CanFestival: drivers/can_virtual/can

00001 /*
-00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
-00003 
-00004 Copyright (C): Edouard TISSERANT and Francis DUPIN
-00005 
-00006 See COPYING file for copyrights details.
-00007 
-00008 This library is free software; you can redistribute it and/or
-00009 modify it under the terms of the GNU Lesser General Public
-00010 License as published by the Free Software Foundation; either
-00011 version 2.1 of the License, or (at your option) any later version.
-00012 
-00013 This library is distributed in the hope that it will be useful,
-00014 but WITHOUT ANY WARRANTY; without even the implied warranty of
-00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-00016 Lesser General Public License for more details.
-00017 
-00018 You should have received a copy of the GNU Lesser General Public
-00019 License along with this library; if not, write to the Free Software
-00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
-00021 */
-00022 
-00023 /*
-00024         Virtual CAN driver.
-00025 */
-00026 
-00027 #include <stdio.h>
-00028 #include <unistd.h>
-00029 
-00030 #include "can_driver.h"
-00031 #include "def.h"
-00032 
-00033 #define MAX_NB_CAN_PIPES 16
-00034 
-00035 typedef struct {
-00036   char used;
-00037   int pipe[2];
-00038 } CANPipe;
-00039 
-00040 CANPipe canpipes[MAX_NB_CAN_PIPES] = {{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},};
-00041 
-00042 /*********functions which permit to communicate with the board****************/
-00043 UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
-00044 {
-00045         if(read(((CANPipe*)fd0)->pipe[0], m, sizeof(Message)) != (ssize_t)sizeof(Message))
-00046         {
-00047                 return 1;
-00048         }
-00049         return 0;
-00050 }
-00051 
-00052 #define MyCase(fc) case fc: printf(#fc);break;
-00053 void print_message(Message *m)
-00054 {
-00055         int i;
-00056         switch(m->cob_id.w >> 7)
-00057         {
-00058                 MyCase(SYNC)
-00059                 MyCase(TIME_STAMP)
-00060                 MyCase(PDO1tx)
-00061                 MyCase(PDO1rx)
-00062                 MyCase(PDO2tx)
-00063                 MyCase(PDO2rx)
-00064                 MyCase(PDO3tx)
-00065                 MyCase(PDO3rx)
-00066                 MyCase(PDO4tx)
-00067                 MyCase(PDO4rx)
-00068                 MyCase(SDOtx)
-00069                 MyCase(SDOrx)
-00070                 MyCase(NODE_GUARD)
-00071                 MyCase(NMT)
-00072         }
-00073         printf(" rtr:%d", m->rtr);
-00074         printf(" len:%d", m->len);
-00075         for (i = 0 ; i < m->len ; i++)
-00076                 printf(" %02x", m->data[i]);
-00077         printf("\n");
-00078 }
-00079 
-00080 /***************************************************************************/
-00081 UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
-00082 {
-00083   int i;
-00084   
-00085   printf("%x->[ ", (CANPipe*)fd0 - &canpipes[0]); 
-00086   for(i=0; i < MAX_NB_CAN_PIPES; i++)
-00087   {
-00088         if(canpipes[i].used && &canpipes[i] != (CANPipe*)fd0)
-00089         {
-00090                 printf("%x ",i);        
-00091         }
-00092   }
-00093   printf(" ]"); 
-00094   print_message(m);
-00095   
-00096   // Send to all readers, except myself
-00097   for(i=0; i < MAX_NB_CAN_PIPES; i++)
-00098   {
-00099         if(canpipes[i].used && &canpipes[i] != (CANPipe*)fd0)
-00100         {
-00101                 write(canpipes[i].pipe[1], m, sizeof(Message));
-00102         }
-00103   }
-00104   return 0;
-00105 }
-00106 /*
-00107 int TranslateBaudeRate(char* optarg){
-00108         if(!strcmp( optarg, "1M")) return 1000;
-00109         if(!strcmp( optarg, "500K")) return 500;
-00110         if(!strcmp( optarg, "250K")) return 250;
-00111         if(!strcmp( optarg, "125K")) return 125;
-00112         if(!strcmp( optarg, "100K")) return 100;
-00113         if(!strcmp( optarg, "50K")) return 50;
-00114         if(!strcmp( optarg, "20K")) return 20;
-00115         if(!strcmp( optarg, "10K")) return 10;
-00116         if(!strcmp( optarg, "5K")) return 5;
-00117         if(!strcmp( optarg, "none")) return 0;
-00118         return 0;
-00119 }*/
-00120 /***************************************************************************/
-00121 CAN_HANDLE canOpen_driver(s_BOARD *board)
-00122 {
-00123   int i;  
-00124   for(i=0; i < MAX_NB_CAN_PIPES; i++)
-00125   {
-00126         if(!canpipes[i].used)
-00127                 break;
-00128   }
-00129 
-00130   /* Create the pipe.  */
-00131   if (i==MAX_NB_CAN_PIPES || pipe(canpipes[i].pipe))
-00132     {
-00133       fprintf (stderr, "Open failed.\n");
-00134       return (CAN_HANDLE)NULL;
-00135     }
-00136 
-00137    canpipes[i].used = 1;
-00138    return (CAN_HANDLE) &canpipes[i];
-00139 }
-00140 
-00141 /***************************************************************************/
-00142 int canClose_driver(CAN_HANDLE fd0)
-00143 {
-00144   close(((CANPipe*)fd0)->pipe[0]);
-00145   close(((CANPipe*)fd0)->pipe[1]);
-00146   ((CANPipe*)fd0)->used = 0;
-00147   return 0;
-00148 }
-00149 
-00150 
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can_virtual.c
