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3 <title>CanFestival: /home/epimerde/documents/tc11/CanFestival-3/drivers/can_uvccm_win32/can_uvccm_win32.cpp Source File</title> |
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20 <h1>/home/epimerde/documents/tc11/CanFestival-3/drivers/can_uvccm_win32/can_uvccm_win32.cpp</h1><a href="can__uvccm__win32_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// can_uvccm_win32 adapter (http://www.gridconnect.com)</span> |
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21 <a name="l00002"></a>00002 <span class="comment">// driver for CanFestival-3 Win32 port</span> |
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22 <a name="l00003"></a>00003 <span class="comment">// Copyright (C) 2007 Leonid Tochinski, ChattenAssociates, Inc.</span> |
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23 <a name="l00004"></a>00004 |
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24 <a name="l00005"></a>00005 |
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25 <a name="l00006"></a>00006 <span class="preprocessor">#include <sstream></span> |
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26 <a name="l00007"></a>00007 <span class="preprocessor">#include <iomanip></span> |
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27 <a name="l00008"></a>00008 <span class="preprocessor">#if 0 // change to 1 if you use boost</span> |
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28 <a name="l00009"></a>00009 <span class="preprocessor"></span><span class="preprocessor">#include <boost/algorithm/string/case_conv.hpp></span> |
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29 <a name="l00010"></a>00010 <span class="preprocessor">#else</span> |
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30 <a name="l00011"></a>00011 <span class="preprocessor"></span><span class="preprocessor">#include <algorithm></span> |
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31 <a name="l00012"></a>00012 <span class="preprocessor">#endif</span> |
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32 <a name="l00013"></a>00013 <span class="preprocessor"></span> |
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33 <a name="l00014"></a>00014 <span class="keyword">extern</span> <span class="stringliteral">"C"</span> { |
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34 <a name="l00015"></a>00015 <span class="preprocessor">#include "<a class="code" href="can__driver_8h.html">can_driver.h</a>"</span> |
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35 <a name="l00016"></a>00016 } |
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36 <a name="l00017"></a><a class="code" href="classcan__uvccm__win32.html">00017</a> <span class="keyword">class </span><a class="code" href="classcan__uvccm__win32.html">can_uvccm_win32</a> |
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37 <a name="l00018"></a>00018 { |
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38 <a name="l00019"></a>00019 <span class="keyword">public</span>: |
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39 <a name="l00020"></a><a class="code" href="classcan__uvccm__win32_1_1error.html">00020</a> <span class="keyword">class </span><a class="code" href="classcan__uvccm__win32_1_1error.html">error</a> |
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40 <a name="l00021"></a>00021 { |
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41 <a name="l00022"></a>00022 }; |
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42 <a name="l00023"></a>00023 <a class="code" href="classcan__uvccm__win32.html#f4f6d1f25174fd3b7d897a5f73bc363e">can_uvccm_win32</a>(<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *board); |
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43 <a name="l00024"></a>00024 <a class="code" href="classcan__uvccm__win32.html#39bb5c7bb141391d0f2f34b7dd5f487c">~can_uvccm_win32</a>(); |
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44 <a name="l00025"></a>00025 <span class="keywordtype">bool</span> <a class="code" href="classcan__uvccm__win32.html#3358bfa32c0164bc11d220745e3e0430">send</a>(<span class="keyword">const</span> <a class="code" href="structMessage.html">Message</a> *m); |
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45 <a name="l00026"></a>00026 <span class="keywordtype">bool</span> <a class="code" href="classcan__uvccm__win32.html#4301393c1d3046b35d0b545e761b94db">receive</a>(<a class="code" href="structMessage.html">Message</a> *m); |
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46 <a name="l00027"></a>00027 <span class="keyword">private</span>: |
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47 <a name="l00028"></a>00028 <span class="keywordtype">bool</span> <a class="code" href="classcan__uvccm__win32.html#7fb6732edc691451bc1d3206c07d4715">open_rs232</a>(<span class="keywordtype">int</span> port = 1, <span class="keywordtype">int</span> baud_rate = 57600); |
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48 <a name="l00029"></a>00029 <span class="keywordtype">bool</span> <a class="code" href="classcan__uvccm__win32.html#06f9d2fb860a821436471c3233f91dff">close_rs232</a>(); |
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49 <a name="l00030"></a>00030 <span class="keywordtype">bool</span> <a class="code" href="classcan__uvccm__win32.html#c3d1d02a46518b2639beb6060f79f2a2">get_can_data</a>(<span class="keyword">const</span> <span class="keywordtype">char</span>* can_cmd_buf, <span class="keywordtype">long</span>& bufsize, <a class="code" href="structMessage.html">Message</a>* m); |
