Changeset 4 in pacpussensors

Timestamp:

Jun 7, 2013, 12:10:00 AM (11 years ago)

Author:

guyardro

Message:

add igep can driver for CanGateway and add support for igep compilation

Location:

trunk

Files:

• CMakeLists.txt (modified) (2 diffs)
• CanGateway/CMakeLists.txt (modified) (4 diffs)
• CanGateway/CanDecoderBase.h (modified) (1 diff)
• CanGateway/CanGateway.cpp (modified) (3 diffs)
• CanGateway/CanGateway.h (modified) (1 diff)
• CanGateway/CanGatewayPlugin.cpp (added)
• CanGateway/CanGatewayPlugin.h (added)
• CanGateway/CanGetewayPlugin.cpp (added)
• CanGateway/CanGetewayPlugin.h (added)
• CanGateway/Win32CanInterface.cpp (modified) (2 diffs)
• CanGateway/Win32CanInterface.h (modified) (4 diffs)
• CanGateway/canGatewayPlugin.cpp (added)
• CanGateway/canGatewayPlugin.h (added)
• CanGateway/driver/CanDriver.h (modified) (2 diffs)
• CanGateway/driver/CanDriverBase.h (modified) (1 diff)
• CanGateway/driver/candump.cpp (added)
• CanGateway/driver/igepCanDriver.cpp (added)
• CanGateway/driver/igepCanDriver.h (added)
• CanGateway/igepTestPlugin.cpp (added)
• CanGateway/igepTestPlugin.h (added)
• CanGateway/structureCan.h (added)
• CanGateway/structureCanCarmen.h (added)

trunk/CMakeLists.txt

@@ -45 +45 @@
 endif()
 
+    include(${PACPUS_ROOT}/cmake/PacpusUtilities.cmake)
+    include(${PACPUS_ROOT}/cmake/PacpusConfiguration.cmake)
+    include(${PACPUS_ROOT}/cmake/PacpusDependencies.cmake)
+    include(${PACPUS_ROOT}/cmake/PacpusPlatforms.cmake)
 
 # ========================================
@@ -74 +78 @@
 endif(QT4_FOUND)
 
+include_directories(
+  ${PACPUS_DEPENDENCIES_INC}
+  ${PACPUS_INCLUDE_DIR}
+  ${PACPUS_INCLUDE_HINT}
+  ${PACPUS_INCLUDE_HINT}/Pacpus
+  ./PACPUS/include
+)
 
 # ========================================
 # Build the PacpusSensors' modules
 # ========================================
-add_subdirectory(Alasca)
+#add_subdirectory(Alasca)
 add_subdirectory(CanGateway)
 

trunk/CanGateway/CMakeLists.txt

@@ -56 +56 @@
         DbtRawCanReader.h
     DbtRawCanReader.cpp
+        structureCan.h
     ${PLUGIN_CPP}
 )
@@ -69 +70 @@
 if(UNIX)
     list(APPEND PROJECT_SRCS
-        driver/PeakCanDriver.cpp
+#        driver/PeakCanDriver.cpp
         driver/PeakCanDriver.h
+        driver/igepCanDriver.h
+        driver/igepCanDriver.cpp
     )
 endif(UNIX)
@@ -126 +129 @@
     set(LIBS
         # add your specific libraries to link here
-        pcan
+       # pcan
     )
 endif(UNIX)
@@ -137 +140 @@
         ${PACPUS_DEPENDENCIES_LIB}
         ${LIBS}
-        PacpusTools
+#       PacpusTools
 )
 

trunk/CanGateway/CanDecoderBase.h

@@ -19 +19 @@
 #include "Pacpus/kernel/ComponentBase.h"
 #include "CanFrame.h"
+#include "structureCan.h"
 
 namespace pacpus {

trunk/CanGateway/CanGateway.cpp

@@ -85 +85 @@
       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)
+      qFatal("Failed to open the CAN interface port %s in %s mode",port_, accessMode_);
+  }
   else 
   {
@@ -107 +114 @@
   counter_ = 0;
   canIf_.stop();
-  if ((source_ == "vector")||(source_=="peak")||(source_=="vectorXL"))
+  if ((source_ == "vector")||(source_=="peak")||(source_=="vectorXL")||(source_=="igep"))
     canIf_.closeInterface(channel_);
   canIf_.wait();
@@ -182 +189 @@
     setState(ComponentBase::MONITOR_OK);
 
