00001 // can_uvccm_win32 adapter (http://www.gridconnect.com)
 00002 // driver for CanFestival-3 Win32 port
 00003 // Copyright (C) 2007 Leonid Tochinski, ChattenAssociates, Inc.
@@ -41,56 +41,56 @@
 00020       class error
 00021         {
 00022         };
-00023       can_uvccm_win32(s_BOARD *board);
-00024       ~can_uvccm_win32();
-00025       bool send(const Message *m);
-00026       bool receive(Message *m);
+00023       can_uvccm_win32(s_BOARD *board);
+00024       ~can_uvccm_win32();
+00025       bool send(const Message *m);
+00026       bool receive(Message *m);
 00027    private:
-00028       bool open_rs232(int port = 1, int baud_rate = 57600);
-00029       bool close_rs232();
-00030       bool get_can_data(const char* can_cmd_buf, long& bufsize, Message* m);
-00031       bool set_can_data(const Message& m, std::string& can_cmd);
+00028       bool open_rs232(int port = 1, int baud_rate = 57600);
+00029       bool close_rs232();
+00030       bool get_can_data(const char* can_cmd_buf, long& bufsize, Message* m);
+00031       bool set_can_data(const Message& m, std::string& can_cmd);
 00032    private:
-00033       HANDLE m_port;
-00034       HANDLE m_read_event;
-00035       HANDLE m_write_event;
-00036       std::string m_residual_buffer;
+00033       HANDLE m_port;
+00034       HANDLE m_read_event;
+00035       HANDLE m_write_event;
+00036       std::string m_residual_buffer;
 00037    };
 00038 
-00039 can_uvccm_win32::can_uvccm_win32(s_BOARD *board) : m_port(INVALID_HANDLE_VALUE),
+00039 can_uvccm_win32::can_uvccm_win32(s_BOARD *board) : m_port(INVALID_HANDLE_VALUE),
 00040       m_read_event(0),
 00041       m_write_event(0)
 00042    {
-00043    if (strcmp( board->baudrate, "125K") || !open_rs232(1))
+00043    if (strcmp( board->baudrate, "125K") || !open_rs232(1))
 00044       throw error();
 00045    }
 00046 
-00047 can_uvccm_win32::~can_uvccm_win32()
+00047 can_uvccm_win32::~can_uvccm_win32()
 00048    {
-00049    close_rs232();
+00049    close_rs232();
 00050    }
 00051 
-00052 bool can_uvccm_win32::send(const Message *m)
+00052 bool can_uvccm_win32::send(const Message *m)
 00053    {
-00054    if (m_port == INVALID_HANDLE_VALUE)
+00054    if (m_port == INVALID_HANDLE_VALUE)
 00055       return false;
 00056 
 00057    // build can_uvccm_win32 command string
 00058    std::string can_cmd;
-00059    set_can_data(*m, can_cmd);
+00059    set_can_data(*m, can_cmd);
 00060 
 00061    OVERLAPPED overlapped;
 00062    ::memset(&overlapped, 0, sizeof overlapped);
-00063    overlapped.hEvent = m_write_event;
+00063    overlapped.hEvent = m_write_event;
 00064    ::ResetEvent(overlapped.hEvent);
 00065 
 00066    unsigned long bytes_written = 0;
-00067    ::WriteFile(m_port, can_cmd.c_str(), (unsigned long)can_cmd.size(), &bytes_written, &overlapped);
+00067    ::WriteFile(m_port, can_cmd.c_str(), (unsigned long)can_cmd.size(), &bytes_written, &overlapped);
 00068    // wait for write operation completion
 00069    enum { WRITE_TIMEOUT = 1000 };
 00070    ::WaitForSingleObject(overlapped.hEvent, WRITE_TIMEOUT);
 00071    // get number of bytes written
-00072    ::GetOverlappedResult(m_port, &overlapped, &bytes_written, FALSE);
+00072    ::GetOverlappedResult(m_port, &overlapped, &bytes_written, FALSE);
 00073 
 00074    bool result = (bytes_written == can_cmd.size());
 00075 
@@ -98,16 +98,16 @@
 00077    }
 00078 
 00079 
-00080 bool can_uvccm_win32::receive(Message *m)
+00080 bool can_uvccm_win32::receive(Message *m)
 00081    {
-00082    if (m_port == INVALID_HANDLE_VALUE)
+00082    if (m_port == INVALID_HANDLE_VALUE)
 00083       return false;
