CanFestival: drivers/unix/unix.c Source File

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 #include <unistd.h>
-00023 #include <stdio.h>
-00024 #include <stdlib.h>
-00025 
-00026 #ifndef NOT_USE_DYNAMIC_LOADING
-00027 #define DLL_CALL(funcname) (* funcname##_driver)
-00028 #define FCT_PTR_INIT =NULL
-00029 
-00030 #define DLSYM(name)\
-00031         *(void **) (&name##_driver) = dlsym(handle, #name"_driver");\
-00032         if ((error = dlerror()) != NULL)  {\
-00033                 fprintf (stderr, "%s\n", error);\
-00034                 UnLoadCanDriver(handle);\
-00035                 return NULL;\
-00036         }
-00037 
-00038 #else /*NOT_USE_DYNAMIC_LOADING*/
-00039 
-00040 /*Function call is direct*/
-00041 #define DLL_CALL(funcname) funcname##_driver
-00042 
-00043 #endif /*NOT_USE_DYNAMIC_LOADING*/
-00044 
-00045 #include "data.h"
-00046 #include "canfestival.h"
-00047 #include "timers_driver.h"
-00048 
-00049 #define MAX_NB_CAN_PORTS 16
-00050 
-00051 typedef struct {
-00052   char used;
-00053   CAN_HANDLE fd;
-00054   TASK_HANDLE receiveTask;
-00055   CO_Data* d;
-00056 } CANPort;
-00057 
-00058 #include "can_driver.h"
-00059 
-00060 /*Declares the funtion pointers for dll binding or simple protos*/
-00061 /*UNS8 DLL_CALL(canReceive)(CAN_HANDLE, Message *);
-00062 UNS8 DLL_CALL(canSend)(CAN_HANDLE, Message *);
-00063 CAN_HANDLE DLL_CALL(canOpen)(s_BOARD *);
-00064 int DLL_CALL(canClose)(CAN_HANDLE);
-00065 */
-00066 CANPort canports[MAX_NB_CAN_PORTS] = {{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,}};
-00067 
-00068 #ifndef NOT_USE_DYNAMIC_LOADING
-00069 
-00070 /*UnLoads the dll*/
-00071 UNS8 UnLoadCanDriver(LIB_HANDLE handle)
-00072 {
-00073         if(handle!=NULL)
-00074         {
-00075                 dlclose(handle);
-00076 
-00077                 handle=NULL;
-00078                 return 0;
-00079         }
-00080         return -1;
-00081 }
-00082 
-00083 /*Loads the dll and get funcs ptr*/
-00084 LIB_HANDLE LoadCanDriver(char* driver_name)
-00085 {
-00086         LIB_HANDLE handle = NULL;
-00087         char *error;
-00088         
-00089 
-00090         if(handle==NULL)
-00091         {
-00092                 handle = dlopen(driver_name, RTLD_LAZY);
-00093         }
-00094 
-00095         if (!handle) {
-00096                 fprintf (stderr, "%s\n", dlerror());
-00097                 return NULL;
-00098         }
-00099  
-00100         /*Get function ptr*/
-00101         DLSYM(canReceive)
-00102         DLSYM(canSend)
-00103         DLSYM(canOpen)
-00104         DLSYM(canClose)
-00105 
-00106         return handle;
-00107 }
-00108 
-00109 #endif
-00110 
-00111 
-00112 
-00113 /*Not needed -- canReceiveLoop calls _canReceive directly *//*
-00114 UNS8 canReceive(CAN_PORT port, Message *m)
-00115 {
-00116         return DLL_CALL(canReceive)(port->fd, Message *m);
-00117 }
-00118 */
-00119 
-00120 UNS8 canSend(CAN_PORT port, Message *m)
-00121 {
-00122         if(port){
-00123                 UNS8 res;
-00124                 //LeaveMutex();
-00125                 res = DLL_CALL(canSend)(((CANPort*)port)->fd, m);
-00126                 //EnterMutex();
-00127                 return res;
-00128         }               
-00129         return -1;
-00130 }
-00131 
-00132 void canReceiveLoop(CAN_PORT port)
-00133 {
-00134        Message m;
-00135 
-00136        while (1) {
-00137                if (DLL_CALL(canReceive)(((CANPort*)port)->fd, &m) != 0)
-00138                        break;
-00139 
-00140                EnterMutex();
-00141                canDispatch(((CANPort*)port)->d, &m);
-00142                LeaveMutex();
-00143        }
-00144 }
-00145 CAN_PORT canOpen(s_BOARD *board, CO_Data * d)
-00146 {
-00147         int i;
-00148         for(i=0; i < MAX_NB_CAN_PORTS; i++)
-00149         {
-00150                 if(!canports[i].used)
-00151                 break;
-00152         }
-00153         
-00154 #ifndef NOT_USE_DYNAMIC_LOADING
-00155         if (&DLL_CALL(canOpen)==NULL) {
-00156                 fprintf(stderr,"CanOpen : Can Driver dll not loaded\n");
-00157                 return NULL;
-00158         }
-00159 #endif  
-00160         CAN_HANDLE fd0 = DLL_CALL(canOpen)(board);
-00161         if(fd0){
-00162                 canports[i].used = 1;
-00163                 canports[i].fd = fd0;
-00164                 canports[i].d = d;
-00165         
-00166                 CreateReceiveTask(&(canports[i]), &canports[i].receiveTask, &canReceiveLoop);
-00167                 
-00168                 EnterMutex();
-00169                 d->canHandle = (CAN_PORT)&canports[i];
-00170                 LeaveMutex();
-00171                 return (CAN_PORT)&canports[i];
-00172         }else{
-00173                 fprintf(stderr,"CanOpen : Cannot open board {busname='%s',baudrate='%s'}\n",board->busname, board->baudrate);
-00174                 return NULL;
-00175         }
-00176 }
-00177 
-00178 int canClose(CO_Data * d)
-00179 {
-00180         EnterMutex();
-00181         ((CANPort*)d->canHandle)->used = 0;
-00182         CANPort* tmp = (CANPort*)d->canHandle;
-00183         d->canHandle = NULL;
-00184         LeaveMutex();
-00185         
-00186         int res = DLL_CALL(canClose)(tmp->fd);
-00187         
-00188         WaitReceiveTaskEnd(tmp->receiveTask);
-00189         return res;
-00190 }
-