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50 <a name="l00031"></a>00031 <span class="keywordtype">bool</span> <a class="code" href="classcan__uvccm__win32.html#0f2aed9c45f29e6082f37ea17aea46ae">set_can_data</a>(<span class="keyword">const</span> <a class="code" href="structMessage.html">Message</a>& m, std::string& can_cmd); |
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51 <a name="l00032"></a>00032 <span class="keyword">private</span>: |
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52 <a name="l00033"></a><a class="code" href="classcan__uvccm__win32.html#3f13c1748b3cd57fd1d478782428859a">00033</a> HANDLE <a class="code" href="classcan__uvccm__win32.html#3f13c1748b3cd57fd1d478782428859a">m_port</a>; |
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53 <a name="l00034"></a><a class="code" href="classcan__uvccm__win32.html#cf25e6725871137696ab41b06fa05417">00034</a> HANDLE <a class="code" href="classcan__uvccm__win32.html#cf25e6725871137696ab41b06fa05417">m_read_event</a>; |
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54 <a name="l00035"></a><a class="code" href="classcan__uvccm__win32.html#544ea7fd0e8a5d7cfb7cf9058d6020a4">00035</a> HANDLE <a class="code" href="classcan__uvccm__win32.html#544ea7fd0e8a5d7cfb7cf9058d6020a4">m_write_event</a>; |
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55 <a name="l00036"></a><a class="code" href="classcan__uvccm__win32.html#d264855657adc02fbc687f37d302fc9f">00036</a> std::string <a class="code" href="classcan__uvccm__win32.html#d264855657adc02fbc687f37d302fc9f">m_residual_buffer</a>; |
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56 <a name="l00037"></a>00037 }; |
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57 <a name="l00038"></a>00038 |
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58 <a name="l00039"></a><a class="code" href="classcan__uvccm__win32.html#f4f6d1f25174fd3b7d897a5f73bc363e">00039</a> <a class="code" href="classcan__uvccm__win32.html#f4f6d1f25174fd3b7d897a5f73bc363e">can_uvccm_win32::can_uvccm_win32</a>(<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *board) : m_port(INVALID_HANDLE_VALUE), |
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59 <a name="l00040"></a>00040 m_read_event(0), |
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60 <a name="l00041"></a>00041 m_write_event(0) |
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61 <a name="l00042"></a>00042 { |
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62 <a name="l00043"></a>00043 <span class="keywordflow">if</span> (strcmp( board-><a class="code" href="structstruct__s__BOARD.html#5316679ded23cf846c63c06ab51a4646">baudrate</a>, <span class="stringliteral">"125K"</span>) || !<a class="code" href="classcan__uvccm__win32.html#7fb6732edc691451bc1d3206c07d4715">open_rs232</a>(1)) |
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63 <a name="l00044"></a>00044 <span class="keywordflow">throw</span> <a class="code" href="classcan__uvccm__win32_1_1error.html">error</a>(); |
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64 <a name="l00045"></a>00045 } |
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65 <a name="l00046"></a>00046 |
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66 <a name="l00047"></a><a class="code" href="classcan__uvccm__win32.html#39bb5c7bb141391d0f2f34b7dd5f487c">00047</a> <a class="code" href="classcan__uvccm__win32.html#39bb5c7bb141391d0f2f34b7dd5f487c">can_uvccm_win32::~can_uvccm_win32</a>() |
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67 <a name="l00048"></a>00048 { |
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68 <a name="l00049"></a>00049 <a class="code" href="classcan__uvccm__win32.html#06f9d2fb860a821436471c3233f91dff">close_rs232</a>(); |
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69 <a name="l00050"></a>00050 } |
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70 <a name="l00051"></a>00051 |
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71 <a name="l00052"></a><a class="code" href="classcan__uvccm__win32.html#3358bfa32c0164bc11d220745e3e0430">00052</a> <span class="keywordtype">bool</span> <a class="code" href="classcan__uvccm__win32.html#3358bfa32c0164bc11d220745e3e0430">can_uvccm_win32::send</a>(<span class="keyword">const</span> <a class="code" href="structMessage.html">Message</a> *m) |
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72 <a name="l00053"></a>00053 { |
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73 <a name="l00054"></a>00054 <span class="keywordflow">if</span> (<a class="code" href="classcan__uvccm__win32.html#3f13c1748b3cd57fd1d478782428859a">m_port</a> == INVALID_HANDLE_VALUE) |
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74 <a name="l00055"></a>00055 <span class="keywordflow">return</span> <span class="keyword">false</span>; |
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75 <a name="l00056"></a>00056 |
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76 <a name="l00057"></a>00057 <span class="comment">// build can_uvccm_win32 command string</span> |
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77 <a name="l00058"></a>00058 std::string can_cmd; |
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78 <a name="l00059"></a>00059 <a class="code" href="classcan__uvccm__win32.html#0f2aed9c45f29e6082f37ea17aea46ae">set_can_data</a>(*m, can_cmd); |
