greg@267: /*
greg@267: This file is part of CanFestival, a library implementing CanOpen Stack.
greg@267: 
greg@267: Copyright (C): Edouard TISSERANT and Francis DUPIN
greg@267: Copyright (C) Win32 Port Leonid Tochinski
greg@267: 
greg@267: See COPYING file for copyrights details.
greg@267: 
greg@267: This library is free software; you can redistribute it and/or
greg@267: modify it under the terms of the GNU Lesser General Public
greg@267: License as published by the Free Software Foundation; either
greg@267: version 2.1 of the License, or (at your option) any later version.
greg@267: 
greg@267: This library is distributed in the hope that it will be useful,
greg@267: but WITHOUT ANY WARRANTY; without even the implied warranty of
greg@267: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
greg@267: Lesser General Public License for more details.
greg@267: 
greg@267: You should have received a copy of the GNU Lesser General Public
greg@267: License along with this library; if not, write to the Free Software
greg@267: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
greg@267: */
greg@267: 
greg@267: /*
greg@267:  CAN driver interface.
greg@267: */
greg@267: 
greg@267: #include <windows.h>
greg@267: 
greg@267: extern "C"
greg@267:    {
greg@267: #define DLL_CALL(funcname) (*_##funcname)
greg@267: #define FCT_PTR_INIT =NULL
greg@267: #include "canfestival.h"
greg@267: #include "timer.h"
greg@267: 
greg@267: #include "timers_driver.h"
greg@267:    };
greg@267: 
greg@267: typedef UNS8 (*CANRECEIVE_DRIVER_PROC)(void* inst, Message *m);
greg@267: typedef UNS8 (*CANSEND_DRIVER_PROC)(void* inst, const Message *m);
greg@267: typedef void* (*CANOPEN_DRIVER_PROC)(s_BOARD *board);
greg@267: typedef int (*CANCLOSE_DRIVER_PROC)(void* inst);
greg@267: 
greg@267: 
greg@267: class driver_procs
greg@267:    {
greg@267:    public:
greg@267:       driver_procs();
greg@267:       ~driver_procs();
greg@267: 
greg@267:       HMODULE load_canfestival_driver(LPCTSTR driver_name);
greg@267:       bool can_driver_valid() const;
greg@267: 
greg@267:    public:
greg@267:       // can driver
greg@267:       CANRECEIVE_DRIVER_PROC m_canReceive;
greg@267:       CANSEND_DRIVER_PROC m_canSend;
greg@267:       CANOPEN_DRIVER_PROC m_canOpen;
greg@267:       CANCLOSE_DRIVER_PROC m_canClose;
greg@267: 
greg@267:       // driver module habndle
greg@267:       HMODULE m_driver_handle;
greg@267:    };
greg@267: 
greg@267: driver_procs::driver_procs() : m_canReceive(0),
greg@267:       m_canSend(0),
greg@267:       m_canOpen(0),
greg@267:       m_canClose(0),
greg@267:       m_driver_handle(0)
greg@267:    {}
greg@267: 
greg@267: driver_procs::~driver_procs()
greg@267:    {
greg@267:    if (m_driver_handle)
greg@267:       ::FreeLibrary(m_driver_handle);
greg@267:    }
greg@267: 
greg@267: bool driver_procs::can_driver_valid() const
greg@267:    {
greg@267:    return ((m_canReceive != NULL) &&
greg@267:            (m_canSend != NULL) &&
greg@267:            (m_canOpen != NULL) &&
greg@267:            (m_canClose != NULL));
greg@267:    }
greg@267: 
greg@267: // GetProcAddress doesn't have an UNICODE version for NT
greg@267: #ifdef UNDER_CE
greg@267:   #define myTEXT(str) TEXT(str)
greg@267: #else
greg@267:   #define myTEXT(str) str
greg@267: #endif
greg@267: 
greg@267: HMODULE driver_procs::load_canfestival_driver(LPCTSTR driver_name)
greg@267:    {
greg@267:   //LPCTSTR driver1 = "C:\\msys\\1.0\\home\\Ontaide\\can\\CanFestival-3\\drivers\\can_peak_win32\\cygcan_peak_win32.dll";
greg@267:   //LPCTSTR driver2 = "C:\\msys\\1.0\\home\\Ontaide\\can\\CanFestival-3\\drivers\\can_peak_win32\\cygcan_peak_win32.dll";
greg@267:   //printf("can_driver_valid=%d\n",can_driver_valid());
greg@267:    if (can_driver_valid())
greg@267:       return m_driver_handle;
greg@267:    printf("driver_name=%s\n",driver_name);
greg@267:    m_driver_handle = ::LoadLibrary(driver_name);
greg@267:    //printf("m_driver_handle=%d\n",m_driver_handle);
greg@267:    //printf("testerror =%s\n",GetLastError());
greg@267:    if (m_driver_handle == NULL)
