| [1] | 1 | /*********************************************************************
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| 2 | // created: 2008/2/11 - 12:01
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| 3 | // filename: Win32CanInterface.h
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| 4 | //
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| 5 | // author: Gerald Dherbomez
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| 6 | // Copyright Heudiasyc UMR UTC/CNRS 6599
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| 7 | //
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| 8 | // version: $Id: $
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| 9 | //
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| [59] | 10 | // purpose: Management of the Can Interface
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| [1] | 11 | //
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| 12 | *********************************************************************/
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| 13 |
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| 14 | #ifndef WIN32CANINTERFACE_H
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| 15 | #define WIN32CANINTERFACE_H
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| 16 |
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| 17 | // we use the Vector driver
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| 18 | #ifdef WIN32
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| [74] | 19 | //# define CAN_DRIVER_TYPE VECTOR_CAN_DRIVER
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| [89] | 20 | //# define CAN_DRIVER_TYPE VECTOR_CANXL_DRIVER
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| [59] | 21 | //# define CAN_DRIVER_TYPE PEAK_CAN_DRIVER_WIN
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| [89] | 22 | # define CAN_DRIVER_TYPE KVASER_CAN_DRIVER_WIN
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| [1] | 23 | #else
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| [94] | 24 | //# define CAN_DRIVER_TYPE IGEP_CAN_DRIVER
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| 25 | # define CAN_DRIVER_TYPE KVASER_CAN_DRIVER_WIN
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| [1] | 26 | #endif
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| 27 |
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| 28 | #include <iostream>
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| 29 | #include <qsemaphore.h>
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| 30 | #include <qthread.h>
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| 31 |
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| [2] | 32 | #include "CanDecoderBase.h"
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| [1] | 33 |
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| [2] | 34 | #include "driver/CanDriver.h"
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| [4] | 35 | #include "structureCan.h"
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| [2] | 36 |
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| [1] | 37 | namespace pacpus {
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| 38 |
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| [94] | 39 | // class ShMem; // runtime crash because PosixShMem
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| [1] | 40 |
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| 41 | class Win32CanInterface
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| 42 | : public QThread
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| 43 | {
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| 44 | public:
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| 45 | Win32CanInterface();
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| 46 | ~Win32CanInterface();
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| 47 |
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| [89] | 48 | enum DataSource {VectorCard, SharedMemory, PeakCard, XLVectorCard, igepCard, KvaserCard};
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| [1] | 49 |
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| 50 | bool openInterface(const int number, const unsigned int speed);
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| 51 | bool openInterface(char* port, char* accessMode);
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| 52 | bool closeInterface(const int number);
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| 53 | void stop();
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| 54 |
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| 55 | void setSignalSempahore(QSemaphore * semaphore) { semaphore_ = semaphore;};
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| 56 | void setExchangeBuffer(TimestampedCanFrame * framesArray, const int framesArraySize);
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| 57 | void setSource(DataSource source);
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| 58 | CanDriver * canDriver_;
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| 59 | protected:
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| 60 | void run();
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| 61 | void vectorLoop();
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| [94] | 62 | //void shMemLoop(); // runtime crash because PosixShMem
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| [1] | 63 | void peakLoop();
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| [4] | 64 | void igepLoop();
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| [1] | 65 | void vectorXlLoop();
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| [89] | 66 | void kvaserLoop();
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| [1] | 67 |
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| [89] | 68 |
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| [1] | 69 | private:
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| 70 | CanFrame frame_;
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| 71 | bool continue_;
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| 72 | DataSource source_;
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| 73 |
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| 74 | QSemaphore *semaphore_;
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| 75 | TimestampedCanFrame * receivedFrames_;
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| 76 | int receivedFramesArraySize_;
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| 77 |
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| [94] | 78 | // ShMem * shMem_; // runtime crash because PosixShMem
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| [1] | 79 |
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| 80 | int counter_;
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| 81 | };
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| 82 |
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| 83 | } // namespace pacpus
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| 84 |
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| 85 | #endif // WIN32CANINTERFACE_H
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