 00084 
-00085    long res_buffer_size = (long)m_residual_buffer.size();
-00086    bool result = get_can_data(m_residual_buffer.c_str(), res_buffer_size, m);
+00085    long res_buffer_size = (long)m_residual_buffer.size();
+00086    bool result = get_can_data(m_residual_buffer.c_str(), res_buffer_size, m);
 00087    if (result)
 00088       {
-00089       m_residual_buffer.erase(0, res_buffer_size);
+00089       m_residual_buffer.erase(0, res_buffer_size);
 00090       return true;
 00091       }
 00092 
@@ -115,11 +115,11 @@
 00094 
 00095    OVERLAPPED overlapped;
 00096    ::memset(&overlapped, 0, sizeof overlapped);
-00097    overlapped.hEvent = m_read_event;
+00097    overlapped.hEvent = m_read_event;
 00098    ::ResetEvent(overlapped.hEvent);
 00099    unsigned long event_mask = 0;
 00100 
-00101    if (FALSE == ::WaitCommEvent(m_port, &event_mask, &overlapped) && ERROR_IO_PENDING == ::GetLastError())
+00101    if (FALSE == ::WaitCommEvent(m_port, &event_mask, &overlapped) && ERROR_IO_PENDING == ::GetLastError())
 00102       {
 00103       if (WAIT_TIMEOUT == ::WaitForSingleObject(overlapped.hEvent, READ_TIMEOUT))
 00104          return false;
@@ -129,7 +129,7 @@
 00108    COMSTAT stat;
 00109    ::memset(&stat, 0, sizeof stat);
 00110    unsigned long errors = 0;
-00111    ::ClearCommError(m_port, &errors, &stat);
+00111    ::ClearCommError(m_port, &errors, &stat);
 00112    if (stat.cbInQue == 0)
 00113       return false;
 00114    char buffer[3000];
@@ -137,32 +137,32 @@
 00116    unsigned long bytes_to_read = min(stat.cbInQue, sizeof (buffer));
 00117 
 00118    unsigned long bytes_read = 0;
-00119    ::ReadFile(m_port, buffer, bytes_to_read, &bytes_read, &overlapped);
+00119    ::ReadFile(m_port, buffer, bytes_to_read, &bytes_read, &overlapped);
 00120    // wait for read operation completion
 00121    ::WaitForSingleObject(overlapped.hEvent, READ_TIMEOUT);
 00122    // get number of bytes read
-00123    ::GetOverlappedResult(m_port, &overlapped, &bytes_read, FALSE);
+00123    ::GetOverlappedResult(m_port, &overlapped, &bytes_read, FALSE);
 00124    result = false;
 00125    if (bytes_read > 0)
 00126       {
-00127       m_residual_buffer.append(buffer, bytes_read);
-00128       res_buffer_size = (long)m_residual_buffer.size();
-00129       result = get_can_data(m_residual_buffer.c_str(), res_buffer_size, m);
+00127       m_residual_buffer.append(buffer, bytes_read);
+00128       res_buffer_size = (long)m_residual_buffer.size();
+00129       result = get_can_data(m_residual_buffer.c_str(), res_buffer_size, m);
 00130       if (result)
-00131          m_residual_buffer.erase(0, res_buffer_size);
+00131          m_residual_buffer.erase(0, res_buffer_size);
 00132       }
 00133    return result;
 00134    }
 00135 
-00136 bool can_uvccm_win32::open_rs232(int port, int baud_rate)
+00136 bool can_uvccm_win32::open_rs232(int port, int baud_rate)
 00137    {
-00138    if (m_port != INVALID_HANDLE_VALUE)
+00138    if (m_port != INVALID_HANDLE_VALUE)
 00139       return true;
 00140 
 00141    std::ostringstream device_name;
 00142    device_name << "COM" << port;
 00143 
-00144    m_port = ::CreateFile(device_name.str().c_str(),
+00144    m_port = ::CreateFile(device_name.str().c_str(),
 00145                          GENERIC_READ | GENERIC_WRITE,
 00146                          0,   // exclusive access
 00147                          NULL,   // no security
@@ -171,11 +171,11 @@
 00150                          NULL); // null template
 00151 
 00152    // Check the returned handle for INVALID_HANDLE_VALUE and then set the buffer sizes.
