CanPeakSysUSB.cpp

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/****************************************************************
 *
 * Copyright (c) 2010
 *
 * Fraunhofer Institute for Manufacturing Engineering   
 * and Automation (IPA)
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Project name: care-o-bot
 * ROS stack name: cob3_common
 * ROS package name: generic_can
 * Description:
 *                                                              
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *                      
 * Author: Christian Connette, email:christian.connette@ipa.fhg.de
 * Supervised by: Christian Connette, email:christian.connette@ipa.fhg.de
 *
 * Date of creation: Feb 2009
 * ToDo: Remove dependency to inifiles_old -> Inifile.h
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Fraunhofer Institute for Manufacturing 
 *       Engineering and Automation (IPA) nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as 
 * published by the Free Software Foundation, either version 3 of the 
 * License, or (at your option) any later version.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License LGPL for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License LGPL along with this program. 
 * If not, see <http://www.gnu.org/licenses/>.
 *
 ****************************************************************/

//#define __DEBUG__

#include <cob_generic_can/CanPeakSysUSB.h>
#include <stdlib.h>
#include <cerrno>
#include <cstring>
#include <stdlib.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
//-----------------------------------------------

CANPeakSysUSB::CANPeakSysUSB(const char* cIniFile)
{
        m_bInitialized = false;

        // read IniFile
        m_IniFile.SetFileName(cIniFile, "CanPeakSysUSB.cpp");

        init();
}

//-----------------------------------------------
CANPeakSysUSB::~CANPeakSysUSB()
{
        if (m_bInitialized)
        {
                CAN_Close(m_handle);
        }
}

//-----------------------------------------------
void CANPeakSysUSB::init()
{
        std::string sCanDevice; 
        
        if( m_IniFile.GetKeyString( "TypeCan", "DevicePath", &sCanDevice, false) != 0) {
                sCanDevice = "/dev/pcan32";
        } else std::cout << "CAN-device path read from ini-File: " << sCanDevice << std::endl;
        
        //m_handle = LINUX_CAN_Open("/dev/pcan32", O_RDWR | O_NONBLOCK);
        m_handle = LINUX_CAN_Open(sCanDevice.c_str(), O_RDWR);

        if (! m_handle)
        {
                // Fatal error
                std::cout << "Cannot open CAN on USB: " << strerror(errno) << std::endl;
                sleep(3);
                exit(0);
        }

        m_iBaudrateVal = 0;
        m_IniFile.GetKeyInt( "CanCtrl", "BaudrateVal", &m_iBaudrateVal, true);
        
        initCAN();
}

//-------------------------------------------
bool CANPeakSysUSB::transmitMsg(CanMsg CMsg, bool bBlocking)
{
        TPCANMsg TPCMsg;
        bool bRet = true;

        if (m_bInitialized == false) return false;

        // copy CMsg to TPCmsg
        TPCMsg.LEN = CMsg.m_iLen;
        TPCMsg.ID = CMsg.m_iID;
        TPCMsg.MSGTYPE = CMsg.m_iType;
        for(int i=0; i<8; i++)
                TPCMsg.DATA[i] = CMsg.getAt(i);
        
        //TODO Hier stürtzt die Base ab.. verwende libpcan.h pcan.h um Fehler auszulesen, diagnostizieren, ausgeben und CAN_INIT erneut aufzurufen = neustart can-hardware. 
        
        int iRet;
        //iRet = CAN_Write(m_handle, &TPCMsg);
        iRet = LINUX_CAN_Write_Timeout(m_handle, &TPCMsg, 25); //Timeout in micrsoseconds
        
        if(iRet != CAN_ERR_OK) {
#ifdef __DEBUG__
                std::cout << "CANPeakSysUSB::transmitMsg An error occured while sending..." << iRet << std::endl;               
                outputDetailedStatus();
#endif          
                bRet = false;
        }

#ifdef __DEBUG__        
        //is this necessary? try iRet==CAN_Status(m_handle) ?
        iRet = CAN_Status(m_handle);

        if(iRet < 0)
        {
                std::cout <<  "CANPeakSysUSB::transmitMsg, system error: " << iRet << std::endl;
                bRet = false;
        } else if((iRet & CAN_ERR_BUSOFF) != 0) {
                std::cout <<  "CANPeakSysUSB::transmitMsg, BUSOFF detected" << std::endl;
                //Try to restart CAN-Device
                std::cout <<  "Trying to re-init Hardware..." << std::endl;
                bRet = initCAN();
        
        } else if((iRet & CAN_ERR_ANYBUSERR) != 0) {
                std::cout <<  "CANPeakSysUSB::transmitMsg, ANYBUSERR" << std::endl;
        
