Changeset 94 in pacpussensors for trunk/CanGateway/driver/KVaserCanDriver.cpp

Timestamp:

Sep 28, 2015, 10:49:02 PM (9 years ago)

Author:

DHERBOMEZ Gérald

Message:

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

File:

• trunk/CanGateway/driver/KVaserCanDriver.cpp (modified) (5 diffs)

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 ) 
         {