-00153    if (m_port == INVALID_HANDLE_VALUE)
+00153    if (m_port == INVALID_HANDLE_VALUE)
 00154       return false;
 00155 
 00156    //  SetCommMask(m_hCom,EV_RXCHAR|EV_TXEMPTY|EV_CTS|EV_DSR|EV_RLSD|EV_BREAK|EV_ERR|EV_RING); //
-00157    ::SetCommMask(m_port, EV_RXFLAG);
+00157    ::SetCommMask(m_port, EV_RXFLAG);
 00158 
 00159    COMMTIMEOUTS timeouts;
 00160    ::memset(&timeouts, 0, sizeof (timeouts));
@@ -184,47 +184,47 @@
 00163    timeouts.ReadTotalTimeoutMultiplier = 0;
 00164    timeouts.WriteTotalTimeoutConstant = 5000;
 00165    timeouts.WriteTotalTimeoutMultiplier = 0;
-00166    SetCommTimeouts(m_port, &timeouts); //
+00166    SetCommTimeouts(m_port, &timeouts); //
 00167 
-00168    ::SetupComm(m_port, 1024, 512); // set buffer sizes
+00168    ::SetupComm(m_port, 1024, 512); // set buffer sizes
 00169 
 00170    // Port settings are specified in a Data Communication Block (DCB). The easiest way to initialize a DCB is to call GetCommState to fill in its default values, override the values that you want to change and then call SetCommState to set the values.
 00171    DCB dcb;
 00172    ::memset(&dcb, 0, sizeof (dcb));
-00173    ::GetCommState(m_port, &dcb);
+00173    ::GetCommState(m_port, &dcb);
 00174    dcb.BaudRate = baud_rate;
 00175    dcb.ByteSize = 8;
 00176    dcb.Parity = NOPARITY;
 00177    dcb.StopBits = ONESTOPBIT;
-00178    dcb.fAbortOnError = TRUE;
+00178    dcb.fAbortOnError = TRUE;
 00179    dcb.EvtChar = 0x0A; // '\n' character
-00180    ::SetCommState(m_port, &dcb);
+00180    ::SetCommState(m_port, &dcb);
 00181 
-00182    ::PurgeComm(m_port, PURGE_RXABORT | PURGE_RXCLEAR | PURGE_TXABORT | PURGE_TXCLEAR);
+00182    ::PurgeComm(m_port, PURGE_RXABORT | PURGE_RXCLEAR | PURGE_TXABORT | PURGE_TXCLEAR);
 00183 
-00184    m_read_event = ::CreateEvent(NULL, TRUE, FALSE, NULL);
-00185    m_write_event = ::CreateEvent(NULL, TRUE, FALSE, NULL);
+00184    m_read_event = ::CreateEvent(NULL, TRUE, FALSE, NULL);
+00185    m_write_event = ::CreateEvent(NULL, TRUE, FALSE, NULL);
 00186 
 00187    return true;
 00188    }
 00189 
-00190 bool can_uvccm_win32::close_rs232()
+00190 bool can_uvccm_win32::close_rs232()
 00191    {
-00192    if (m_port != INVALID_HANDLE_VALUE)
+00192    if (m_port != INVALID_HANDLE_VALUE)
 00193       {
-00194       ::PurgeComm(m_port, PURGE_RXABORT | PURGE_RXCLEAR | PURGE_TXABORT | PURGE_TXCLEAR);
-00195       ::CloseHandle(m_port);
-00196       m_port = INVALID_HANDLE_VALUE;
-00197       ::CloseHandle(m_read_event);
-00198       m_read_event = 0;
-00199       ::CloseHandle(m_write_event);
-00200       m_write_event = 0;
-00201       m_residual_buffer.clear();
+00194       ::PurgeComm(m_port, PURGE_RXABORT | PURGE_RXCLEAR | PURGE_TXABORT | PURGE_TXCLEAR);
+00195       ::CloseHandle(m_port);
+00196       m_port = INVALID_HANDLE_VALUE;
+00197       ::CloseHandle(m_read_event);
+00198       m_read_event = 0;
+00199       ::CloseHandle(m_write_event);
+00200       m_write_event = 0;
+00201       m_residual_buffer.clear();
 00202       }
 00203    return true;
 00204    }
 00205 
-00206 bool can_uvccm_win32::get_can_data(const char* can_cmd_buf, long& bufsize, Message* m)
+00206 bool can_uvccm_win32::get_can_data(const char* can_cmd_buf, long& bufsize, Message* m)
 00207    {
 00208    if (bufsize < 5)
 00209       {
@@ -236,7 +236,7 @@
 00215    ::memset(&msg, 0 , sizeof (msg));
 00216    char colon = 0, type = 0, request = 0;
 00217    std::istringstream buf(std::string(can_cmd_buf, bufsize));
-00218    buf >> colon >> type >> std::hex >> msg.cob_id.w >> request;
+00218    buf >> colon >> type >> std::hex >> msg.cob_id.w >> request;
