Changeset 44 in pacpussensors

Timestamp:

04/11/14 16:22:07 (10 years ago)

Author:

phudelai

Message:

CANGATEWAY modified for Pacpus 0.1.x

Location:

trunk/CanGateway

Files:

• CanGateway.cpp (modified) (6 diffs)
• CanGateway.h (modified) (1 diff)

trunk/CanGateway/CanGateway.cpp

@@ -25 +25 @@
 #include <QList>
 
-
-
 #include "../CanGateway/CanDecoderBase.h"
 
@@ -34 +32 @@
 /// Construct the factory
 ComponentFactory<CanGateway> sFactory("CanGateway");
+
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -56 +55 @@
 void CanGateway::startActivity()
 {
-  counter_ = 0;
-  THREAD_ALIVE = true;
+        counter_ = 0;
+        THREAD_ALIVE = true;
   
-  // set the exhange parameters for incoming CAN frames
-  canIf_.setExchangeBuffer(incomingCanFrames_, INCOMINGCANFRAMES_SIZE);
-  canIf_.setSignalSempahore(&semaphore_);
-  if (source_ == "shMem")
-    canIf_.setSource(Win32CanInterface::SharedMemory);
-  else if (source_ == "vector")
-  {
-    canIf_.setSource(Win32CanInterface::VectorCard);
-    // open the interface
-    if (!canIf_.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);
-    // open the interface
-    if (!canIf_.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)
-      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 
-  {
-    qCritical("Error in the source property of the component, bad value");
-    return;
-  }
-
-  // start the 2 threads: reception thread and decoding thread
-  canIf_.start();
-  start();
-
-
+        // set the exhange parameters for incoming CAN frames
+        canIf_.setExchangeBuffer(incomingCanFrames_, INCOMINGCANFRAMES_SIZE);
+        canIf_.setSignalSempahore(&semaphore_);
+        if (source_ == "shMem")
+                canIf_.setSource(Win32CanInterface::SharedMemory);
+        else if (source_ == "vector")
+        {
+                canIf_.setSource(Win32CanInterface::VectorCard);
+                // open the interface
+                if (!canIf_.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);
+                // open the interface
+                if (!canIf_.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)
+                        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 
+        {
+                qCritical("Error in the source property of the component, bad value");
+                return;
+        }
+
+        // start the 2 threads: reception thread and decoding thread
+        canIf_.start();
+        start();
 }
 
@@ -112 +109 @@
 void CanGateway::stopActivity()
 {
-  counter_ = 0;
-  canIf_.stop();
-  if ((source_ == "vector")||(source_=="peak")||(source_=="vectorXL")||(source_=="igep"))
-    canIf_.closeInterface(channel_);
-  canIf_.wait();
-
-  // we stop the decoding thread
-  THREAD_ALIVE = false;
-  semaphore_.release(); // to release the waiting of new CAN frame
-
-  if (!wait(1000))
-  {
-    terminate();
-    qDebug() << "The thread" << componentName << "seems blocked, it has been killed";
-  }
+        counter_ = 0;
+        canIf_.stop();
+
+        if ((source_ == "vector")||(source_=="peak")||(source_=="vectorXL")||(source_=="igep"))
+                canIf_.closeInterface(channel_);
+        
+        canIf_.wait();
+
+        // we stop the decoding thread
+        THREAD_ALIVE = false;
+        semaphore_.release(); // to release the waiting of new CAN frame
+
+        if (!wait(1000))
+        {
+                terminate();
+                qDebug() << "The thread" << name() << "seems blocked, it has been killed";
+        }
 }
 
