Changeset 89 in pacpussensors for trunk/CanGateway/Win32CanInterface.cpp

Timestamp:

Jul 28, 2015, 3:28:21 PM (9 years ago)

Author:

DHERBOMEZ Gérald

Message:

Add KVASER CAN driver support for CanGateway component. Tested only for Windows.

File:

• trunk/CanGateway/Win32CanInterface.cpp (modified) (3 diffs)

trunk/CanGateway/Win32CanInterface.cpp

@@ -4 +4 @@
 //
 //  author:     Gerald Dherbomez
-//              Copyright Heudiasyc UMR UTC/CNRS 6599
+//              Copyright Heudiasyc UMR UTC/CNRS 7253
 // 
 //  version:    $Id: $
 //
-//  purpose:    Windows specific management of the Can Interface
+//  purpose:    Management of the Can Interface
 //
 *********************************************************************/
@@ -115 +115 @@
   case XLVectorCard:
     vectorXlLoop();
+  case KvaserCard:
+    kvaserLoop();
     break;
   default: 
@@ -145 +147 @@
 /// The loop used for waiting CAN data from XL Vector card
 void Win32CanInterface::vectorXlLoop()
+{
+  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_;
+    }
+  }
+}
+
+/************************************************************************/
+/// The loop used for waiting CAN data from Kvaser card
+void Win32CanInterface::kvaserLoop()
 {
   while(continue_) {