Index: /trunk/MagicSoft/Cosy/candrv/vmodican.cc =================================================================== --- /trunk/MagicSoft/Cosy/candrv/vmodican.cc (revision 8830) +++ /trunk/MagicSoft/Cosy/candrv/vmodican.cc (revision 8831) @@ -16,7 +16,7 @@ ! ! -! Author(s): Thomas Bretz , 2001 +! Author(s): Thomas Bretz 2001 ! -! Copyright: MAGIC Software Development, 2000-2001 +! Copyright: MAGIC Software Development, 2000-2008 ! ! @@ -31,7 +31,4 @@ /////////////////////////////////////////////////////////////////////// #include "vmodican.h" - -#include // cout -#include // setw, setfill #include // O_RDONLY @@ -41,20 +38,11 @@ #include // ioctl +#include "canopen.h" + +#include "MLog.h" + ClassImp(VmodIcan); -// -------------------------------------------------------------------------- -// -// Prints a CAN Message. -// -void VmodIcan::PrintMsg(Message *m) -{ - cout << "Cmd=0x" << hex << (int)m->cmd << dec << " " << flush; - cout << "len=" << (int)m->len << ":" << flush; - - cout << hex << flush; - for (int i=0; ilen; i++) - cout << " " << (int)m->data[i] << flush; - cout << dec << endl; -} +using namespace std; // -------------------------------------------------------------------------- @@ -64,5 +52,5 @@ int VmodIcan::Ioctl(int msg, void *arg) { - return fd<0 ? 1 : ioctl(fd, msg, (int)arg) >= 0; + return fd<0 ? 1 : ioctl(fd, msg, arg) >= 0; } @@ -93,5 +81,5 @@ while (!Send(&msg)); - lout << "- CAN Bus Termination set to " << (state?"on":"off") << endl; + gLog << "- CAN Bus Termination set to " << (state?"on":"off") << endl; } @@ -102,10 +90,10 @@ // - therefor overload HandleCanMessge // -void *VmodIcan::Thread() +Int_t VmodIcan::Thread() { if (fd<0) - return NULL; - - lout << "- Starting Receiver Loop." << endl; + return 0; + + gLog << "- Starting Receiver Loop." << endl; while (1) @@ -114,6 +102,11 @@ // Sleeps until a message arrives // + TThread::CancelPoint(); + unsigned char c; const int n = read(fd, &c, 1); + + TThread::CancelPoint(); + if (n<0) { @@ -125,10 +118,4 @@ // - // read the time for the message as soon as possible - // - timeval_t tv; - gettimeofday(&tv, NULL); - - // // if n==0 something strange happened. Stop receiver(?) // @@ -137,5 +124,5 @@ cerr << "Vmodican: Panic read '" << strerror(errno) << "' "; cerr << "(errno=" << errno << ")" << endl; - return (void *)1; + return 1; } @@ -148,4 +135,5 @@ // Fast message (not used/working) // + /* case FAST_QUEUE: cout << "--> Fast Queue: " << flush; @@ -164,5 +152,5 @@ cout << endl; continue; - + */ // // Plain Can Message to be processed @@ -176,7 +164,7 @@ // if (Receive(&msg) < 0) - return (void *)1; - - HandleMessage(&msg, &tv); + return 1; + + HandleMessage(msg); continue; } @@ -184,90 +172,5 @@ cout << "Vmodican: read, Message c=" << (int)c << " unknown." << endl; } - return NULL; -} - -// -------------------------------------------------------------------------- -// -// Does a basic message processing and hadles the so called command (cmd) -// stamp of the message. This is some kind of message type which is send -// by the can interface -// -void VmodIcan::HandleMessage(Message *msg, timeval_t *tv) -{ - // - // Decode message - // - const WORD_t desc = msg->data[2]<<8 | msg->data[3]; - const BYTE_t rtr = (desc>>4)&1; - const BYTE_t len = desc&0xf; - const WORD_t cobid = desc>>5; - - switch (msg->cmd) // FROM mican.h - { - case M_MSG_LOST: - cout << "VmodIcan reports: " << dec << (int)msg->data[0] << " msg(s) lost!" << endl; - return; - - case M_BCAN_TX_con: /* confirm (+/-) transmission */ - cout << "VmodIcan reports: CTXcon=0x35" << endl; - cout << "This normally means, that the transmission of the following CAN frame failed:" << hex << endl; - cout << "Descr: 0x" << cobid << dec; - cout << " Rtr: " << (rtr?"Yes":"No"); - cout << " Len: " << (int)len << endl; - return; - - case M_BCAN_EVENT_ind: - cout << "VmodIcan reports: CEVTind=0x37: " << hex; - switch (msg->data[0]) // error indicator - { - case 0x01: - cout << "Error interrup occured" << endl; - cout << "This means noisy network normally. Please