etisserant@355: /*
etisserant@355: This file is part of CanFestival, a library implementing CanOpen Stack. 
etisserant@355: 
etisserant@355: Copyright (C): Edouard TISSERANT
etisserant@355: 
etisserant@355: See COPYING file for copyrights details.
etisserant@355: 
etisserant@355: This library is free software; you can redistribute it and/or
etisserant@355: modify it under the terms of the GNU Lesser General Public
etisserant@355: License as published by the Free Software Foundation; either
etisserant@355: version 2.1 of the License, or (at your option) any later version.
etisserant@355: 
etisserant@355: This library is distributed in the hope that it will be useful,
etisserant@355: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@355: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@355: Lesser General Public License for more details.
etisserant@355: 
etisserant@355: You should have received a copy of the GNU Lesser General Public
etisserant@355: License along with this library; if not, write to the Free Software
etisserant@355: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@355: */
etisserant@355: 
etisserant@355: #include "Socket.h"
etisserant@355: 
etisserant@355: #include <iostream>
etisserant@355: 
etisserant@355: using namespace std;
etisserant@355: 
etisserant@355: extern "C" {
etisserant@355: #include "can_driver.h"
etisserant@355: }
etisserant@355: 
etisserant@355: //------------------------------------------------------------------------
etisserant@355: extern "C"
etisserant@355:    UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
etisserant@355:    {
etisserant@355: 
etisserant@355:       string l = reinterpret_cast<SocketClient*>(fd0)->ReceiveLine();
etisserant@355: 
etisserant@355:       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}}",
etisserant@355:                 &m->cob_id,
etisserant@355:                 &m->rtr,
etisserant@355:                 &m->len,
etisserant@355:                 &m->data[0],
etisserant@355:                 &m->data[1],
etisserant@355:                 &m->data[2],
etisserant@355:                 &m->data[3],
etisserant@355:                 &m->data[4],
etisserant@355:                 &m->data[5],
etisserant@355:                 &m->data[6],
etisserant@355:                 &m->data[7]
etisserant@355:                 );
etisserant@355: 
etisserant@355: 
etisserant@355: #if defined DEBUG_MSG_CONSOLE_ON
etisserant@355:   printf("in : ");
etisserant@355:   print_message(m);
etisserant@355: #endif
etisserant@355:    
etisserant@355:       return res==11 ? 0 : 1 ;
etisserant@355:    }
etisserant@355: 
etisserant@355: extern "C"
etisserant@355:    UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
etisserant@355:    {
etisserant@355:         char s[1024];        
etisserant@355:         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}}",
etisserant@355:                 m->cob_id,
etisserant@355:                 m->rtr,
etisserant@355:                 m->len,
etisserant@355:                 m->data[0],
etisserant@355:                 m->data[1],
etisserant@355:                 m->data[2],
etisserant@355:                 m->data[3],
etisserant@355:                 m->data[4],
etisserant@355:                 m->data[5],
etisserant@355:                 m->data[6],
etisserant@355:                 m->data[7]
etisserant@355:                 );
etisserant@355:     
etisserant@355:         reinterpret_cast<SocketClient*>(fd0)->SendLine(s);
etisserant@355: #if defined DEBUG_MSG_CONSOLE_ON
etisserant@355:   printf("out : ");
etisserant@355:   print_message(m);
etisserant@355: #endif
etisserant@355:         return 0;
etisserant@355:    }
etisserant@355: 
etisserant@355: extern "C"
etisserant@355:    CAN_HANDLE canOpen_driver(s_BOARD *board)
etisserant@355:    {
etisserant@355:       Socket* s;
etisserant@355:       try {
etisserant@355:         s = new SocketClient(board->busname, 11898);
etisserant@355:     
etisserant@355:         //s.SendLine("GET / HTTP/1.0");
etisserant@355:         //s.SendLine("Host: www.google.com");
etisserant@355:       } 
etisserant@355:       catch (const char* _s) {
etisserant@355:         cerr << _s << endl;
etisserant@355:         return NULL;
etisserant@355:       } 
etisserant@355:       catch (std::string _s) {
etisserant@355:         cerr << _s << endl;
etisserant@355:         return NULL;
etisserant@355:       } 
etisserant@355:       catch (...) {
etisserant@355:         cerr << "unhandled exception\n";
etisserant@355:         return NULL;
etisserant@355:       }
etisserant@355:       return (CAN_HANDLE) s;
etisserant@355:    }
etisserant@355: 
etisserant@355: extern "C"
etisserant@355:    int canClose_driver(CAN_HANDLE inst)
etisserant@355:    {
etisserant@355:    delete reinterpret_cast<SocketClient*>(inst);
etisserant@355:    return 1;
etisserant@355:    }
etisserant@355: