--- a/drivers/can_tcp_win32/can_tcp_win32.cpp Wed Mar 06 23:50:35 2013 +0100
+++ b/drivers/can_tcp_win32/can_tcp_win32.cpp Thu Mar 07 11:40:28 2013 +0900
@@ -86,30 +86,18 @@
CAN_HANDLE LIBAPI canOpen_driver(s_BOARD *board)
{
- Socket* s;
+ char *dst = "127.0.0.1";
+ if(!strlen(board->busname)){
+ dst=board->busname;
+ }
try {
- char *dst = "127.0.0.1";
- if(!strlen(board->busname)){
- dst=board->busname;
- }
- s = new SocketClient(dst, 11898);
- }
- catch (const char* _s) {
- cerr << "can_tcp_win32 exception :\n";
- cerr << _s << endl;
- return NULL;
- }
- catch (std::string _s) {
- cerr << "can_tcp_win32 exception :\n";
- cerr << _s << endl;
- return NULL;
+ CAN_HANDLE res = (CAN_HANDLE) new SocketClient(dst, 11898);
+ return res;
}
catch (...) {
- cerr << "can_tcp_win32 exception :\n";
- cerr << "unhandled exception\n";
+ cerr << "can_tcp_win32: couldn't connect to" << dst << endl;
return NULL;
}
- return (CAN_HANDLE) s;
}
int LIBAPI canClose_driver(CAN_HANDLE inst)
--- a/drivers/unix/unix.c Wed Mar 06 23:50:35 2013 +0100
+++ b/drivers/unix/unix.c Thu Mar 07 11:40:28 2013 +0900
@@ -63,12 +63,6 @@
#include "can_driver.h"
-/*Declares the funtion pointers for dll binding or simple protos*/
-/*UNS8 DLL_CALL(canReceive)(CAN_HANDLE, Message *);
-UNS8 DLL_CALL(canSend)(CAN_HANDLE, Message *);
-CAN_HANDLE DLL_CALL(canOpen)(s_BOARD *);
-int DLL_CALL(canClose)(CAN_HANDLE);
-*/
CANPort canports[MAX_NB_CAN_PORTS] = {{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,}};
#ifndef NOT_USE_DYNAMIC_LOADING
@@ -120,15 +114,6 @@
#endif
-
-
-/*Not needed -- canReceiveLoop calls _canReceive directly *//*
-UNS8 canReceive(CAN_PORT port, Message *m)
-{
- return DLL_CALL(canReceive)(port->fd, Message *m);
-}
-*/
-
/**
* CAN send routine
* @param port CAN port
@@ -162,13 +147,6 @@
EnterMutex();
canDispatch(((CANPort*)port)->d, &m);
LeaveMutex();
-
-#ifdef __KERNEL__
-#ifdef USE_XENO
- /* periodic task for Xenomai kernel realtime */
- rt_task_wait_period(NULL);
-#endif
-#endif
}
}
@@ -214,18 +192,18 @@
*/
int canClose(CO_Data * d)
{
- UNS8 res;
-
- ((CANPort*)d->canHandle)->used = 0;
- CANPort* tmp = (CANPort*)d->canHandle;
-
- // kill receiver task before port is closed and handle set to NULL
- WaitReceiveTaskEnd(&tmp->receiveTask);
-
- // close CAN port
- res = DLL_CALL(canClose)(tmp->fd);
-
- d->canHandle = NULL;
+ int res = 0;
+
+ CANPort* port = (CANPort*)d->canHandle;
+ if(port){
+ ((CANPort*)d->canHandle)->used = 0;
+
+ res = DLL_CALL(canClose)(port->fd);
+
+ WaitReceiveTaskEnd(&port->receiveTask);
+
+ d->canHandle = NULL;
+ }
return res;
}
@@ -241,7 +219,7 @@
{
if(port){
UNS8 res;
- //LeaveMutex();
+ //LeaveMutex();
res = DLL_CALL(canChangeBaudRate)(((CANPort*)port)->fd, baud);
//EnterMutex();
return res; // OK
--- a/drivers/win32/win32.c Wed Mar 06 23:50:35 2013 +0100
+++ b/drivers/win32/win32.c Thu Mar 07 11:40:28 2013 +0900
@@ -159,7 +159,8 @@
Message m;
while(((CANPort*)port)->used)
{
- if(m_canReceive(((CANPort*)port)->fd, &m) != 0) continue;
+ if(m_canReceive(((CANPort*)port)->fd, &m) != 0)
+ break;
EnterMutex();
canDispatch(((CANPort*)port)->d, &m);
LeaveMutex();
@@ -214,27 +215,20 @@
/***************************************************************************/
int canClose(CO_Data * d)
{
- UNS8 res;
- CANPort* tmp;
-
- tmp = (CANPort*)d->canHandle;
-
- if(tmp)
- {
- d->canHandle = NULL;
-
- // close CAN port
- res = m_canClose(tmp->fd);
-
- // kill receiver task
- WaitReceiveTaskEnd(&tmp->receiveTask);
-
- // release used flag as a last step.
- tmp->used = 0;
- }
- else res = 255;
-
-return res;
+ int res = 0;
+
+ CANPort* port = (CANPort*)d->canHandle;
+ if(port){
+ ((CANPort*)d->canHandle)->used = 0;
+
+ res = m_canClose(port->fd);
+
+ WaitReceiveTaskEnd(&port->receiveTask);
+
+ d->canHandle = NULL;
+ }
+
+ return res;
}
UNS8 canChangeBaudRate(CAN_PORT port, char* baud)