greg@267:       return NULL;
greg@267: 
greg@267:    m_canReceive = (CANRECEIVE_DRIVER_PROC)::GetProcAddress(m_driver_handle, myTEXT("canReceive_driver"));
greg@267:    m_canSend = (CANSEND_DRIVER_PROC)::GetProcAddress(m_driver_handle, myTEXT("canSend_driver"));
greg@267:    m_canOpen = (CANOPEN_DRIVER_PROC)::GetProcAddress(m_driver_handle, myTEXT("canOpen_driver"));
greg@267:    m_canClose = (CANCLOSE_DRIVER_PROC)::GetProcAddress(m_driver_handle, myTEXT("canClose_driver"));
greg@267:    return can_driver_valid()?m_driver_handle:NULL;
greg@267:    }
greg@267: 
greg@267: struct driver_data
greg@267:    {
greg@267:    CO_Data * d;
greg@267:    HANDLE receive_thread;
greg@267:    void* inst;
greg@267:    volatile bool continue_receive_thread;
greg@267:    };
greg@267: 
greg@267: driver_procs s_driver_procs;
greg@267: 
etisserant@480: LIB_HANDLE LoadCanDriver(const char* driver_name)
greg@267:    {
greg@267: 		return s_driver_procs.load_canfestival_driver((LPCTSTR)driver_name);
greg@267:    }
greg@267: 
greg@267: UNS8 canReceive(CAN_PORT fd0, Message *m)
greg@267:    {
greg@267:   
greg@267:    if (fd0 != NULL && s_driver_procs.m_canReceive != NULL)
greg@267: 	   {
greg@267: 		  driver_data* data = (driver_data*)fd0;
greg@267: 		  return (*s_driver_procs.m_canReceive)(data->inst, m);
greg@267: 	   }
greg@267:    return 1;
greg@267:    }
greg@267: 
greg@267: void* canReceiveLoop(CAN_PORT fd0)
greg@267:    {
greg@267:    driver_data* data = (driver_data*)fd0;
greg@267:    Message m;
greg@267:    while (data->continue_receive_thread)
greg@267:       {
greg@267:       if (!canReceive(fd0, &m))
greg@267:          {
greg@267:          EnterMutex();
greg@267:          canDispatch(data->d, &m);
greg@267:          LeaveMutex();
greg@267:          }
greg@267:       else
greg@267:          {
greg@267: 		 break;
greg@267:          ::Sleep(1);
greg@267:          }
greg@267:       }
greg@267:    return 0;
greg@267:    }
greg@267: 
greg@267: /***************************************************************************/
greg@267: UNS8 canSend(CAN_PORT fd0, Message *m)
greg@267:    {   
greg@267:    if (fd0 != NULL && s_driver_procs.m_canSend != NULL)
greg@267:       {
greg@267:       UNS8 res;
greg@267:       driver_data* data = (driver_data*)fd0;
greg@267:       res = (*s_driver_procs.m_canSend)(data->inst, m);      
greg@267:       if (res)
greg@267:          return 1; // OK
greg@267:       }
greg@267:    return 0; // NOT OK
greg@267:    }
greg@267: 
greg@267: /***************************************************************************/
greg@267: CAN_HANDLE canOpen(s_BOARD *board, CO_Data * d)
greg@267:    {
greg@267:    if (board != NULL && s_driver_procs.m_canOpen != NULL)
greg@267:       {
greg@267:       void* inst = (*s_driver_procs.m_canOpen)(board);
greg@267:       if (inst != NULL)
greg@267:          {
greg@267:          driver_data* data = new driver_data;
greg@267:          data->d = d;
greg@267:          data->inst = inst;
greg@267:          data->continue_receive_thread = true;
greg@267:          CreateReceiveTask(data, &data->receive_thread, (void*)&canReceiveLoop);
greg@267: 	 EnterMutex();
greg@267:          d->canHandle = data;
greg@267:          LeaveMutex();
greg@267:          return data;
greg@267:          }
greg@267:       }
greg@267:    return NULL;
greg@267:    }
greg@267: 
greg@267: /***************************************************************************/
greg@267: int canClose(CO_Data * d)
greg@267:    {
greg@267:    if (s_driver_procs.m_canClose != NULL)
greg@267:       {
greg@267: 		  driver_data* data;
greg@267: 		  EnterMutex();
greg@267: 		  if(d->canHandle != NULL){
greg@267: 			data = (driver_data*)d->canHandle;
greg@267: 			d->canHandle = NULL;
greg@267: 			data->continue_receive_thread = false;}
greg@267: 		  LeaveMutex();
greg@514: 		  (*s_driver_procs.m_canClose)(data->inst);
greg@267: 		  WaitReceiveTaskEnd(&data->receive_thread);
greg@267: 		  delete data;
greg@267: 		  return 0;
greg@267:       }
greg@267:    return 0;
greg@267:    }
greg@267: 
greg@267: