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: //------------------------------------------------------------------------
Edouard@774: UNS8 LIBAPI canReceive_driver(CAN_HANDLE fd0, Message *m)
Edouard@774: {
etisserant@355: 
Edouard@774:     string l = reinterpret_cast<SocketClient*>(fd0)->ReceiveLine();
etisserant@355: 
Edouard@774:     int res = sscanf(l.c_str(),
Edouard@774:             "{0x%3hx,%1hhd,%1hhd,{0x%2hhx,0x%2hhx,0x%2hhx,0x%2hhx,0x%2hhx,0x%2hhx,0x%2hhx,0x%2hhx}}",
Edouard@774:             &m->cob_id,
Edouard@774:             &m->rtr,
Edouard@774:             &m->len,
Edouard@774:             &m->data[0],
Edouard@774:             &m->data[1],
Edouard@774:             &m->data[2],
Edouard@774:             &m->data[3],
Edouard@774:             &m->data[4],
Edouard@774:             &m->data[5],
Edouard@774:             &m->data[6],
Edouard@774:             &m->data[7]
Edouard@774:             );
etisserant@355: 
etisserant@355: 
etisserant@355: #if defined DEBUG_MSG_CONSOLE_ON
Edouard@774:     printf("in : ");
Edouard@774:     print_message(m);
etisserant@355: #endif
etisserant@355: 
Edouard@774:   return res==11 ? 0 : 1 ;
Edouard@774: }
Edouard@774: 
Edouard@774: UNS8 LIBAPI canSend_driver(CAN_HANDLE fd0, Message const *m)
Edouard@774: {
Edouard@774:     char s[1024];        
Edouard@774:     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}}",
Edouard@774:             m->cob_id,
Edouard@774:             m->rtr,
Edouard@774:             m->len,
Edouard@774:             m->data[0],
Edouard@774:             m->data[1],
Edouard@774:             m->data[2],
Edouard@774:             m->data[3],
Edouard@774:             m->data[4],
Edouard@774:             m->data[5],
Edouard@774:             m->data[6],
Edouard@774:             m->data[7]
Edouard@774:             );
Edouard@774: 
Edouard@774:     reinterpret_cast<SocketClient*>(fd0)->SendLine(s);
etisserant@355: #if defined DEBUG_MSG_CONSOLE_ON
Edouard@774:     printf("out : ");
Edouard@774:     print_message(m);
etisserant@355: #endif
Edouard@774:     return 0;
Edouard@774: }
etisserant@355: 
Edouard@774: CAN_HANDLE LIBAPI canOpen_driver(s_BOARD *board)
Edouard@774: {
Edouard@777:     char *dst = "127.0.0.1";
Edouard@777:     if(!strlen(board->busname)){
Edouard@777:       dst=board->busname;
Edouard@777:     }
Edouard@774:     try {
Edouard@777:       CAN_HANDLE res = (CAN_HANDLE) new SocketClient(dst, 11898);
Edouard@777:       return res;
Edouard@774:     } 
Edouard@774:     catch (...) {
Edouard@777:       cerr << "can_tcp_win32: couldn't connect to" << dst << endl;
Edouard@774:       return NULL;
Edouard@774:     }
Edouard@774: }
etisserant@355: 
Edouard@774: int LIBAPI canClose_driver(CAN_HANDLE inst)
Edouard@774: {
Edouard@774:     delete reinterpret_cast<SocketClient*>(inst);
Edouard@774:     return 1;
Edouard@774: }
Edouard@774: 
Edouard@774: UNS8 LIBAPI canChangeBaudRate_driver( CAN_HANDLE fd, char* baud)
Edouard@774: {
Edouard@774:     cerr << "canChangeBaudRate not yet supported by this driver\n";
Edouard@774:     return 0;
Edouard@774: }
Edouard@774: }