Index: trunk/MagicSoft/Cosy/Changelog =================================================================== --- trunk/MagicSoft/Cosy/Changelog (revision 8853) +++ trunk/MagicSoft/Cosy/Changelog (revision 8854) @@ -1,3 +1,10 @@ -*-*- END -*-*- + + 2008/02/04 Thomas Bretz (La Palma) + + * candrv/interface.[h,cc]: + - added + + 2008/02/02 Thomas Bretz Index: trunk/MagicSoft/Cosy/candrv/ethernet.cc =================================================================== --- trunk/MagicSoft/Cosy/candrv/ethernet.cc (revision 8854) +++ trunk/MagicSoft/Cosy/candrv/ethernet.cc (revision 8854) @@ -0,0 +1,216 @@ +/* ======================================================================== *\ +! +! * +! * This file is part of Stesy, the MAGIC Steering System +! * Software. It is distributed to you in the hope that it can be a useful +! * and timesaving tool in analysing Data of imaging Cerenkov telescopes. +! * It is distributed WITHOUT ANY WARRANTY. +! * +! * Permission to use, copy, modify and distribute this software and its +! * documentation for any purpose is hereby granted without fee, +! * provided that the above copyright notice appear in all copies and +! * that both that copyright notice and this permission notice appear +! * in supporting documentation. It is provided "as is" without express +! * or implied warranty. +! * +! +! +! Author(s): Thomas Bretz 1/2008 +! +! Copyright: MAGIC Software Development, 2000-2008 +! +! +\* ======================================================================== */ + +/////////////////////////////////////////////////////////////////////// +// +// Ethernet +// +// Class describing the interface to the Janz card in RawCan mode. +// +/////////////////////////////////////////////////////////////////////// +#include "ethernet.h" + +#include "MLog.h" +#include "MLogManip.h" + +#include + +ClassImp(Ethernet); + +using namespace std; + +// -------------------------------------------------------------------------- +// +// Constructor. Sets logging. +// Set the receiving thread to priority -10 and detached. +// +// Open the device. +// reset the device +// Enable the fifo buffers +// Set the baud rate to the given rate +// Disable passthrough of all cobids (all canbus messages) +// and switch the can bus communication on +// +Ethernet::Ethernet(CanOpen *rx) : MTcpIpI(5358), Interface(rx) +{ + gLog << inf2 << "- Ethernet initialized." << endl; +} + +// -------------------------------------------------------------------------- +// +// Destructor. Stopt the receiver, disables the bus connection and +// close the device +// +Ethernet::~Ethernet() +{ + CancelThread(); + gLog << inf2 << "- Ethernet stopped." << endl; +} + +// -------------------------------------------------------------------------- +// +void Ethernet::ReadSocket(TSocket &rx) +{ + Int_t pos = -1; + + Message msg; + msg.cmd = M_BCAN_RX_ind; + msg.data[0] = 0; + msg.data[1] = 0; + + while (!IsThreadCanceled()) + { + //TThread::CancelPoint(); + + unsigned char c; + const Int_t len = rx.RecvRaw(&c, 1); + + //TThread::CancelPoint(); + + // No data received (non-blocking mode) + if (len<0) + { + usleep(1); + continue; + } + + // Data received with zero length! + if (len==0) + { + // THIS MEANS CONNECTIION LOST!!!! + cout << "============> LEN==0 (CONNECTION LOST?)" << endl; + break; // This break is for TEST PURPOSE FIXME!!! + continue; + } + + // Data received + if (len>1) + { + cout << "Data too long!!!" << endl; + break; + } + + if (pos<0) + { + if (c>=MSGLEN) + { + cout << "Received data too long (> " << MSGLEN << ")" << endl; + break; + } + + msg.len = c; + pos = 2; + continue; + } + + // if (pos==2 && c==0x0a) + // continue; + + msg.data[pos++] = c; + if (pos-2 controls whether to send with +// * or without spec/confirmation. +// * .CS +// * spec action +// * 0 send only +// * 1 send with confirmation to the host. +// * 2 send and echo message to the host. +// * 3 send and generate both echo and confirmation. +// * .CE +// * +// * SERVICE: CTXreq, CTXCreq, CTXEreq, CTXCEreq +// * +// * NOTE: +// * Raw ICANOS version of the firmware only. +// */ +// +void Ethernet::SendCanFrame(WORD_t cobid, BYTE_t m[8], BYTE_t rtr) +{ + const WORD_t desc = MsgDescr(cobid, 8, rtr); + + Message msg; + +// msg.cmd = M_BCAN_TX_req; + + msg.len = 12; +// msg.data[0] = 0; + msg.data[1] = msg.len-2; + msg.data[2] = word_to_msb(desc); + msg.data[3] = word_to_lsb(desc); + + memcpy(&msg.data[4], m, 8); + + /* + cout << "*** SendCanFrame len=" << dec << msg.len-2 << ": "; + for (int i=0; i +! +! Copyright: MAGIC Software Development, 2000-2008 +! +! +\* ======================================================================== */ + +/////////////////////////////////////////////////////////////////////// +// +// Interface +// +// Class describing the interface to the Janz card in RawCan mode. +// +/////////////////////////////////////////////////////////////////////// +#include "interface.h" + +#include // gettimeofday + +#include "MLog.h" +#include "MLogManip.h" + +#include "canopen.h" + +//ClassImp(Interface); + +using namespace std; + +Interface::Interface(CanOpen *rx) : fReceiver(rx) +{ + fReceiver->SetInterface(this); +} + +Interface::~Interface() +{ + gLog << inf2 << " - Interface::~Interface()" << endl; + fReceiver->SetInterface(NULL); +} + +void Interface::HandleMessage(const Message &msg) const +{ + if (fReceiver) + return; + + // + // read the time for the message as soon as possible + // + timeval_t tv; + gettimeofday(&tv, NULL); + + fReceiver->HandleMessage(msg, tv); +} + +// -------------------------------------------------------------------------- +// +// Prints a CAN Message. +// +void Interface::PrintMsg(const Message &m) +{ + cout << "Cmd=0x" << hex << (int)m.cmd << dec << " " << flush; + cout << "len=" << (int)m.len << ":" << flush; + + cout << hex << flush; + for (int i=0; i +typedef UShort_t WORD_t; +typedef Byte_t BYTE_t; +struct Message; +struct FastMessage; +#else +#include "gendef.h" +#include "dpm.h" +#endif + +typedef struct timeval timeval_t; + +class CanOpen; + +class Interface +{ +private: + CanOpen *fReceiver; + +protected: + Interface(CanOpen *rx); + + // Interface to receiver + void HandleMessage(const Message &msg) const; + + // Helper for SendCanFrame + WORD_t MsgDescr(const WORD_t cobid, const BYTE_t dlc, const BYTE_t rtr=0) + { + return (cobid<<5) | ((rtr&0x1)<<4) | (dlc&0xf); + } + +public: + virtual ~Interface(); + + // Start/stop communication + virtual void Start() = 0; /*{ RunThread(); }*/ + virtual void Stop() = 0; /*{ CancelThread(); }*/ + + // Public transmit interface + virtual void SendCanFrame(WORD_t cobid, BYTE_t m[8], BYTE_t rtr) = 0; + virtual void EnableCobId(WORD_t cobid, int flag=TRUE) { } + + // Public interface + void PrintMsg(const Message &m); +}; + +#endif