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79 <a name="l00060"></a>00060 |
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80 <a name="l00061"></a>00061 OVERLAPPED overlapped; |
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81 <a name="l00062"></a>00062 ::memset(&overlapped, 0, <span class="keyword">sizeof</span> overlapped); |
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82 <a name="l00063"></a>00063 overlapped.hEvent = <a class="code" href="classcan__uvccm__win32.html#544ea7fd0e8a5d7cfb7cf9058d6020a4">m_write_event</a>; |
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83 <a name="l00064"></a>00064 ::ResetEvent(overlapped.hEvent); |
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84 <a name="l00065"></a>00065 |
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85 <a name="l00066"></a>00066 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> bytes_written = 0;<a class="code" href="namespaceeds__utils.html#d9540832adbe476f1ba6a0cafcbbafbc"></a> |
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86 <a name="l00067"></a>00067 <a class="code" href="namespaceeds__utils.html#d9540832adbe476f1ba6a0cafcbbafbc"> ::WriteFile</a>(<a class="code" href="classcan__uvccm__win32.html#3f13c1748b3cd57fd1d478782428859a">m_port</a>, can_cmd.c_str(), (<span class="keywordtype">unsigned</span> long)can_cmd.size(), &bytes_written, &overlapped); |
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87 <a name="l00068"></a>00068 <span class="comment">// wait for write operation completion</span> |
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88 <a name="l00069"></a>00069 <span class="keyword">enum</span> { WRITE_TIMEOUT = 1000 }; |
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89 <a name="l00070"></a>00070 ::WaitForSingleObject(overlapped.hEvent, WRITE_TIMEOUT); |
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90 <a name="l00071"></a>00071 <span class="comment">// get number of bytes written</span> |
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91 <a name="l00072"></a>00072 ::GetOverlappedResult(<a class="code" href="classcan__uvccm__win32.html#3f13c1748b3cd57fd1d478782428859a">m_port</a>, &overlapped, &bytes_written, <a class="code" href="def_8h.html#a93f0eb578d23995850d61f7d61c55c1">FALSE</a>); |
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92 <a name="l00073"></a>00073 |
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93 <a name="l00074"></a>00074 <span class="keywordtype">bool</span> result = (bytes_written == can_cmd.size()); |
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94 <a name="l00075"></a>00075 |
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95 <a name="l00076"></a>00076 <span class="keywordflow">return</span> result; |
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96 <a name="l00077"></a>00077 } |
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97 <a name="l00078"></a>00078 |
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98 <a name="l00079"></a>00079 |
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99 <a name="l00080"></a><a class="code" href="classcan__uvccm__win32.html#4301393c1d3046b35d0b545e761b94db">00080</a> <span class="keywordtype">bool</span> <a class="code" href="classcan__uvccm__win32.html#4301393c1d3046b35d0b545e761b94db">can_uvccm_win32::receive</a>(<a class="code" href="structMessage.html">Message</a> *m) |
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100 <a name="l00081"></a>00081 { |
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101 <a name="l00082"></a>00082 <span class="keywordflow">if</span> (<a class="code" href="classcan__uvccm__win32.html#3f13c1748b3cd57fd1d478782428859a">m_port</a> == INVALID_HANDLE_VALUE) |
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102 <a name="l00083"></a>00083 <span class="keywordflow">return</span> <span class="keyword">false</span>; |
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103 <a name="l00084"></a>00084 |
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104 <a name="l00085"></a>00085 <span class="keywordtype">long</span> res_buffer_size = (long)<a class="code" href="classcan__uvccm__win32.html#d264855657adc02fbc687f37d302fc9f">m_residual_buffer</a>.size(); |
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105 <a name="l00086"></a>00086 <span class="keywordtype">bool</span> result = <a class="code" href="classcan__uvccm__win32.html#c3d1d02a46518b2639beb6060f79f2a2">get_can_data</a>(<a class="code" href="classcan__uvccm__win32.html#d264855657adc02fbc687f37d302fc9f">m_residual_buffer</a>.c_str(), res_buffer_size, m); |
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106 <a name="l00087"></a>00087 <span class="keywordflow">if</span> (result) |
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107 <a name="l00088"></a>00088 { |
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108 <a name="l00089"></a>00089 <a class="code" href="classcan__uvccm__win32.html#d264855657adc02fbc687f37d302fc9f">m_residual_buffer</a>.erase(0, res_buffer_size); |
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109 <a name="l00090"></a>00090 <span class="keywordflow">return</span> <span class="keyword">true</span>; |
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110 <a name="l00091"></a>00091 } |
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111 <a name="l00092"></a>00092 |
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112 <a name="l00093"></a>00093 <span class="keyword">enum</span> { READ_TIMEOUT = 500 }; |
