Changeset 94 in pacpussensors

Timestamp:

09/28/15 22:49:02 (9 years ago)

Author:

DHERBOMEZ Gérald

Message:

kvaser CAN driver testing on Linux. Works fine.
TODO: test back the code on Windows.

Location:

trunk

Files:

• CMakeLists.txt (modified) (3 diffs)
• CanGateway/CMakeLists.txt (modified) (2 diffs)
• CanGateway/Win32CanInterface.cpp (modified) (3 diffs)
• CanGateway/Win32CanInterface.h (modified) (4 diffs)
• CanGateway/driver/KVaserCanDriver.cpp (modified) (5 diffs)
• StdDbtPlayerComponents/CMakeLists.txt (modified) (1 diff)

trunk/CMakeLists.txt

@@ -62 +62 @@
 # Find dependencies
 # ========================================
-find_package(Qt4 REQUIRED)
-if(QT4_FOUND)
-    set(QT_USE_QTNETWORK TRUE)
-    set(QT_USE_QTOPENGL TRUE)
-    set(QT_USE_QTXML TRUE)
-    include(${QT_USE_FILE})
-    add_definitions( ${QT_DEFINITIONS} )
-    add_definitions( -DQT_PLUGIN )
-endif(QT4_FOUND)
+#find_package(Qt4 REQUIRED)
+#if(QT4_FOUND)
+#    set(QT_USE_QTNETWORK TRUE)
+#    set(QT_USE_QTOPENGL TRUE)
+ #   set(QT_USE_QTXML TRUE)
+ #   include(${QT_USE_FILE})
+ #   add_definitions( ${QT_DEFINITIONS} )
+ #   add_definitions( -DQT_PLUGIN )
+#endif(QT4_FOUND)
 
-include_directories(
-  ${PACPUS_DEPENDENCIES_INC}
-  ${PACPUS_INCLUDE_DIR}
-  ${PACPUS_INCLUDE_HINT}
-  ${PACPUS_INCLUDE_HINT}/Pacpus
-  ./PACPUS/include
-)
+#include_directories(
+#  ${PACPUS_DEPENDENCIES_INC}
+#  ${PACPUS_INCLUDE_DIR}
+#  ${PACPUS_INCLUDE_HINT}
+#  ${PACPUS_INCLUDE_HINT}/Pacpus
+#  ./PACPUS/include
+#)
+
 
 # ========================================
@@ -91 +92 @@
 # add_subdirectory(StereoVisionDisparity)
 # add_subdirectory(SensorsApplication)
-# add_subdirectory(StdDbtPlayerComponents)
+add_subdirectory(StdDbtPlayerComponents)
 # add_subdirectory(Wifibot)
 # add_subdirectory(Gps)
@@ -133 +134 @@
     message(WARNING "The source directory is the same as build directory. \"make clean\" may damage the source tree")
 endif()
+

trunk/CanGateway/CMakeLists.txt

@@ -102 +102 @@
 # Call MOC
 # ========================================
-qt4_wrap_cpp(
+qt_wrap_cpp(
     PROJECT_MOC_SRCS
     ${FILES_TO_MOC}
 )
 
-qt4_wrap_ui(
+qt_wrap_ui(
     PROJECT_UI_SRCS
     ${UI_FILES}
@@ -140 +140 @@
         # add your specific libraries to link here
         # pcan
+        canlib
     )
 endif(UNIX)

trunk/CanGateway/Win32CanInterface.cpp

@@ -14 +14 @@
 #include "Win32CanInterface.h"
 
-#include "Pacpus/PacpusTools/ShMem.h"
+// #include "Pacpus/PacpusTools/ShMem.h" // runtime crash because PosixShMem
 