-        //printf("id:%x\n",incomingCanFrames_[counter_].frame.id);
+//      printf("id:%x\n",incomingCanFrames_[counter_].frame.id);
 
    /* switch (incomingCanFrames_[counter_].frame.id)

trunk/CanGateway/CanGateway.h

@@ -46 +46 @@
   virtual ComponentBase::COMPONENT_CONFIGURATION configureComponent(XmlComponentConfig config); 
 
+virtual  Win32CanInterface* getCanIf()
+{
+        return &canIf_;
+} 
+
 protected:
   void run(); 

trunk/CanGateway/Win32CanInterface.cpp

@@ -109 +109 @@
     peakLoop();
     break;
+  case igepCard:
+    igepLoop();
+    break;
   case XLVectorCard:
     vectorXlLoop();
@@ -200 +203 @@
 
 /************************************************************************/
+/// The loop used for waiting CAN data from igep card
+void Win32CanInterface::igepLoop()
+{
+  std::cout << "In igep loop" << std::endl;
+
+  while(continue_)
+  {
+    // Wait incoming data from the CAN bus
+    if ( canDriver_->receiveFrame(frame_) == 0 ) {
+      receivedFrames_[counter_].time = road_time();
+      receivedFrames_[counter_].timerange = 0;
+      memcpy(&(receivedFrames_[counter_].frame), &frame_, sizeof(CanFrame) );
+      semaphore_->release();
+      counter_++;
+      counter_ = counter_ % receivedFramesArraySize_;
+    }
+  }
+}
+/************************************************************************/
 /// Stops the thread
 void Win32CanInterface::stop()

trunk/CanGateway/Win32CanInterface.h

@@ -20 +20 @@
 #   define CAN_DRIVER_TYPE       VECTOR_CANXL_DRIVER 
 #else
-#   define CAN_DRIVER_TYPE       PEAK_CAN_DRIVER
+#   define CAN_DRIVER_TYPE       IGEP_CAN_DRIVER
 #endif
 
@@ -30 +30 @@
 
 #include "driver/CanDriver.h"
+#include "structureCan.h"
 
 namespace pacpus {
@@ -42 +43 @@
   ~Win32CanInterface();
 
-  enum DataSource {VectorCard, SharedMemory, PeakCard, XLVectorCard};
+  enum DataSource {VectorCard, SharedMemory, PeakCard, XLVectorCard, igepCard};
 
   bool openInterface(const int number, const unsigned int speed);
@@ -58 +59 @@
   void shMemLoop();
   void peakLoop();
+  void igepLoop();
   void vectorXlLoop();
 

trunk/CanGateway/driver/CanDriver.h

@@ -23 +23 @@
 #define NI_CAN_DRIVER         2
 #define VECTOR_CANXL_DRIVER         3
+#define  PEAK_CAN_DRIVER 4
+#define  IGEP_CAN_DRIVER 5      
 
 
@@ -34 +36 @@
 #include "PeakCanDriver.h"
 #define CanDriverType PeakCanDriver
+#elif CAN_DRIVER_TYPE == IGEP_CAN_DRIVER
+#include "igepCanDriver.h"
+#define CanDriverType igepCanDriver
 #elif CAN_DRIVER_TYPE == VECTOR_CANXL_DRIVER
 #include "XLVectorCanDriver.h"

trunk/CanGateway/driver/CanDriverBase.h

@@ -20 +20 @@
 #include "Pacpus/PacpusTools/BinaryDecoder.h"
 
+#include "../structureCan.h"
 
 /*