Removed some warnings.
/*
This file is part of CanFestival, a library implementing CanOpen Stack.
Copyright (C): Edouard TISSERANT
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 "Socket.h"
#include <iostream>
using namespace std;
extern "C" {
#include "can_driver.h"
}
//------------------------------------------------------------------------
extern "C"
UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
{
string l = reinterpret_cast<SocketClient*>(fd0)->ReceiveLine();
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}}",
&m->cob_id,
&m->rtr,
&m->len,
&m->data[0],
&m->data[1],
&m->data[2],
&m->data[3],
&m->data[4],
&m->data[5],
&m->data[6],
&m->data[7]
);
#if defined DEBUG_MSG_CONSOLE_ON
printf("in : ");
print_message(m);
#endif
return res==11 ? 0 : 1 ;
}
extern "C"
UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
{
char s[1024];
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}}",
m->cob_id,
m->rtr,
m->len,
m->data[0],
m->data[1],
m->data[2],
m->data[3],
m->data[4],
m->data[5],
m->data[6],
m->data[7]
);
reinterpret_cast<SocketClient*>(fd0)->SendLine(s);
#if defined DEBUG_MSG_CONSOLE_ON
printf("out : ");
print_message(m);
#endif
return 0;
}
extern "C"
CAN_HANDLE canOpen_driver(s_BOARD *board)
{
Socket* s;
try {
s = new SocketClient(board->busname, 11898);
//s.SendLine("GET / HTTP/1.0");
//s.SendLine("Host: www.google.com");
}
catch (const char* _s) {
cerr << _s << endl;
return NULL;
}
catch (std::string _s) {
cerr << _s << endl;
return NULL;
}
catch (...) {
cerr << "unhandled exception\n";
return NULL;
}
return (CAN_HANDLE) s;
}
extern "C"
int canClose_driver(CAN_HANDLE inst)
{
delete reinterpret_cast<SocketClient*>(inst);
return 1;
}
extern "C"
UNS8 canChangeBaudRate_driver( CAN_HANDLE fd, char* baud)
{
cerr << "canChangeBaudRate not yet supported by this driver\n";
return 0;
}