANSEND_DRIVER_PROC)(void* inst, const Message *m); |
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42 typedef void* (*CANOPEN_DRIVER_PROC)(s_BOARD *board); |
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43 typedef int (*CANCLOSE_DRIVER_PROC)(void* inst); |
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44 |
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45 |
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46 class driver_procs |
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47 { |
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48 public: |
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49 driver_procs(); |
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50 ~driver_procs(); |
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51 |
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52 HMODULE load_canfestival_driver(LPCTSTR driver_name); |
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53 bool can_driver_valid() const; |
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54 |
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55 public: |
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56 // can driver |
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57 CANRECEIVE_DRIVER_PROC m_canReceive; |
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58 CANSEND_DRIVER_PROC m_canSend; |
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59 CANOPEN_DRIVER_PROC m_canOpen; |
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60 CANCLOSE_DRIVER_PROC m_canClose; |
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61 |
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62 // driver module habndle |
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63 HMODULE m_driver_handle; |
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64 }; |
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65 |
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66 driver_procs::driver_procs() : m_canReceive(0), |
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67 m_canSend(0), |
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68 m_canOpen(0), |
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69 m_canClose(0), |
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70 m_driver_handle(0) |
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71 {} |
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72 |
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73 driver_procs::~driver_procs() |
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74 { |
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75 if (m_driver_handle) |
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76 ::FreeLibrary(m_driver_handle); |
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77 } |
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78 |
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79 bool driver_procs::can_driver_valid() const |
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80 { |
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81 return ((m_canReceive != NULL) && |
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82 (m_canSend != NULL) && |
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83 (m_canOpen != NULL) && |
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84 (m_canClose != NULL)); |
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85 } |
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86 |
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87 // GetProcAddress doesn't have an UNICODE version for NT |
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88 #ifdef UNDER_CE |
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89 #define myTEXT(str) TEXT(str) |
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90 #else |
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91 #define myTEXT(str) str |
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92 #endif |
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93 |
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94 HMODULE driver_procs::load_canfestival_driver(LPCTSTR driver_name) |
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95 { |
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96 if (can_driver_valid()) |
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97 return m_driver_handle; |
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98 m_driver_handle = ::LoadLibrary(driver_name); |
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99 if (m_driver_handle == NULL) |
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100 return NULL; |
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101 |
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102 m_canReceive = (CANRECEIVE_DRIVER_PROC)::GetProcAddress(m_driver_handle, myTEXT("canReceive_driver")); |
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103 m_canSend = (CANSEND_DRIVER_PROC)::GetProcAddress(m_driver_handle, myTEXT("canSend_driver")); |
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104 m_canOpen = (CANOPEN_DRIVER_PROC)::GetProcAddress(m_driver_handle, myTEXT("canOpen_driver")); |
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105 m_canClose = (CANCLOSE_DRIVER_PROC)::GetProcAddress(m_driver_handle, myTEXT("canClose_driver")); |
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106 return can_driver_valid()?m_driver_handle:NULL; |
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107 } |
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108 |
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109 struct driver_data |
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110 { |
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111 CO_Data * d; |
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112 HANDLE receive_thread; |
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113 void* inst; |
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114 volatile bool continue_receive_thread; |
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115 }; |
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116 |
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117 driver_procs s_driver_procs; |
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118 |
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119 LIB_HANDLE LoadCanDriver(char* driver_name) |
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120 { |
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121 return s_driver_procs.load_canfestival_driver((LPCTSTR)driver_name); |
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122 } |
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123 |
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124 UNS8 canReceive(CAN_PORT fd0, Message *m) |
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125 { |
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126 if (fd0 != NULL && s_driver_procs.m_canReceive != NULL) |
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127 { |
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128 driver_data* data = (driver_data*)fd0; |
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129 return (*s_driver_procs.m_canReceive)(data->inst, m); |
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130 } |
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131 return 1; |
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132 } |
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133 |
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134 void* canReceiveLoop(CAN_PORT fd0) |
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135 { |
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136 driver_data* data = (driver_data*)fd0; |
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137 Message m; |
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138 while (data->continue_receive_thread) |
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139 { |
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140 if (!canReceive(fd0, &m)) |
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141 { |
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142 EnterMutex(); |
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143 canDispatch(data->d, &m); |
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144 LeaveMutex(); |
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145 } |
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146 else |
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147 { |
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148 break; |
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149 ::Sleep(1); |
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150 } |
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151 } |
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152 return 0; |
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153 } |
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154 |
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155 /***************************************************************************/ |
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156 UNS8 canSend(CAN_PORT fd0, Message *m) |
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157 { |
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158 if (fd0 != NULL && s_driver_procs.m_canSend != NULL) |
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159 { |
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160 UNS8 res; |
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161 driver_data* data = (driver_data*)fd0; |
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162 res = (*s_driver_procs.m_canSend)(data->inst, m); |
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163 if (res) |
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164 return 0; |
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165 } |
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166 return 1; |
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167 } |
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168 |
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169 /***************************************************************************/ |
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170 CAN_HANDLE canOpen(s_BOARD *board, CO_Data * d) |
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171 { |
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172 if (board != NULL && s_driver_procs.m_canOpen != NULL) |
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173 { |
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174 void* inst = (*s_driver_procs.m_canOpen)(board); |
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175 if (inst != NULL) |
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176 { |
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177 driver_data* data = new driver_data; |
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178 data->d = d; |
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179 data->inst = inst; |
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180 data->continue_receive_thread = true; |
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181 CreateReceiveTask(data, &data->receive_thread, &canReceiveLoop); |
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182 EnterMutex(); |
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183 d->canHandle = data; |
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184 LeaveMutex(); |
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185 return data; |
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186 } |
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187 } |
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188 return NULL; |
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189 } |
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190 |
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191 /***************************************************************************/ |
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192 int canClose(CO_Data * d) |
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193 { |
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194 if (s_driver_procs.m_canClose != NULL) |
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195 { |
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196 driver_data* data; |
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197 EnterMutex(); |
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198 if(d->canHandle != NULL){ |
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199 data = (driver_data*)d->canHandle; |
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200 d->canHandle = NULL; |
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201 data->continue_receive_thread = false;} |
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202 LeaveMutex(); |
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203 WaitReceiveTaskEnd(&data->receive_thread); |
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204 (*s_driver_procs.m_canClose)(data->inst); |
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205 delete data; |
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206 return 0; |
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207 } |
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208 return 0; |
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209 } |
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210 |
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211 |
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