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113 <a name="l00094"></a>00094 |
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114 <a name="l00095"></a>00095 OVERLAPPED overlapped; |
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115 <a name="l00096"></a>00096 ::memset(&overlapped, 0, <span class="keyword">sizeof</span> overlapped); |
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116 <a name="l00097"></a>00097 overlapped.hEvent = <a class="code" href="classcan__uvccm__win32.html#cf25e6725871137696ab41b06fa05417">m_read_event</a>; |
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117 <a name="l00098"></a>00098 ::ResetEvent(overlapped.hEvent); |
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118 <a name="l00099"></a>00099 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> event_mask = 0; |
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119 <a name="l00100"></a>00100 |
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120 <a name="l00101"></a>00101 <span class="keywordflow">if</span> (<a class="code" href="def_8h.html#a93f0eb578d23995850d61f7d61c55c1">FALSE</a> == ::WaitCommEvent(<a class="code" href="classcan__uvccm__win32.html#3f13c1748b3cd57fd1d478782428859a">m_port</a>, &event_mask, &overlapped) && ERROR_IO_PENDING == ::GetLastError()) |
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121 <a name="l00102"></a>00102 { |
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122 <a name="l00103"></a>00103 <span class="keywordflow">if</span> (WAIT_TIMEOUT == ::WaitForSingleObject(overlapped.hEvent, READ_TIMEOUT)) |
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123 <a name="l00104"></a>00104 <span class="keywordflow">return</span> <span class="keyword">false</span>; |
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124 <a name="l00105"></a>00105 } |
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125 <a name="l00106"></a>00106 |
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126 <a name="l00107"></a>00107 <span class="comment">// get number of bytes in the input que</span> |
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127 <a name="l00108"></a>00108 COMSTAT stat; |
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128 <a name="l00109"></a>00109 ::memset(&stat, 0, <span class="keyword">sizeof</span> stat); |
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129 <a name="l00110"></a>00110 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> errors = 0; |
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130 <a name="l00111"></a>00111 ::ClearCommError(<a class="code" href="classcan__uvccm__win32.html#3f13c1748b3cd57fd1d478782428859a">m_port</a>, &errors, &stat); |
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131 <a name="l00112"></a>00112 <span class="keywordflow">if</span> (stat.cbInQue == 0) |
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132 <a name="l00113"></a>00113 <span class="keywordflow">return</span> <span class="keyword">false</span>; |
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133 <a name="l00114"></a>00114 <span class="keywordtype">char</span> buffer[3000]; |
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134 <a name="l00115"></a>00115 |
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135 <a name="l00116"></a>00116 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> bytes_to_read = min(stat.cbInQue, sizeof (buffer)); |
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136 <a name="l00117"></a>00117 |
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137 <a name="l00118"></a>00118 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> bytes_read = 0; |
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138 <a name="l00119"></a>00119 ::ReadFile(<a class="code" href="classcan__uvccm__win32.html#3f13c1748b3cd57fd1d478782428859a">m_port</a>, buffer, bytes_to_read, &bytes_read, &overlapped); |
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139 <a name="l00120"></a>00120 <span class="comment">// wait for read operation completion</span> |
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140 <a name="l00121"></a>00121 ::WaitForSingleObject(overlapped.hEvent, READ_TIMEOUT); |
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141 <a name="l00122"></a>00122 <span class="comment">// get number of bytes read</span> |
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142 <a name="l00123"></a>00123 ::GetOverlappedResult(<a class="code" href="classcan__uvccm__win32.html#3f13c1748b3cd57fd1d478782428859a">m_port</a>, &overlapped, &bytes_read, <a class="code" href="def_8h.html#a93f0eb578d23995850d61f7d61c55c1">FALSE</a>); |
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143 <a name="l00124"></a>00124 result = <span class="keyword">false</span>; |
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144 <a name="l00125"></a>00125 <span class="keywordflow">if</span> (bytes_read > 0) |
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145 <a name="l00126"></a>00126 { |
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146 <a name="l00127"></a>00127 <a class="code" href="classcan__uvccm__win32.html#d264855657adc02fbc687f37d302fc9f">m_residual_buffer</a>.append(buffer, bytes_read); |
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147 <a name="l00128"></a>00128 res_buffer_size = (long)<a class="code" href="classcan__uvccm__win32.html#d264855657adc02fbc687f37d302fc9f">m_residual_buffer</a>.size(); |
