etisserant@0: /*
etisserant@0: This file is part of CanFestival, a library implementing CanOpen Stack. 
etisserant@0: 
etisserant@0: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@0: 
etisserant@0: See COPYING file for copyrights details.
etisserant@0: 
etisserant@0: This library is free software; you can redistribute it and/or
etisserant@0: modify it under the terms of the GNU Lesser General Public
etisserant@0: License as published by the Free Software Foundation; either
etisserant@0: version 2.1 of the License, or (at your option) any later version.
etisserant@0: 
etisserant@0: This library is distributed in the hope that it will be useful,
etisserant@0: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@0: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@0: Lesser General Public License for more details.
etisserant@0: 
etisserant@0: You should have received a copy of the GNU Lesser General Public
etisserant@0: License along with this library; if not, write to the Free Software
etisserant@0: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@0: */
etisserant@0: 
etisserant@0: /*
etisserant@0: 	Virtual CAN driver.
etisserant@0: */
etisserant@0: 
etisserant@0: #include <stdlib.h>
etisserant@0: 
etisserant@0: #include <sys/types.h>
etisserant@0: #include <unistd.h>
etisserant@0: #include <stdio.h>
etisserant@0: 
etisserant@0: #include <applicfg.h>
etisserant@0: #include "timer.h"
etisserant@0: #include "can_driver.h"
etisserant@0: #include "timers_driver.h"
etisserant@0: 
etisserant@0: #define MAX_NB_CAN_PIPES 10
etisserant@0: 
etisserant@0: typedef struct {
etisserant@0:   char used;
etisserant@0:   int pipe[2];
etisserant@0:   TASK_HANDLE receiveTask;
etisserant@0:   CO_Data* d;
etisserant@0: } CANPipe;
etisserant@0: 
etisserant@0: CANPipe canpipes[MAX_NB_CAN_PIPES] = {{0,{0,0},},};
etisserant@0: 
etisserant@0: /*********functions which permit to communicate with the board****************/
etisserant@0: UNS8 canReceive(CAN_HANDLE fd0, Message *m)
etisserant@0: {
etisserant@0: 	if(read(((CANPipe*)fd0)->pipe[0], m, sizeof(Message)) < sizeof(Message))
etisserant@0: 	{
etisserant@0: 		return 1;
etisserant@0: 	}
etisserant@0: 	return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: void canReceiveLoop(CAN_HANDLE fd0)
etisserant@0: {
etisserant@0: 	CO_Data* d = ((CANPipe*)fd0)->d;
etisserant@0: 	Message m;
etisserant@0: 	while (1) {
etisserant@0: 		if(!canReceive(fd0, &m))
etisserant@0: 		{  
etisserant@0: 			EnterMutex();
etisserant@0: 			canDispatch(d, &m);
etisserant@0: 			LeaveMutex();
etisserant@0: 		}else{
etisserant@0: 			break;
etisserant@0: 		}
etisserant@0: 	}
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: UNS8 canSend(CAN_HANDLE fd0, Message *m)
etisserant@0: {
etisserant@0:   int i;
etisserant@0:   // Send to all readers, except myself
etisserant@0:   for(i=0; i < MAX_NB_CAN_PIPES; i++)
etisserant@0:   {
etisserant@0:   	if(canpipes[i].used && &canpipes[i] != (CANPipe*)fd0)
etisserant@0:   	{
etisserant@0: 		write(canpipes[i].pipe[1], m, sizeof(Message));
etisserant@0:   	}
etisserant@0:   }
etisserant@0:   return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: CAN_HANDLE canOpen(s_BOARD *board)
etisserant@0: {
etisserant@0:   int i;  
etisserant@0:   for(i=0; i < MAX_NB_CAN_PIPES; i++)
etisserant@0:   {
etisserant@0:   	if(!canpipes[i].used)
etisserant@0: 	  	break;
etisserant@0:   }
etisserant@0: 
etisserant@0:   /* Create the pipe.  */
etisserant@0:   if (i==MAX_NB_CAN_PIPES || pipe(canpipes[i].pipe))
etisserant@0:     {
etisserant@0:       fprintf (stderr, "Open failed.\n");
etisserant@0:       return (CAN_HANDLE)NULL;
etisserant@0:     }
etisserant@0: 
etisserant@0:    canpipes[i].used = 1;
etisserant@0: 
etisserant@0:    canpipes[i].d = board->d;
etisserant@0:    CreateReceiveTask((CAN_HANDLE) &canpipes[i], &canpipes[i].receiveTask);
etisserant@0: 
etisserant@0:    return (CAN_HANDLE) &canpipes[i];
etisserant@0: }
etisserant@0: 
etisserant@0: /***************************************************************************/
etisserant@0: int canClose(CAN_HANDLE fd0)
etisserant@0: {
etisserant@0:   close(((CANPipe*)fd0)->pipe[0]);
etisserant@0:   close(((CANPipe*)fd0)->pipe[1]);
etisserant@0:   ((CANPipe*)fd0)->used = 0;
etisserant@0:   WaitReceiveTaskEnd(&((CANPipe*)fd0)->receiveTask);
etisserant@0: }
etisserant@0: 
etisserant@0: