Changeset 4 in pacpussensors for trunk/CanGateway/Win32CanInterface.cpp

Timestamp:

06/07/13 00:10:00 (11 years ago)

Author:

guyardro

Message:

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

File:

• trunk/CanGateway/Win32CanInterface.cpp (modified) (2 diffs)

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()