Changeset 116 in pacpussensors for trunk/CanGateway/CanGateway.cpp

Timestamp:

Dec 16, 2015, 4:57:50 PM (9 years ago)

Author:

ydroniou

Message:

Fix KVaser for Linux \o/

File:

• trunk/CanGateway/CanGateway.cpp (modified) (4 diffs)

trunk/CanGateway/CanGateway.cpp

@@ -59 +59 @@
   
         // set the exhange parameters for incoming CAN frames
-        canIf_.setExchangeBuffer(incomingCanFrames_, INCOMINGCANFRAMES_SIZE);
-        canIf_.setSignalSempahore(&semaphore_);
-        if (source_ == "shMem")
-                canIf_.setSource(Win32CanInterface::SharedMemory);
+        canIfRead_.setExchangeBuffer(incomingCanFrames_, INCOMINGCANFRAMES_SIZE);
+        canIfRead_.setSignalSempahore(&semaphore_);
+
+        if (source_ == "shMem") {
+                sameCanIf = true;
+                canIfRead_.setSource(Win32CanInterface::SharedMemory);
+        }
         else if (source_ == "vector")
         {
-                canIf_.setSource(Win32CanInterface::VectorCard);
+                sameCanIf = true;
+                canIfRead_.setSource(Win32CanInterface::VectorCard);
                 // open the interface
-                if (!canIf_.openInterface(channel_, speed_))
+                if (!canIfRead_.openInterface(channel_, speed_))
                         qFatal("Failed to open the CAN interface num %d at speed %d",channel_,speed_);
         }
         else if (source_ == "vectorXL")
         {
-                canIf_.setSource(Win32CanInterface::XLVectorCard);
+                sameCanIf = true;
+                canIfRead_.setSource(Win32CanInterface::XLVectorCard);
                 // open the interface
-                if (!canIf_.openInterface(channel_, speed_))
+                if (!canIfRead_.openInterface(channel_, speed_))
                         qFatal("Failed to open the CAN interface num %d at speed %d",channel_,speed_);
         }
         else if (source_ == "peak")
         {
-                canIf_.setSource(Win32CanInterface::PeakCard);
-                // open interface
-                if (canIf_.openInterface(port_, accessMode_)==0)
+                sameCanIf = true;
+                canIfRead_.setSource(Win32CanInterface::PeakCard);
+                // open interface
+                if (canIfRead_.openInterface(port_, accessMode_)==0)
                         qFatal("Failed to open the CAN interface port %s in %s mode",port_, accessMode_);
         }
         else if (source_ == "igep")
         {
-                canIf_.setSource(Win32CanInterface::igepCard);
-                // open interface
-                if (canIf_.openInterface(port_, accessMode_)==0)
+                sameCanIf = true;
+                canIfRead_.setSource(Win32CanInterface::igepCard);
+                // open interface
+                if (canIfRead_.openInterface(port_, accessMode_)==0)
                         qFatal("Failed to open the CAN interface port %s in %s mode",port_, accessMode_);
         }
         else if (source_ == "kvaser")
         {
-                canIf_.setSource(Win32CanInterface::KvaserCard);
-                // open interface
-                if (canIf_.openInterface(channel_,speed_)==0)
+                sameCanIf = false;
+                canIfRead_.setSource(Win32CanInterface::KvaserCard);
+                // open interface
+                if (canIfRead_.openInterface(channel_,speed_)==0)
+                        qFatal("Failed to open the CAN interface num %d at speed %d",channel_,speed_);
+
+                canIfWrite_.setSource(Win32CanInterface::KvaserCard);
+                // open interface
+                if (canIfWrite_.openInterface(channel_,speed_)==0)
                         qFatal("Failed to open the CAN interface num %d at speed %d",channel_,speed_);
         }
@@ -105 +118 @@
 
         // start the 2 threads: reception thread and decoding thread
-        canIf_.start();
+        canIfRead_.start();
+
         start();
 }
@@ -117 +131 @@
 {
         counter_ = 0;
-        canIf_.stop();
-
-        if ((source_ == "vector")||(source_=="peak")||(source_=="vectorXL")||(source_=="igep")||(source_=="kvaser"))
-                canIf_.closeInterface(channel_);
+
+        canIfRead_.stop();
+
+        if ((source_ == "vector")||(source_=="peak")||(source_=="vectorXL")||(source_=="igep")||(source_=="kvaser")) {
+                canIfRead_.closeInterface(channel_);
+                if(!sameCanIf)
+                        canIfWrite_.closeInterface(channel_);
+        }
         
-        canIf_.wait();
+        canIfRead_.wait();
 
         // we stop the decoding thread
@@ -167 +185 @@
 bool CanGateway::sendFrame(const CanFrame frame)
 {
-        if (canIf_.canDriver_ == NULL)
-                return false;
+        if(sameCanIf) 
+        {
+                if (canIfRead_.canDriver_ == NULL)
+                        return false;
+                else
+                {
+                        if (canIfWrite_.canDriver_->sendFrame(frame))
+                                return true;
+                        else
+                                return false;
+                }
+        } 
         else
         {
-                if (canIf_.canDriver_->sendFrame(frame))
-                        return true;
+                if (canIfWrite_.canDriver_ == NULL)
+                        return false;
                 else
-                        return false;
+                {
+                        if (canIfWrite_.canDriver_->sendFrame(frame))
+                                return true;
+                        else
+                                return false;
+                }
         }
 }