 namespace pacpus {
@@ -104 +104 @@
     vectorLoop();
     break;
-  case SharedMemory:
-    shMemLoop();
-    break;
+  // case SharedMemory:  // runtime crash because PosixShMem
+  //   shMemLoop();
+  //   break;
   case PeakCard:
     peakLoop();
@@ -181 +181 @@
 /* The loop used for waiting CAN data from a shared memory
 /************************************************************************/
-void Win32CanInterface::shMemLoop()
-{
-  shMem_ = new ShMem("CARMEN_CAN_2200", sizeof(TimestampedCanFrame));
-  while (continue_)
-  {
-    // Wait incoming data from the shared memory
-    if ( shMem_->wait(100) )
-    {
-      TimestampedCanFrame* ptr = (TimestampedCanFrame*)(shMem_->read());
-      memcpy(&frame_, &(ptr->frame), sizeof(CanFrame));
-      receivedFrames_[counter_].time = ptr->time;
-      receivedFrames_[counter_].timerange = ptr->timerange;
-      memcpy(&(receivedFrames_[counter_].frame), &frame_, sizeof(CanFrame) );
-      semaphore_->release();
-      counter_++; 
-      counter_ = counter_ % receivedFramesArraySize_;
-    }
-  } // END while (continue_)
+// void Win32CanInterface::shMemLoop()  // runtime crash because PosixShMem
+// {
+//   shMem_ = new ShMem("CARMEN_CAN_2200", sizeof(TimestampedCanFrame));
+//   while (continue_)
+//   {
+//     // Wait incoming data from the shared memory
+//     if ( shMem_->wait(100) )
+//     {
+//       TimestampedCanFrame* ptr = (TimestampedCanFrame*)(shMem_->read());
+//       memcpy(&frame_, &(ptr->frame), sizeof(CanFrame));
+//       receivedFrames_[counter_].time = ptr->time;
+//       receivedFrames_[counter_].timerange = ptr->timerange;
+//       memcpy(&(receivedFrames_[counter_].frame), &frame_, sizeof(CanFrame) );
+//       semaphore_->release();
+//       counter_++; 
+//       counter_ = counter_ % receivedFramesArraySize_;
+//     }
+//   } // END while (continue_)
   
-  delete shMem_;
-}
+//   delete shMem_;
+// }
 
 /************************************************************************/

trunk/CanGateway/Win32CanInterface.h

@@ -22 +22 @@
 #   define CAN_DRIVER_TYPE         KVASER_CAN_DRIVER_WIN
 #else
-#   define CAN_DRIVER_TYPE       IGEP_CAN_DRIVER
+//#   define CAN_DRIVER_TYPE       IGEP_CAN_DRIVER
+#   define CAN_DRIVER_TYPE         KVASER_CAN_DRIVER_WIN
 #endif
 
@@ -36 +37 @@
 namespace pacpus {
 
-class ShMem;
+// class ShMem; // runtime crash because PosixShMem
 
 class Win32CanInterface
@@ -59 +60 @@
   void run(); 
   void vectorLoop();
-  void shMemLoop();
+  //void shMemLoop(); // runtime crash because PosixShMem
   void peakLoop();
   void igepLoop();
@@ -75 +76 @@
   int receivedFramesArraySize_;
 
-  ShMem * shMem_;
+  // ShMem * shMem_; // runtime crash because PosixShMem
 
   int counter_;

trunk/CanGateway/driver/KVaserCanDriver.cpp

@@ -4 +4 @@
 
 #include "KVaserCanDriver.h"
-#include "kvaser/canlib.h"
-
+#ifdef WIN32
+#include "kvaser/windows/canlib.h"
+#else
+#include "kvaser/linux/canlib.h"
+#endif
 #include <cassert>
 #include <cstdio>
@@ -11 +14 @@
 #include <iostream>
 #include <string>
+#include <string.h>
 
 #include "Pacpus/kernel/Log.h"
@@ -46 +50 @@
         buf[0] = '\0';
         canGetErrorText(stat, buf, sizeof(buf));
-        LOG_ERROR("%s: failed, stat=%d (%s)\n", id, (int)stat, buf);
+        LOG_ERROR(id << ": failed, stat=" << (int)stat << " (" << buf << ")");
         //exit(1);
     }
@@ -175 +179 @@
 short KVaserCanDriver::initPort (void)
 {
-        //
+#ifdef WIN32
     // Initialize CANLIB.
     //
     canInitializeLibrary();
-
+#endif
+    
         // open the physical CAN interface
         initialize(kvaserHardwareType_, canChannel_, canBitRate_);
@@ -229 +234 @@
         unsigned int dlc, flags;
         unsigned char msg[8];
-        DWORD time;
+        //DWORD timestamp;
+        unsigned long timestamp;
         
-        canStatus stat = canReadWait(canHandle_, &id, msg, &dlc, &flags, &time, WAIT_RECEIVING_FRAME_TIMEOUT);
+        canStatus stat = canReadWait(canHandle_, &id, msg, &dlc, &flags, &timestamp, WAIT_RECEIVING_FRAME_TIMEOUT);
         if (stat == canOK ) 
         {

trunk/StdDbtPlayerComponents/CMakeLists.txt

@@ -58 +58 @@
 # Call MOC
 # ========================================
-qt4_wrap_cpp(
+qt_wrap_cpp(
     PROJECT_MOC_SRCS
     ${FILES_TO_MOC}
 )
 
-qt4_wrap_ui(
+qt_wrap_ui(
     PROJECT_UI_SRCS
     ${UI_FILES}