@@ -136 +135 @@
 ComponentBase::COMPONENT_CONFIGURATION CanGateway::configureComponent(XmlComponentConfig config)
 {
-  // FIXME: use string instead of char[]
-  // Peak driver, default values
-  strcpy(port_,"/dev/pcanusb0");
-  strcpy(accessMode_,"ReadOnly");
-
-  channel_ = param.getProperty("channel").toInt() - 1;
-  speed_ = param.getProperty("speed").toInt() * 1000;
-  source_ = param.getProperty("source");
-  if (source_ =="peak")
-  {
-    if (param.getProperty("port")!= NULL)
-        strcpy(port_,param.getProperty("port").toStdString().c_str());
-    if (param.getProperty("mode")!= NULL)
-        strcpy(accessMode_,param.getProperty("mode").toStdString().c_str());        
-  }
-  recording = (param.getProperty("recording") == "true" ? true : false);
-
-  return ComponentBase::CONFIGURED_OK;
+        // FIXME: use string instead of char[]
+        // Peak driver, default values
+        strcpy(port_,"/dev/pcanusb0");
+        strcpy(accessMode_,"ReadOnly");
+
+        channel_ = config.getProperty("channel").toInt() - 1;
+        speed_ = config.getProperty("speed").toInt() * 1000;
+        source_ = config.getProperty("source");
+        if (source_ =="peak")
+        {
+                if (config.getProperty("port")!= NULL)
+                        strcpy(port_, config.getProperty("port").toStdString().c_str());
+                if (config.getProperty("mode")!= NULL)
+                        strcpy(accessMode_, config.getProperty("mode").toStdString().c_str());        
+        }
+        setRecording( config.getProperty("recording") == "true" ? true : false );
+
+        return ComponentBase::CONFIGURED_OK;
 }
 
@@ -177 +176 @@
 void CanGateway::run()
 {
-  counter_ = 0; 
-  qDebug() << componentName << "thread is started";
-
-  if (recording) {
-    rawCanFile_.open(componentName.toStdString() + "_rawcan.dbt", WriteMode, CARMEN_CAN_RAW , sizeof( CanFrame ) );
-  }
-
-  tic();
+        counter_ = 0; 
+        qDebug() << name() << "thread is started";
+
+        if (isRecording()) {
+                rawCanFile_.open(name().toStdString() + "_rawcan.dbt", WriteMode, CARMEN_CAN_RAW , sizeof( CanFrame ) );
+        }
+
+        tic();
    
-   while (THREAD_ALIVE) 
-   {
-          semaphore_.acquire();
-          if (!THREAD_ALIVE)
-          {
-                  continue; // user asks stopping the thread
-          }
-
-    //displayData(incomingCanFrames_[counter_].frame.data, incomingCanFrames_[counter_].frame.dlc, incomingCanFrames_[counter_].frame.id);
-    if (recording) 
-        {
-        rawCanFile_.writeRecord(incomingCanFrames_[counter_].time, incomingCanFrames_[counter_].timerange,
-                                reinterpret_cast<const char *>(&(incomingCanFrames_[counter_].frame)), sizeof(CanFrame));
-    }
-
-    setState(ComponentBase::MONITOR_OK);
-
-//      printf("id:%x\n",incomingCanFrames_[counter_].frame.id);
-
-   /* switch (incomingCanFrames_[counter_].frame.id)
-    { 
-    default:
+        while (THREAD_ALIVE) 
+        {
+                semaphore_.acquire();
+                if (!THREAD_ALIVE)
+                {
+                        continue; // user asks stopping the thread
+                }
+
+        //displayData(incomingCanFrames_[counter_].frame.data, incomingCanFrames_[counter_].frame.dlc, incomingCanFrames_[counter_].frame.id);
+        if (isRecording()) 
+        {
+                rawCanFile_.writeRecord(incomingCanFrames_[counter_].time, incomingCanFrames_[counter_].timerange,
+                                                                reinterpret_cast<const char *>(&(incomingCanFrames_[counter_].frame)), sizeof(CanFrame));
+        }
+
+        setState(ComponentBase::MONITOR_OK);
+
+        //      printf("id:%x\n",incomingCanFrames_[counter_].frame.id);
+
+        /* switch (incomingCanFrames_[counter_].frame.id)
+        { 
+        default:
                 // unknown identifier
-        break;
+                break;
         };
 
         */
 
-  dispatchCanFrame(incomingCanFrames_[counter_]);
-
-  counter_++; 
-  counter_ = counter_ % INCOMINGCANFRAMES_SIZE;
-}
-
-  if (recording) 
-  {
+        dispatchCanFrame(incomingCanFrames_[counter_]);
+
+        counter_++; 
+        counter_ = counter_ % INCOMINGCANFRAMES_SIZE;
+        }
+
+        if (isRecording()) 
+        {
       rawCanFile_.close();
         }
   
-  qDebug() << componentName << "thread is stopped";
-}
-
-
+        qDebug() << name() << "thread is stopped";
+}
+
+

trunk/CanGateway/CanGateway.h

@@ -80 +80 @@
   pacpus::DbiteFile rawCanFile_;
 
+  bool THREAD_ALIVE;
+
 };