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148 <a name="l00129"></a>00129 result = <a class="code" href="classcan__uvccm__win32.html#c3d1d02a46518b2639beb6060f79f2a2">get_can_data</a>(<a class="code" href="classcan__uvccm__win32.html#d264855657adc02fbc687f37d302fc9f">m_residual_buffer</a>.c_str(), res_buffer_size, m); |
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149 <a name="l00130"></a>00130 <span class="keywordflow">if</span> (result) |
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150 <a name="l00131"></a>00131 <a class="code" href="classcan__uvccm__win32.html#d264855657adc02fbc687f37d302fc9f">m_residual_buffer</a>.erase(0, res_buffer_size); |
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151 <a name="l00132"></a>00132 } |
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152 <a name="l00133"></a>00133 <span class="keywordflow">return</span> result; |
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153 <a name="l00134"></a>00134 } |
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154 <a name="l00135"></a>00135 |
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155 <a name="l00136"></a><a class="code" href="classcan__uvccm__win32.html#7fb6732edc691451bc1d3206c07d4715">00136</a> <span class="keywordtype">bool</span> <a class="code" href="classcan__uvccm__win32.html#7fb6732edc691451bc1d3206c07d4715">can_uvccm_win32::open_rs232</a>(<span class="keywordtype">int</span> port, <span class="keywordtype">int</span> baud_rate) |
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156 <a name="l00137"></a>00137 { |
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157 <a name="l00138"></a>00138 <span class="keywordflow">if</span> (<a class="code" href="classcan__uvccm__win32.html#3f13c1748b3cd57fd1d478782428859a">m_port</a> != INVALID_HANDLE_VALUE) |
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158 <a name="l00139"></a>00139 <span class="keywordflow">return</span> <span class="keyword">true</span>; |
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159 <a name="l00140"></a>00140 |
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160 <a name="l00141"></a>00141 std::ostringstream device_name; |
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161 <a name="l00142"></a>00142 device_name << <span class="stringliteral">"COM"</span> << port; |
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162 <a name="l00143"></a>00143 |
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163 <a name="l00144"></a>00144 <a class="code" href="classcan__uvccm__win32.html#3f13c1748b3cd57fd1d478782428859a">m_port</a> = ::CreateFile(device_name.str().c_str(), |
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164 <a name="l00145"></a>00145 GENERIC_READ | GENERIC_WRITE, |
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165 <a name="l00146"></a>00146 0, <span class="comment">// exclusive access</span> |
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166 <a name="l00147"></a>00147 NULL, <span class="comment">// no security</span> |
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167 <a name="l00148"></a>00148 OPEN_EXISTING, |
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168 <a name="l00149"></a>00149 FILE_FLAG_OVERLAPPED, <span class="comment">// overlapped I/O</span> |
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169 <a name="l00150"></a>00150 NULL); <span class="comment">// null template</span> |
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170 <a name="l00151"></a>00151 |
|
171 <a name="l00152"></a>00152 <span class="comment">// Check the returned handle for INVALID_HANDLE_VALUE and then set the buffer sizes.</span> |
|
172 <a name="l00153"></a>00153 <span class="keywordflow">if</span> (<a class="code" href="classcan__uvccm__win32.html#3f13c1748b3cd57fd1d478782428859a">m_port</a> == INVALID_HANDLE_VALUE) |
|
173 <a name="l00154"></a>00154 <span class="keywordflow">return</span> <span class="keyword">false</span>; |
|
174 <a name="l00155"></a>00155 |
|
175 <a name="l00156"></a>00156 <span class="comment">// SetCommMask(m_hCom,EV_RXCHAR|EV_TXEMPTY|EV_CTS|EV_DSR|EV_RLSD|EV_BREAK|EV_ERR|EV_RING); //</span> |
|
176 <a name="l00157"></a>00157 ::SetCommMask(<a class="code" href="classcan__uvccm__win32.html#3f13c1748b3cd57fd1d478782428859a">m_port</a>, EV_RXFLAG); |
|
177 <a name="l00158"></a>00158 |
|
178 <a name="l00159"></a>00159 COMMTIMEOUTS timeouts; |
|
179 <a name="l00160"></a>00160 ::memset(&timeouts, 0, <span class="keyword">sizeof</span> (timeouts)); |
|
180 <a name="l00161"></a>00161 timeouts.ReadIntervalTimeout = -1; |
|
181 <a name="l00162"></a>00162 timeouts.ReadTotalTimeoutConstant = 0; |
|
182 <a name="l00163"></a>00163 timeouts.ReadTotalTimeoutMultiplier = 0; |
|
183 <a name="l00164"></a>00164 timeouts.WriteTotalTimeoutConstant = 5000; |
|
184 <a name="l00165"></a>00165 timeouts.WriteTotalTimeoutMultiplier = 0; |
|
185 <a name="l00166"></a>00166 SetCommTimeouts(<a class="code" href="classcan__uvccm__win32.html#3f13c1748b3cd57fd1d478782428859a">m_port</a>, &timeouts); <span class="comment">//</span> |
|
186 <a name="l00167"></a>00167 |
|
187 <a name="l00168"></a>00168 ::SetupComm(<a class="code" href="classcan__uvccm__win32.html#3f13c1748b3cd57fd1d478782428859a">m_port</a>, 1024, 512); <span class="comment">// set buffer sizes</span> |
|
188 <a name="l00169"></a>00169 |
|
189 <a name="l00170"></a>00170 <span class="comment">// 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.</span> |
|
190 <a name="l00171"></a>00171 DCB dcb; |
|
