Changeset 1275 for trunk/MagicSoft/Cosy/candrv

Timestamp:

04/12/02 16:59:23 (22 years ago)

Author:

tbretz

Message:

*** empty log message ***

Location:

trunk/MagicSoft/Cosy/candrv

Files:

• canopen.cc (modified) (1 diff)
• vmodican.cc (modified) (10 diffs)

trunk/MagicSoft/Cosy/candrv/canopen.cc

@@ -67 +67 @@
             pthread_mutex_destroy(&fPdoMux[i][j]);
         }
+    lout << "- CanOpen destroyed." << endl;
 }
 

trunk/MagicSoft/Cosy/candrv/vmodican.cc

@@ -38 +38 @@
 #include <errno.h>         // errno
 #include <unistd.h>        // read
-#include <pthread.h>       // pthread_create
 #include <sys/time.h>      // gettimeofday
 #include <sys/ioctl.h>     // ioctl
-#include <sys/resource.h>  // PRIO_PROCESS
 
 ClassImp(VmodIcan);
@@ -110 +108 @@
     while (1)
     {
+        //
+        // Sleeps until a message arrives
+        //
         unsigned char c;
+        const int n = read(fd, &c, 1);
+
+        if (n<0)
+        {
+            cerr << "Vmodican: read(" << dec << (int)fd << "," << (void*)&c;
+            cerr << ",1) returned c=" << (int)c << " '" << strerror(errno);
+            cerr << "' (errno = " << errno << ")" << endl;
+            continue;
+            //return (void *)1;
+        }
+
+        //
+        // read the time for the message as soon as possible
+        //
         timeval_t tv;
-
-        //
-        // Sleeps until a message arrives
-        //
-        const int n = read(fd, &c, 1);
-
-        //
-        // read the time for the message as soon as possible
-        //
         gettimeofday(&tv, NULL);
 
@@ -128 +134 @@
         if (n == 0)
         {
-            cerr << "panic read (errno=" << errno << ") ..." << endl;
+            cerr << "Vmodican: Panic read '" << strerror(errno) << "' ";
+            cerr << "(errno=" << errno << ")" << endl;
             return (void *)1;
         }
@@ -155 +162 @@
 
             cout << endl;
-            break;
+            continue;
 
         //
@@ -171 +178 @@
 
             HandleMessage(&msg, &tv);
-
-            break;
+            continue;
         }
+
+        cout << "Vmodican: read, Message c=" << (int)c << " unknown." << endl;
     }
     return NULL;
@@ -495 +503 @@
 void VmodIcan::DisableCanBusConnection()
 {
-    lout << "- Disconnect from Bus!" << endl;
+    lout << "- Disconnect VmodIcan module from Bus!" << endl;
 
     Message msg;                  /* buffer for module messages */
@@ -503 +511 @@
 
     while (!Send(&msg));
+
+    lout << "- VmodIcan disconnected." << endl;
 }
 
@@ -529 +539 @@
 void VmodIcan::Close()
 {
-    lout << "- Close Device!" << endl;
+    lout << "- Closing device VmodIcan #" << (int)fd << endl;
 
     Message msg; /* disconnect message */
@@ -539 +549 @@
 
     close(fd);
+
+    lout << "- Device closed." << endl;
 }
 
@@ -950 +962 @@
 VmodIcan::~VmodIcan()
 {
+    lout << "- Stopping VmodIcan module." << endl;
     Stop();
     DisableCanBusConnection();
     Close();
+    lout << "- VmodIcan stopped." << endl;
 }