 00219    if (colon != ':' || (type != 'S' && type != 'X'))
 00220       {
 00221       bufsize = 0;
@@ -244,8 +244,8 @@
 00223       }
 00224    if (request == 'N')
 00225       {
-00226       msg.rtr = 0;
-00227       for (msg.len = 0; msg.len < 8; ++msg.len)
+00226       msg.rtr = 0;
+00227       for (msg.len = 0; msg.len < 8; ++msg.len)
 00228          {
 00229          std::string data_byte_str;
 00230          buf >> std::setw(2) >> data_byte_str;
@@ -258,9 +258,9 @@
 00237             bufsize = 0;
 00238             return false;
 00239             }
-00240          msg.data[msg.len] = (UNS8)byte_val;
+00240          msg.data[msg.len] = (UNS8)byte_val;
 00241          }
-00242       if (msg.len == 8)
+00242       if (msg.len == 8)
 00243          {
 00244          char semicolon = 0;
 00245          buf >> semicolon;
@@ -274,8 +274,8 @@
 00253       }
 00254    else if (request == 'R')
 00255       {
-00256       msg.rtr = 1;
-00257       buf >> msg.len;
+00256       msg.rtr = 1;
+00257       buf >> msg.len;
 00258       }
 00259    else
 00260       {
@@ -289,20 +289,20 @@
 00268    return true;
 00269    }
 00270 
-00271 bool can_uvccm_win32::set_can_data(const Message& m, std::string& can_cmd)
+00271 bool can_uvccm_win32::set_can_data(const Message& m, std::string& can_cmd)
 00272    {
 00273    // build can_uvccm_win32 command string
 00274    std::ostringstream can_cmd_str;
-00275    can_cmd_str << ":S" << std::hex << m.cob_id.w;
-00276    if (m.rtr == 1)
+00275    can_cmd_str << ":S" << std::hex << m.cob_id.w;
+00276    if (m.rtr == 1)
 00277       {
-00278       can_cmd_str << 'R' << (long)m.len;
+00278       can_cmd_str << 'R' << (long)m.len;
 00279       }
 00280    else
 00281       {
 00282       can_cmd_str << 'N';
-00283       for (int i = 0; i < m.len; ++i)
-00284          can_cmd_str << std::hex << std::setfill('0') << std::setw(2) << (long)m.data[i];
+00283       for (int i = 0; i < m.len; ++i)
+00284          can_cmd_str << std::hex << std::setfill('0') << std::setw(2) << (long)m.data[i];
 00285       }
 00286    can_cmd_str << ';';
 00287    can_cmd = can_cmd_str.str();
@@ -317,23 +317,23 @@
 00296 
 00297 //------------------------------------------------------------------------
 00298 extern "C"
-00299    UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
+00299    UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
 00300    {
-00301    return (UNS8)(!(reinterpret_cast<can_uvccm_win32*>(fd0)->receive(m)));
+00301    return (UNS8)(!(reinterpret_cast<can_uvccm_win32*>(fd0)->receive(m)));
 00302    }
 00303 
 00304 extern "C"
-00305    UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
+00305    UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
 00306    {
-00307    return (UNS8)reinterpret_cast<can_uvccm_win32*>(fd0)->send(m);
+00307    return (UNS8)reinterpret_cast<can_uvccm_win32*>(fd0)->send(m);
 00308    }
 00309 
 00310 extern "C"
-00311    CAN_HANDLE canOpen_driver(s_BOARD *board)
+00311    CAN_HANDLE canOpen_driver(s_BOARD *board)
 00312    {
 00313    try
 00314       {
-00315       return (CAN_HANDLE) new can_uvccm_win32(board);
+00315       return (CAN_HANDLE) new can_uvccm_win32(board);
 00316       }
 00317    catch (can_uvccm_win32::error&)
 00318       {
@@ -342,7 +342,7 @@
 00321    }
 00322 
 00323 extern "C"
-00324    int canClose_driver(CAN_HANDLE inst)
+00324    int canClose_driver(CAN_HANDLE inst)
 00325    {
 00326    delete reinterpret_cast<can_uvccm_win32*>(inst);
 00327    return 1;
@@ -350,7 +350,7 @@
 00329 
 00330 
 00331    
-
can_uvccm_win32.cpp