191 <a name="l00172"></a>00172 ::memset(&dcb, 0, <span class="keyword">sizeof</span> (dcb)); |
|
192 <a name="l00173"></a>00173 ::GetCommState(<a class="code" href="classcan__uvccm__win32.html#3f13c1748b3cd57fd1d478782428859a">m_port</a>, &dcb); |
|
193 <a name="l00174"></a>00174 dcb.BaudRate = baud_rate; |
|
194 <a name="l00175"></a>00175 dcb.ByteSize = 8; |
|
195 <a name="l00176"></a>00176 dcb.Parity = NOPARITY; |
|
196 <a name="l00177"></a>00177 dcb.StopBits = ONESTOPBIT; |
|
197 <a name="l00178"></a>00178 dcb.fAbortOnError = <a class="code" href="def_8h.html#a8cecfc5c5c054d2875c03e77b7be15d">TRUE</a>; |
|
198 <a name="l00179"></a>00179 dcb.EvtChar = 0x0A; <span class="comment">// '\n' character</span> |
|
199 <a name="l00180"></a>00180 ::SetCommState(<a class="code" href="classcan__uvccm__win32.html#3f13c1748b3cd57fd1d478782428859a">m_port</a>, &dcb); |
|
200 <a name="l00181"></a>00181 |
|
201 <a name="l00182"></a>00182 ::PurgeComm(<a class="code" href="classcan__uvccm__win32.html#3f13c1748b3cd57fd1d478782428859a">m_port</a>, PURGE_RXABORT | PURGE_RXCLEAR | PURGE_TXABORT | PURGE_TXCLEAR); |
|
202 <a name="l00183"></a>00183 |
|
203 <a name="l00184"></a>00184 <a class="code" href="classcan__uvccm__win32.html#cf25e6725871137696ab41b06fa05417">m_read_event</a> = ::CreateEvent(NULL, <a class="code" href="def_8h.html#a8cecfc5c5c054d2875c03e77b7be15d">TRUE</a>, <a class="code" href="def_8h.html#a93f0eb578d23995850d61f7d61c55c1">FALSE</a>, NULL); |
|
204 <a name="l00185"></a>00185 <a class="code" href="classcan__uvccm__win32.html#544ea7fd0e8a5d7cfb7cf9058d6020a4">m_write_event</a> = ::CreateEvent(NULL, TRUE, FALSE, NULL); |
|
205 <a name="l00186"></a>00186 |
|
206 <a name="l00187"></a>00187 <span class="keywordflow">return</span> <span class="keyword">true</span>; |
|
207 <a name="l00188"></a>00188 } |
|
208 <a name="l00189"></a>00189 |
|
209 <a name="l00190"></a><a class="code" href="classcan__uvccm__win32.html#06f9d2fb860a821436471c3233f91dff">00190</a> <span class="keywordtype">bool</span> <a class="code" href="classcan__uvccm__win32.html#06f9d2fb860a821436471c3233f91dff">can_uvccm_win32::close_rs232</a>() |
|
210 <a name="l00191"></a>00191 { |
|
211 <a name="l00192"></a>00192 <span class="keywordflow">if</span> (<a class="code" href="classcan__uvccm__win32.html#3f13c1748b3cd57fd1d478782428859a">m_port</a> != INVALID_HANDLE_VALUE) |
|
212 <a name="l00193"></a>00193 { |
|
213 <a name="l00194"></a>00194 ::PurgeComm(<a class="code" href="classcan__uvccm__win32.html#3f13c1748b3cd57fd1d478782428859a">m_port</a>, PURGE_RXABORT | PURGE_RXCLEAR | PURGE_TXABORT | PURGE_TXCLEAR); |
|
214 <a name="l00195"></a>00195 ::CloseHandle(<a class="code" href="classcan__uvccm__win32.html#3f13c1748b3cd57fd1d478782428859a">m_port</a>); |
|
215 <a name="l00196"></a>00196 <a class="code" href="classcan__uvccm__win32.html#3f13c1748b3cd57fd1d478782428859a">m_port</a> = INVALID_HANDLE_VALUE; |
|
216 <a name="l00197"></a>00197 ::CloseHandle(<a class="code" href="classcan__uvccm__win32.html#cf25e6725871137696ab41b06fa05417">m_read_event</a>); |
|
217 <a name="l00198"></a>00198 <a class="code" href="classcan__uvccm__win32.html#cf25e6725871137696ab41b06fa05417">m_read_event</a> = 0; |
|
218 <a name="l00199"></a>00199 ::CloseHandle(<a class="code" href="classcan__uvccm__win32.html#544ea7fd0e8a5d7cfb7cf9058d6020a4">m_write_event</a>); |
|
219 <a name="l00200"></a>00200 <a class="code" href="classcan__uvccm__win32.html#544ea7fd0e8a5d7cfb7cf9058d6020a4">m_write_event</a> = 0; |
|
220 <a name="l00201"></a>00201 <a class="code" href="classcan__uvccm__win32.html#d264855657adc02fbc687f37d302fc9f">m_residual_buffer</a>.clear(); |
|
221 <a name="l00202"></a>00202 } |
|
222 <a name="l00203"></a>00203 <span class="keywordflow">return</span> <span class="keyword">true</span>; |
|
223 <a name="l00204"></a>00204 } |
|
224 <a name="l00205"></a>00205 |
|
225 <a name="l00206"></a><a class="code" href="classcan__uvccm__win32.html#c3d1d02a46518b2639beb6060f79f2a2">00206</a> <span class="keywordtype">bool</span> <a class="code" href="classcan__uvccm__win32.html#c3d1d02a46518b2639beb6060f79f2a2">can_uvccm_win32::get_can_data</a>(<span class="keyword">const</span> <span class="keywordtype">char</span>* can_cmd_buf, <span class="keywordtype">long</span>& bufsize, <a class="code" href="structMessage.html">Message</a>* m) |
|
226 <a name="l00207"></a>00207 { |
|
227 <a name="l00208"></a>00208 <span class="keywordflow">if</span> (bufsize < 5) |
|
228 <a name="l00209"></a>00209 { |
|
229 <a name="l00210"></a>00210 bufsize = 0; |
|
230 <a name="l00211"></a>00211 <span class="keywordflow">return</span> <span class="keyword">false</span>; |
|
231 <a name="l00212"></a>00212 } |
|
232 <a name="l00213"></a>00213 |
|
233 <a name="l00214"></a>00214 <a class="code" href="structMessage.html">Message</a> msg; |
|
234 <a name="l00215"></a>00215 ::memset(&msg, 0 , <span class="keyword">sizeof</span> (msg)); |
|
235 <a name="l00216"></a>00216 <span class="keywordtype">char</span> colon = 0, type = 0, request = 0; |
|
236 <a name="l00217"></a>00217 std::istringstream buf(std::string(can_cmd_buf, bufsize)); |
|
237 <a name="l00218"></a>00218 buf >> colon >> type >> std::hex >> msg.<a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a> >> request; |
|
238 <a name="l00219"></a>00219 <span class="keywordflow">if</span> (colon != <span class="charliteral">':'</span> || (type != <span class="charliteral">'S'</span> && type != <span class="charliteral">'X'</span>)) |
|
239 <a name="l00220"></a>00220 { |
|