        } else if( (iRet & (~CAN_ERR_QRCVEMPTY)) != 0) {
                std::cout << "CANPeakSysUSB::transmitMsg, CAN_STATUS: " << iRet << std::endl;
                bRet = false;
        }
#endif

        return bRet;
}

//-------------------------------------------
bool CANPeakSysUSB::receiveMsg(CanMsg* pCMsg)
{
        TPCANRdMsg TPCMsg;
        TPCMsg.Msg.LEN = 8;
        TPCMsg.Msg.MSGTYPE = 0;
        TPCMsg.Msg.ID = 0;
        
        int iRet = CAN_ERR_OK;
        
        bool bRet = false;

        if (m_bInitialized == false) return false;

        iRet = LINUX_CAN_Read_Timeout(m_handle, &TPCMsg, 0);

        if (iRet == CAN_ERR_OK)
        {
                pCMsg->m_iID = TPCMsg.Msg.ID;
                pCMsg->set(TPCMsg.Msg.DATA[0], TPCMsg.Msg.DATA[1], TPCMsg.Msg.DATA[2], TPCMsg.Msg.DATA[3],
                        TPCMsg.Msg.DATA[4], TPCMsg.Msg.DATA[5], TPCMsg.Msg.DATA[6], TPCMsg.Msg.DATA[7]);
                bRet = true;
        }
        else if( (iRet & (~CAN_ERR_QRCVEMPTY)) != 0) //no"empty-queue"-status
        {
                        std::cout << "CANPeakSysUSB::receiveMsg, CAN_STATUS: " << iRet << std::endl;
                        pCMsg->set(0, 0, 0, 0, 0, 0, 0, 0);
        }
        
        //catch status messages, these could be further processed in overlying software to identify and handle CAN errors
        if( TPCMsg.Msg.MSGTYPE == MSGTYPE_STATUS ) {
                std::cout << "CANPeakSysUSB::receiveMsg, status message catched:\nData is (CAN_ERROR_...) " << TPCMsg.Msg.DATA[3] << std::endl;
                pCMsg->set(0, 0, 0, 0, 0, 0, 0, 0);
        }

        return bRet;
}

//-------------------------------------------
bool CANPeakSysUSB::receiveMsgRetry(CanMsg* pCMsg, int iNrOfRetry)
{
        int i, iRet;

        TPCANRdMsg TPCMsg;
        TPCMsg.Msg.LEN = 8;
        TPCMsg.Msg.MSGTYPE = 0;
        TPCMsg.Msg.ID = 0;

        if (m_bInitialized == false) return false;

        // wait until msg in buffer
        bool bRet = true;
        iRet = CAN_ERR_OK;
        i=0;
        do
        {
                iRet = LINUX_CAN_Read_Timeout(m_handle, &TPCMsg, 0);

                if(iRet == CAN_ERR_OK)
                        break;

                i++;
                usleep(100000);
        }
        while(i < iNrOfRetry);

        // eval return value
        if(iRet != CAN_ERR_OK)
        {
                std::cout << "CANPeakSysUSB::receiveMsgRetry, errorcode= " << nGetLastError() << std::endl;
                pCMsg->set(0, 0, 0, 0, 0, 0, 0, 0);
                bRet = false;
        }
        else
        {
                pCMsg->m_iID = TPCMsg.Msg.ID;
                pCMsg->set(TPCMsg.Msg.DATA[0], TPCMsg.Msg.DATA[1], TPCMsg.Msg.DATA[2], TPCMsg.Msg.DATA[3],
                        TPCMsg.Msg.DATA[4], TPCMsg.Msg.DATA[5], TPCMsg.Msg.DATA[6], TPCMsg.Msg.DATA[7]);
        }

        return bRet;
}

bool CANPeakSysUSB::initCAN() {
        int ret = CAN_ERR_OK;
        bool bRet = true;

        switch(m_iBaudrateVal)
        {
        case 0:
                ret = CAN_Init(m_handle, CAN_BAUD_1M, CAN_INIT_TYPE_ST);
                break;
        case 2:
                ret = CAN_Init(m_handle, CAN_BAUD_500K, CAN_INIT_TYPE_ST);
                break;
        case 4:
                ret = CAN_Init(m_handle, CAN_BAUD_250K, CAN_INIT_TYPE_ST);
                break;
        case 6:
                ret = CAN_Init(m_handle, CAN_BAUD_125K, CAN_INIT_TYPE_ST);
                break;
        case 9:
                ret = CAN_Init(m_handle, CAN_BAUD_50K, CAN_INIT_TYPE_ST);
                break;
        case 11:
                ret = CAN_Init(m_handle, CAN_BAUD_20K, CAN_INIT_TYPE_ST);
                break;
        case 13:
                ret = CAN_Init(m_handle, CAN_BAUD_10K, CAN_INIT_TYPE_ST);
                break;
        }

        if(ret)
        {
                std::cout << "CANPeakSysUSB::CANPeakSysUSB(), error in init" << std::endl;
                m_bInitialized = false;
                bRet = false;
        }
        else
        {
                std::cout << "CANPeakSysUSB::CanpeakSys(), init ok" << std::endl;
                m_bInitialized = true;
                bRet = true;
        }
        
        return bRet;
}

void CANPeakSysUSB::outputDetailedStatus() {
        TPDIAG diag;
        
        LINUX_CAN_Statistics(m_handle, &diag);
        
        std::cout << "*************************\n"
                        << "*** Detailed status output of CANPeakSys\n"
                        << "*************************"
                        << "\nIRQ-Level:     " << diag.wIrqLevel
                        << "\nNo reads:      " << diag.dwReadCounter
                        << "\nNo writes:     " << diag.dwWriteCounter
                        << "\nNo interrupts: " << diag.dwIRQcounter
                        << "\nNo errors:     " << diag.dwErrorCounter
                        << "\nError flag:    " << diag.wErrorFlag
                        << "\nLast error:    " << diag.nLastError
                        << std::endl;
}