--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/unix/unix.c	Wed Apr 04 13:04:31 2007 +0200
@@ -0,0 +1,200 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack. 
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+
+See COPYING file for copyrights details.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+#include <unistd.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#ifndef NOT_USE_DYNAMIC_LOADING
+#define DLL_CALL(funcname) (* funcname##_driver)
+#define FCT_PTR_INIT =NULL
+
+#ifdef WIN32
+#define DLSYM(name)\
+    *(void **) (&_##name) = GetProcAddress(handle, TEXT(#name"_driver"));\
+	if (name##_driver == NULL)  {\
+		fprintf (stderr, "Error loading symbol %s\n",#name"_driver");\
+		UnLoadCanDriver(handle);\
+		return NULL;\
+	}
+ 
+#else
+#define DLSYM(name)\
+	*(void **) (&name##_driver) = dlsym(handle, #name"_driver");\
+	if ((error = dlerror()) != NULL)  {\
+		fprintf (stderr, "%s\n", error);\
+		UnLoadCanDriver(handle);\
+		return NULL;\
+	}
+#endif
+
+#else /*NOT_USE_DYNAMIC_LOADING*/
+
+/*Function call is direct*/
+#define DLL_CALL(funcname) funcname##_driver
+
+#endif /*NOT_USE_DYNAMIC_LOADING*/
+
+#include "data.h"
+#include "canfestival.h"
+#include "timers_driver.h"
+
+#define MAX_NB_CAN_PORTS 16
+
+typedef struct {
+  char used;
+  CAN_HANDLE fd;
+  TASK_HANDLE receiveTask;
+  CO_Data* d;
+} CANPort;
+
+#include "can_driver.h"
+
+/*Declares the funtion pointers for dll binding or simple protos*/
+/*UNS8 DLL_CALL(canReceive)(CAN_HANDLE, Message *);
+UNS8 DLL_CALL(canSend)(CAN_HANDLE, Message *);
+CAN_HANDLE DLL_CALL(canOpen)(s_BOARD *);
+int DLL_CALL(canClose)(CAN_HANDLE);
+*/
+CANPort canports[MAX_NB_CAN_PORTS] = {{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,}};
+
+#ifndef NOT_USE_DYNAMIC_LOADING
+
+/*UnLoads the dll*/
+UNS8 UnLoadCanDriver(LIB_HANDLE handle)
+{
+	if(handle!=NULL)
+	{
+#ifdef WIN32
+	        FreeLibrary(handle);    
+#else
+		dlclose(handle);
+#endif
+		handle=NULL;
+		return 0;
+	}
+	return -1;
+}
+
+/*Loads the dll and get funcs ptr*/
+LIB_HANDLE LoadCanDriver(char* driver_name)
+{
+	LIB_HANDLE handle = NULL;
+	char *error;
+	
+#ifdef WIN32
+
+	if(handle==NULL)
+	{
+		handle = LoadLibrary(driver_name);
+	}
+ 
+	if (handle == NULL) {
+        	fprintf(stderr,"Error loading Can Driver dll \n");
+        	return -1;
+	}
+
+#else
+	if(handle==NULL)
+	{
+		handle = dlopen(driver_name, RTLD_LAZY);
+	}
+
+	if (!handle) {
+		fprintf (stderr, "%s\n", dlerror());
+        	return NULL;
+	}
+#endif
+ 
+	/*Get function ptr*/
+	DLSYM(canReceive)
+	DLSYM(canSend)
+	DLSYM(canOpen)
+	DLSYM(canClose)
+
+	return 0;
+}
+
+#endif
+
+
+
+/*Not needed -- canReceiveLoop calls _canReceive directly *//*
+UNS8 canReceive(CAN_PORT port, Message *m)
+{
+	return DLL_CALL(canReceive)(port->fd, Message *m);
+}
+*/
+
+UNS8 canSend(CAN_PORT port, Message *m)
+{
+	return DLL_CALL(canSend)(((CANPort*)port)->fd, m);
+}
+
+void canReceiveLoop(CAN_PORT port)
+{
+       Message m;
+
+       while (1) {
+               if (DLL_CALL(canReceive)(((CANPort*)port)->fd, &m) != 0)
+                       break;
+
+               EnterMutex();
+               canDispatch(((CANPort*)port)->d, &m);
+               LeaveMutex();
+       }
+}
+CAN_PORT canOpen(s_BOARD *board, CO_Data * d)
+{
+	int i;
+	for(i=0; i < MAX_NB_CAN_PORTS; i++)
+	{
+		if(!canports[i].used)
+		break;
+	}
+	
+#ifndef NOT_USE_DYNAMIC_LOADING
+	if (&DLL_CALL(canOpen)==NULL) {
+        	fprintf(stderr,"CanOpen : Can Driver dll not loaded\n");
+        	return NULL;
+	}
+#endif	
+	CAN_HANDLE fd0 = DLL_CALL(canOpen)(board);
+
+	canports[i].used = 1;
+	canports[i].fd = fd0;
+	canports[i].d = d;
+
+	CreateReceiveTask(&(canports[i]), &canports[i].receiveTask, &canReceiveLoop);
+		
+	return (CAN_PORT)&canports[i];
+}
+
+int canClose(CAN_PORT port)
+{
+	((CANPort*)port)->used = 0;
+	int res = DLL_CALL(canClose)(((CANPort*)port)->fd);
+	
+	WaitReceiveTaskEnd(((CANPort*)port)->receiveTask);
+	return res;
+}
+
+