240 <a name="l00221"></a>00221 bufsize = 0; |
|
241 <a name="l00222"></a>00222 <span class="keywordflow">return</span> <span class="keyword">false</span>; |
|
242 <a name="l00223"></a>00223 } |
|
243 <a name="l00224"></a>00224 <span class="keywordflow">if</span> (request == <span class="charliteral">'N'</span>) |
|
244 <a name="l00225"></a>00225 { |
|
245 <a name="l00226"></a>00226 msg.<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = 0; |
|
246 <a name="l00227"></a>00227 <span class="keywordflow">for</span> (msg.<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> = 0; msg.<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> < 8; ++msg.<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a>) |
|
247 <a name="l00228"></a>00228 { |
|
248 <a name="l00229"></a>00229 std::string data_byte_str; |
|
249 <a name="l00230"></a>00230 buf >> std::setw(2) >> data_byte_str; |
|
250 <a name="l00231"></a>00231 <span class="keywordflow">if</span> (data_byte_str[0] == <span class="charliteral">';'</span>) |
|
251 <a name="l00232"></a>00232 <span class="keywordflow">break</span>; |
|
252 <a name="l00233"></a>00233 <span class="keywordtype">long</span> byte_val = -1; |
|
253 <a name="l00234"></a>00234 std::istringstream(data_byte_str) >> std::hex >> byte_val; |
|
254 <a name="l00235"></a>00235 <span class="keywordflow">if</span> (byte_val == -1) |
|
255 <a name="l00236"></a>00236 { |
|
256 <a name="l00237"></a>00237 bufsize = 0; |
|
257 <a name="l00238"></a>00238 <span class="keywordflow">return</span> <span class="keyword">false</span>; |
|
258 <a name="l00239"></a>00239 } |
|
259 <a name="l00240"></a>00240 msg.<a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>[msg.<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a>] = (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)byte_val; |
|
260 <a name="l00241"></a>00241 } |
|
261 <a name="l00242"></a>00242 <span class="keywordflow">if</span> (msg.<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> == 8) |
|
262 <a name="l00243"></a>00243 { |
|
263 <a name="l00244"></a>00244 <span class="keywordtype">char</span> semicolon = 0; |
|
264 <a name="l00245"></a>00245 buf >> semicolon; |
|
265 <a name="l00246"></a>00246 <span class="keywordflow">if</span> (semicolon != <span class="charliteral">';'</span>) |
|
266 <a name="l00247"></a>00247 { |
|
267 <a name="l00248"></a>00248 bufsize = 0; |
|
268 <a name="l00249"></a>00249 <span class="keywordflow">return</span> <span class="keyword">false</span>; |
|
269 <a name="l00250"></a>00250 } |
|
270 <a name="l00251"></a>00251 } |
|
271 <a name="l00252"></a>00252 |
|
272 <a name="l00253"></a>00253 } |
|
273 <a name="l00254"></a>00254 <span class="keywordflow">else</span> <span class="keywordflow">if</span> (request == <span class="charliteral">'R'</span>) |
|
274 <a name="l00255"></a>00255 { |
|
275 <a name="l00256"></a>00256 msg.<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = 1; |
|
276 <a name="l00257"></a>00257 buf >> msg.<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a>; |
|
277 <a name="l00258"></a>00258 } |
|
278 <a name="l00259"></a>00259 <span class="keywordflow">else</span> |
|
279 <a name="l00260"></a>00260 { |
|
280 <a name="l00261"></a>00261 bufsize = 0; |
|
281 <a name="l00262"></a>00262 <span class="keywordflow">return</span> <span class="keyword">false</span>; |
|
282 <a name="l00263"></a>00263 } |
|
283 <a name="l00264"></a>00264 |
|
284 <a name="l00265"></a>00265 bufsize = buf.tellg(); |
|
285 <a name="l00266"></a>00266 |
|
286 <a name="l00267"></a>00267 *m = msg; |
|
287 <a name="l00268"></a>00268 <span class="keywordflow">return</span> <span class="keyword">true</span>; |
|
288 <a name="l00269"></a>00269 } |
|
289 <a name="l00270"></a>00270 |
|
290 <a name="l00271"></a><a class="code" href="classcan__uvccm__win32.html#0f2aed9c45f29e6082f37ea17aea46ae">00271</a> <span class="keywordtype">bool</span> <a class="code" href="classcan__uvccm__win32.html#0f2aed9c45f29e6082f37ea17aea46ae">can_uvccm_win32::set_can_data</a>(<span class="keyword">const</span> <a class="code" href="structMessage.html">Message</a>& m, std::string& can_cmd) |
|
291 <a name="l00272"></a>00272 { |
|
292 <a name="l00273"></a>00273 <span class="comment">// build can_uvccm_win32 command string</span> |
|
293 <a name="l00274"></a>00274 std::ostringstream can_cmd_str; |
|
294 <a name="l00275"></a>00275 can_cmd_str << <span class="stringliteral">":S"</span> << std::hex << m.<a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a>; |
|
295 <a name="l00276"></a>00276 <span class="keywordflow">if</span> (m.<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> == 1) |
|
296 <a name="l00277"></a>00277 { |
|
297 <a name="l00278"></a>00278 can_cmd_str << <span class="charliteral">'R'</span> << (long)m.<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a>; |
|
298 <a name="l00279"></a>00279 } |
|
299 <a name="l00280"></a>00280 <span class="keywordflow">else</span> |
|
300 <a name="l00281"></a>00281 { |
|
301 <a name="l00282"></a>00282 can_cmd_str << <span class="charliteral">'N'</span>; |
|
302 <a name="l00283"></a>00283 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < m.<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a>; ++i) |
|
303 <a name="l00284"></a>00284 can_cmd_str << std::hex << std::setfill(<span class="charliteral">'0'</span>) << std::setw(2) << (<span class="keywordtype">long</span>)m.<a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>[i]; |
|
304 <a name="l00285"></a>00285 } |
|