check the bus termination." << endl; - switch (msg->data[1]) // msg type (board depending) - { - case 2: // SJA1000 - cout << dec; - cout << "ModeReg=" << (int)msg->data[2] << ", "; - cout << "StatReg=" << (int)msg->data[3] << ", "; - cout << "RxErrCnt=" << (int)msg->data[4] << ", "; - cout << "TxErrCnt=" << (int)msg->data[5] << endl; - } - //FIXME? TerminateApp(); - return; - case 0x02: - cout << "Overrun interrup occured" << endl; - return; - case 0x04: - cout << "Interrupts lost" << endl; - return; - case 0x08: - cout << "Send queue full" << endl; - return; - case 0x10: - cout << "CANbus bus-error" << endl; - return; - } - return; - case M_BCAN_RX_ind: - // - // Message is a message from the Can bus - // - HandleCanMessage(cobid, &msg->data[4], tv); - return; - } - - // - // Nothing of the above happened - // - cout << hex; - cout << "Cmd=0x" << (int)msg->cmd << ": "; - cout << "Descr: 0x" << cobid << dec; - cout << " Rtr: " << (rtr?"Yes":"No"); - cout << " Len: " << (int)len << endl; - - cout << "As Raw Data:" << hex << setfill('0'); - for (int i=0; ilen; i++) - cout << " " << setw(2) << (int)(msg->data[i]) << flush; - cout << endl; + return 0; } @@ -294,5 +197,4 @@ int VmodIcan::Receive(Message *pm) /* receive buffer */ { - struct dpm_rw_can_desc arg; @@ -323,5 +225,5 @@ // * can be used to poll a module for incoming messages. // */ -// +/* int VmodIcan::ReceiveFast(FastMessage *pm) { @@ -335,4 +237,5 @@ return arg.rval; } +*/ // -------------------------------------------------------------------------- @@ -410,5 +313,5 @@ while (!Send(&msg)); /* transmitt to module */ - lout << "- Baudrate set to " << rate << "kbps" << endl; + gLog << "- Baudrate set to " << rate << "kbps" << endl; } @@ -439,5 +342,5 @@ while (!Send(&msg)); - lout << "- Controller connected to bus" << endl; + gLog << "- Controller connected to bus" << endl; } @@ -484,5 +387,5 @@ return -1; - lout << "- Fast Host Interface Enabled" << endl; + gLog << "- Fast Host Interface Enabled" << endl; return 0; @@ -512,5 +415,5 @@ void VmodIcan::DisableCanBusConnection() { - lout << "- Disconnect VmodIcan module from Bus!" << endl; + gLog << "- Disconnect VmodIcan module from Bus!" << endl; Message msg; /* buffer for module messages */ @@ -521,5 +424,5 @@ while (!Send(&msg)); - lout << "- VmodIcan disconnected." << endl; + gLog << "- VmodIcan disconnected." << endl; } @@ -548,5 +451,5 @@ void VmodIcan::Close() { - lout << "- Closing device VmodIcan #" << (int)fd << endl; + gLog << "- Closing device VmodIcan #" << (int)fd << endl; Message msg; /* disconnect message */ @@ -559,5 +462,5 @@ close(fd); - lout << "- Device closed." << endl; + gLog << "- Device closed." << endl; } @@ -576,5 +479,5 @@ while (!Send(&msg)); - lout << "- Fifo enabled" << endl; + gLog << "- Fifo enabled" << endl; return TRUE; @@ -589,5 +492,5 @@ const int rc = Ioctl(DPM_RESET, 0); - lout << "- Reset done." << endl; + gLog << "- Reset done." << endl; return rc; @@ -613,10 +516,10 @@ if (fd < 0) { - lout << "Error: Opening device '" << devname << "' (rc=" << fd << ")" << endl; - lout << strerror(errno) << endl; + gLog << "Error: Opening device '" << devname << "' (rc=" << fd << ")" << endl; + gLog << strerror(errno) << endl; return FALSE; } - lout << "- Device " << devname << " #" << fd << " open." << endl; + gLog << "- Device " << devname << " #" << fd << " open." << endl; return TRUE; @@ -679,5 +582,5 @@ Ioctl(DPM_INIT_NEW_HOSTIF_PRIO, &hdp); - lout << "- New style host interface enabled" << endl; + gLog << "- New style host interface enabled" << endl; return 0; @@ -707,4 +610,5 @@ // */ // +/* int VmodIcan::SendHi(Message *pm) { @@ -718,4 +622,5 @@ return arg.rval; } +*/ // -------------------------------------------------------------------------- @@ -742,4 +647,5 @@ // * // */ +/* int VmodIcan::SendLo(Message *pm) { @@ -753,4 +659,5 @@ return arg.rval; } +*/ // -------------------------------------------------------------------------- @@ -807,5 +714,6 @@ // */ // -int VmodIcan::Send(FastMessage *pm) /* file descriptor, message to