source: pacpussensors/trunk/CanGateway/driver/igepCanDriver.cpp@ 17

/********************************************************************
//  created:    2011/02/21 - 10:46
//  filename:   igepCanDriver.cpp
//
//  author:     Sergio Rodriguez
//
//  version:    $Id: igepCanDriver.cpp srodrigu $
//
//  purpose:    Implementation of the igepCanDriver class
//
*********************************************************************/

#include <iostream>

#include "igepCanDriver.h"
#include <stdio.h>
#include <cstring>
#include <cstdlib>
#include <iostream>
#include <unistd.h>
#include <string.h>
 
#include <net/if.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
 
#include <linux/can.h>
#include <linux/can/raw.h>
#define DEFAULT_NODE "/dev/pcanusb0"
#define WAIT_RECEIVING_FRAME_TIMEOUT 1000

/**
* Constructor which enables to initialize the different attributes of the class with default values.
*/
igepCanDriver::igepCanDriver (void)
{
  printf("Notice : IGEP CAN Driver used\n");
  //szDevNode_ = DEFAULT_NODE;
  mode_ = ReadOnly;
}

/**
* Constructor which enables to initialize the different attributes of the class with default values.
*/
igepCanDriver::igepCanDriver (int channel)
{
  printf("Notice : IGEP CAN Driver used\n");
  //szDevNode_ = DEFAULT_NODE;
  mode_ = ReadOnly;
}

/**
* Constructor which enables to initialize the different attributes of the class with default values.
*/
igepCanDriver::igepCanDriver (int channel, unsigned int bitRate)
{
  printf("Notice : IGEP CAN Driver used\n");
  //szDevNode_ = DEFAULT_NODE;
  mode_ = ReadOnly;
}

/**
* Constructor which enables to initialize the different attributes of the class with default values.
*/
igepCanDriver::igepCanDriver(const char* port, const char* mode)
{
  szDevNode_ =(char*) malloc(14*sizeof(char));
  strcpy(szDevNode_,DEFAULT_NODE);
  
  printf("Notice : IGEP CAN Driver used\n");
  //strcpy(szDevNode_, port);
//  printf("Driver to be connected at port: %s",szDevNode_);
  
}

/**
* Destructor which clean up the different attributs of the class.
*/
igepCanDriver::~igepCanDriver (void)
{

}

/**
* Member used to initialise the configuration of the CAN Card.
* @see cleanUpPort (void)
* @return a Pstatus variable which contain the error code of the function. On success, it return PSUCCESS. On failure, it return Pstatus error code.
*/
short igepCanDriver::initPort (void)
{
        int nbytes;
        struct sockaddr_can addr;
        struct ifreq ifr;

        char ifname[] = "can0";

        if((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) 
        {
                perror("Error while opening socket");
                return 1;
        }

        strcpy(ifr.ifr_name, ifname);
        ioctl(s, SIOCGIFINDEX, &ifr);

        addr.can_family  = AF_CAN;
        addr.can_ifindex = ifr.ifr_ifindex; 


        if(bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) 
        {
                perror("Error in socket bind");
                return 1;
        }

        return PSUCCESS;
}

/**
* Member used to clean up the configuration of the CAN Card.
* @see initPort (void)
* @return a Pstatus variable which contain the error code of the function. On success, it return PSUCCESS. On failure, it return Pstatus error code.
*/
short igepCanDriver::cleanUpPort (void)
{
        if(canDeviceHandle_)
        {
                printf("Closing CAN Driver..");
                close(s);
                //      CAN_Close(canDeviceHandle_);
                return PSUCCESS;
        }
        printf("CAN Driver finished.\n");
        return 1;
}


/**
* Member which permit to send a frame on the CAN bus and test if the frame is well acknowledged.
* @param flags a character which contain the flags of the sent frame.
* @param dlc a character which defined the number of characters of the sent frame.
* @param data a table of characters with the data of the sent frame.
* @see receiveFrame (unsigned char * flags, unsigned char * dlc, unsigned char ** data)
* @return a Pstatus variable which contain the error code of the function. On success, it return PSUCCESS. On failure, it return Pstatus error code.
*/
short igepCanDriver::sendFrame (struct CanFrame frame)
{
        can_frame message;
        message.can_dlc = frame.dlc;
        message.can_id = frame.id;
        memcpy(message.data,frame.data, frame.dlc);

        write(s, &message, sizeof(struct can_frame));
        return PSUCCESS;
}


/**
* Member which permit to receive of a frame on the CAN bus.
* @param flags a character pointer which contain the flags of the received frame.
* @param dlc a character pointer which defined the number of characters of the received frame.
* @param data a pointer of table of characters with the data of the received frame.
* @see sendFrame (unsigned char flags, unsigned char dlc, unsigned char * data)
* @return a Pstatus variable which contain the error code of the function. On success, it return PSUCCESS. On failure, it return Pstatus error code.
*/
short igepCanDriver::receiveFrame (struct CanFrame &frame)
{
        can_frame message;

        if ((read(s, &message, sizeof(struct can_frame))) < 0)
        {
                perror("application: CAN_Read()");
                std::cout << "ERREUR" << std::endl;
std::flush(std::cout);
                return 1;
        }
        else
        {
//      std::cout << "id : " << message.can_id << " dlc : " << message.can_dlc << " message : " << message.data << std::endl;
std::flush(std::cout);
                frame.dlc = message.can_dlc; //ok
                frame.id =  message.can_id;
                if( ( frame.dlc > 8 ) || ( frame.dlc < 0 ))
                        frame.dlc = 8;
                memcpy(frame.data,message.data, frame.dlc);
                return PSUCCESS;

        }


}


/**
* Member which wait the reception of a frame on the CAN bus.
* @see sendFrame (unsigned char flags, unsigned char dlc, unsigned char * data)
* @see receiveFrame (unsigned char * flags, unsigned char * dlc, unsigned char ** data)
*/
void igepCanDriver::waitReceivingFrame(void)
{

}
// print out the contents of a CAN message
void igepCanDriver::print_message(TPCANMsg *m)
{
  int i;

  // print RTR, 11 or 29, CAN-Id and datalength
  printf("message: %c %c 0x%08x %1d  ",
      (m->MSGTYPE & MSGTYPE_RTR)      ? 'r' : 'm',
      (m->MSGTYPE & MSGTYPE_EXTENDED) ? 'e' : 's',
       m->ID,
       m->LEN);

  // don't print any telegram contents for remote frames
  if (!(m->MSGTYPE & MSGTYPE_RTR))
    for (i = 0; i < m->LEN; i++)
      printf("0x%02x ", m->DATA[i]);

  printf("\n");
}