305 <a name="l00286"></a>00286 can_cmd_str << <span class="charliteral">';'</span>; |
|
306 <a name="l00287"></a>00287 can_cmd = can_cmd_str.str(); |
|
307 <a name="l00288"></a>00288 <span class="preprocessor">#ifdef BOOST_VERSION</span> |
|
308 <a name="l00289"></a>00289 <span class="preprocessor"></span> boost::to_upper(can_cmd); |
|
309 <a name="l00290"></a>00290 <span class="preprocessor">#else</span> |
|
310 <a name="l00291"></a>00291 <span class="preprocessor"></span> std::transform(can_cmd.begin(),can_cmd.end(),can_cmd.begin(),::toupper); |
|
311 <a name="l00292"></a>00292 <span class="preprocessor">#endif</span> |
|
312 <a name="l00293"></a>00293 <span class="preprocessor"></span> <span class="keywordflow">return</span> <span class="keyword">true</span>; |
|
313 <a name="l00294"></a>00294 } |
|
314 <a name="l00295"></a>00295 |
|
315 <a name="l00296"></a>00296 |
|
316 <a name="l00297"></a>00297 <span class="comment">//------------------------------------------------------------------------</span> |
|
317 <a name="l00298"></a>00298 <span class="keyword">extern</span> <span class="stringliteral">"C"</span> |
|
318 <a name="l00299"></a><a class="code" href="can__uvccm__win32_8cpp.html#6b3248e95acf2b08d1fd8b42610cc5a6">00299</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="can__lincan_8c.html#6b3248e95acf2b08d1fd8b42610cc5a6">canReceive_driver</a>(<a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> fd0, <a class="code" href="structMessage.html">Message</a> *m) |
|
319 <a name="l00300"></a>00300 { |
|
320 <a name="l00301"></a>00301 <span class="keywordflow">return</span> (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)(!(reinterpret_cast<can_uvccm_win32*>(fd0)->receive(m))); |
|
321 <a name="l00302"></a>00302 } |
|
322 <a name="l00303"></a>00303 |
|
323 <a name="l00304"></a>00304 <span class="keyword">extern</span> <span class="stringliteral">"C"</span> |
|
324 <a name="l00305"></a><a class="code" href="can__uvccm__win32_8cpp.html#def95aee49efa13dd047d0b3b5507ad3">00305</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="can__lincan_8c.html#def95aee49efa13dd047d0b3b5507ad3">canSend_driver</a>(<a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> fd0, <a class="code" href="structMessage.html">Message</a> *m) |
|
325 <a name="l00306"></a>00306 { |
|
326 <a name="l00307"></a>00307 <span class="keywordflow">return</span> (<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>)reinterpret_cast<can_uvccm_win32*>(fd0)->send(m); |
|
327 <a name="l00308"></a>00308 } |
|
328 <a name="l00309"></a>00309 |
|
329 <a name="l00310"></a>00310 <span class="keyword">extern</span> <span class="stringliteral">"C"</span> |
|
330 <a name="l00311"></a><a class="code" href="can__uvccm__win32_8cpp.html#945403aba7f36acbd2e7160ade361bab">00311</a> <a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> <a class="code" href="can__lincan_8c.html#945403aba7f36acbd2e7160ade361bab">canOpen_driver</a>(<a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> *board) |
|
331 <a name="l00312"></a>00312 { |
|
332 <a name="l00313"></a>00313 <span class="keywordflow">try</span> |
|
333 <a name="l00314"></a>00314 { |
|
334 <a name="l00315"></a>00315 <span class="keywordflow">return</span> (<a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a>) <span class="keyword">new</span> <a class="code" href="classcan__uvccm__win32.html">can_uvccm_win32</a>(board); |
|
335 <a name="l00316"></a>00316 } |
|
336 <a name="l00317"></a>00317 <span class="keywordflow">catch</span> (<a class="code" href="classcan__uvccm__win32_1_1error.html">can_uvccm_win32::error</a>&) |
|
337 <a name="l00318"></a>00318 { |
|
338 <a name="l00319"></a>00319 <span class="keywordflow">return</span> NULL; |
|
339 <a name="l00320"></a>00320 } |
|
340 <a name="l00321"></a>00321 } |
|
341 <a name="l00322"></a>00322 |
|
342 <a name="l00323"></a>00323 <span class="keyword">extern</span> <span class="stringliteral">"C"</span> |
|
343 <a name="l00324"></a><a class="code" href="can__uvccm__win32_8cpp.html#f0856b6c70c571ef7aa4509abf18db6d">00324</a> <span class="keywordtype">int</span> <a class="code" href="can__lincan_8c.html#76e6a915d0e40a23b863198b2aaa5545">canClose_driver</a>(<a class="code" href="unix_2applicfg_8h.html#712c7b28987b12b8d400df19c92d0f5e">CAN_HANDLE</a> inst) |
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344 <a name="l00325"></a>00325 { |
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345 <a name="l00326"></a>00326 <span class="keyword">delete</span> reinterpret_cast<can_uvccm_win32*>(inst); |
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346 <a name="l00327"></a>00327 <span class="keywordflow">return</span> 1; |
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347 <a name="l00328"></a>00328 } |
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348 <a name="l00329"></a>00329 |
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349 <a name="l00330"></a>00330 |
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350 <a name="l00331"></a>00331 |
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351 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jun 4 16:29:06 2007 for CanFestival by |
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352 <a href="http://www.doxygen.org/index.html"> |
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353 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address> |
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354 </body> |
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355 </html> |