send */ +/* +int VmodIcan::Send(FastMessage *pm) { struct dpm_write_fast_can_desc arg; @@ -816,8 +724,9 @@ return FALSE; - lout << "done." << endl; + gLog << "done." << endl; return arg.rval; } +*/ // -------------------------------------------------------------------------- @@ -848,5 +757,5 @@ while (!Send(&msg)); - lout << "- All CobIds disabled." << endl; + gLog << "- All CobIds disabled." << endl; } @@ -876,5 +785,5 @@ while (!Send(&msg)); #ifdef EXPERT - lout << "- CobId 0x" << hex << setfill('0') << setw(3) << cobid << " enabled." << endl; + gLog << "- CobId 0x" << hex << setfill('0') << setw(3) << cobid << " enabled." << endl; #endif } @@ -934,10 +843,10 @@ // and switch the can bus communication on // -VmodIcan::VmodIcan(const char *dev, const int baud, MLog &out) : Log(out), MThread(false, 1)//: CanDriver(dev, baud) +VmodIcan::VmodIcan(CanOpen *rx, const char *dev, const int baud) : Interface(rx) { // // Set priority of receiving thread and detach the receiving thread // - Detach(); +// Detach(); if (!Open(dev)) @@ -959,5 +868,5 @@ */ - lout << "- VmodIcan initialized." << endl; + gLog << "- VmodIcan initialized." << endl; } @@ -970,21 +879,8 @@ VmodIcan::~VmodIcan() { - lout << "- Stopping VmodIcan module." << endl; - Stop(); + gLog << "- Stopping VmodIcan module." << endl; + CancelThread(); DisableCanBusConnection(); Close(); - lout << "- VmodIcan stopped." << endl; -} - -// -------------------------------------------------------------------------- -// -// Sends a can frame with the given cobid and the given eight bytes -// through the can network -// -void VmodIcan::SendCanFrame(WORD_t cobid, - BYTE_t m0, BYTE_t m1, BYTE_t m2, BYTE_t m3, - BYTE_t m4, BYTE_t m5, BYTE_t m6, BYTE_t m7) -{ - BYTE_t msg[8] = { m0, m1, m2, m3, m4, m5, m6, m7 }; - SendCanFrame(cobid, msg); -} + gLog << "- VmodIcan stopped." << endl; +} Index: /trunk/MagicSoft/Cosy/candrv/vmodican.h =================================================================== --- /trunk/MagicSoft/Cosy/candrv/vmodican.h (revision 8830) +++ /trunk/MagicSoft/Cosy/candrv/vmodican.h (revision 8831) @@ -1,10 +1,4 @@ #ifndef COSY_VmodIcan #define COSY_VmodIcan - -#include - -#include // gettimeofday - -#include "log.h" #ifdef __CINT__ @@ -12,33 +6,30 @@ typedef UShort_t WORD_t; typedef Byte_t BYTE_t; +struct Message; +struct FastMessage; #else #include "gendef.h" +#include "dpm.h" #endif -#ifndef COSY_MThread +#ifndef MARS_MThread #include "MThread.h" #endif -class Message; -class FastMessage; +#ifndef COSY_Interface +#include "interface.h" +#endif typedef struct timeval timeval_t; -class VmodIcan : public Log, protected MThread +class CanOpen; + +class VmodIcan : public Interface, public MyThreadX { - friend class VmodIcanRX; - private: int fd; // file descriptor for can module + // Specific tp the VmodIcan module int Ioctl(int msg, void *arg); - - void *Thread(); - - void HandleMessage(Message *msg, timeval_t *tv); - virtual void HandleCanMessage(WORD_t cobid, BYTE_t *data, timeval_t *tv) {} - - int Receive(Message *pm); - int ReceiveFast(FastMessage *pm); void SetBaudRate(int rate); @@ -62,21 +53,19 @@ int Open(const char *devname); /* pathname of device */ - WORD_t MsgDescr(const WORD_t cobid, const BYTE_t dlc, const BYTE_t rtr=0) - { - return (cobid<<5) | ((rtr&0x1)<<4) | (dlc&0xf); - } + // Receiver + int Receive(Message *pm); + //int ReceiveFast(FastMessage *pm); + Int_t Thread(); - virtual void TerminateApp() { exit(-1); } + void Start() { RunThread(); } + void Stop() { CancelThread(); } public: - VmodIcan(const char *dev, const int baud, MLog &out=gLog); + VmodIcan(CanOpen *rx, const char *dev, const int baud); virtual ~VmodIcan(); + // Sending interface inherited from Interface void EnableCobId(WORD_t cobid, int flag=TRUE); - void SendCanFrame(WORD_t cobid, BYTE_t m[8], BYTE_t rtr=0); - void SendCanFrame(WORD_t cobid, - BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0, - BYTE_t m4=0, BYTE_t m5=0, BYTE_t m6=0, BYTE_t m7=0); ClassDef(VmodIcan, 0) // hardware interface to the vmodican can module (Janz)