added functions for can connector messaging

refs 7865

org.fortiss.af3.platform.raspberry/trunk/lib/inc/CanConnector.h

@@ -3,10 +3,21 @@
 
 #include <stdio.h>
 
+#include "inc/libcansocket.h"
 #include "inc-gen/data_dictionary.h"
 
 // types
-typedef const char* CAN_PORT_T;
+typedef const char* CAN_MSG_T;
+typedef unsigned long CAN_CLK_T;
+
+// constants
+extern const char* CAN_DEVICE_NAME;
+
+// send and receive
+void can_send();
+void can_send_clock(CAN_CLK_T counter);
+void can_receive();
+CAN_CLK_T can_receive_clock();
 
 // init, terminate, prepare
 void can_init();
@@ -19,17 +30,17 @@ void prepare_output_CanConnector();
 void finish_output_CanConnector();
 
 // noval
-GEN_TYPE_boolean can_is_noval(CAN_PORT_T port);
-GEN_TYPE_boolean can_set_noval(CAN_PORT_T port);
+GEN_TYPE_boolean can_is_noval(CAN_MSG_T msg);
+GEN_TYPE_boolean can_set_noval(CAN_MSG_T msg);
 
 // readers
-GEN_TYPE_boolean can_read_bool(CAN_PORT_T port);
-GEN_TYPE_double can_read_double(CAN_PORT_T port);
-GEN_TYPE_int can_read_int(CAN_PORT_T port);
+GEN_TYPE_boolean can_read_bool(CAN_MSG_T msg);
+GEN_TYPE_double can_read_double(CAN_MSG_T msg);
+GEN_TYPE_int can_read_int(CAN_MSG_T pomsgrt);
 
 // writers
-void can_write_bool(CAN_PORT_T port, GEN_TYPE_boolean value);
-void can_write_double(CAN_PORT_T port, GEN_TYPE_double value);
-void can_write_int(CAN_PORT_T port, GEN_TYPE_int value);
+void can_write_bool(CAN_MSG_T msg, GEN_TYPE_boolean value);
+void can_write_double(CAN_MSG_T msg, GEN_TYPE_double value);
+void can_write_int(CAN_MSG_T msg, GEN_TYPE_int value);
 
 #endif // __CANCONNECTOR_H

org.fortiss.af3.platform.raspberry/trunk/lib/inc/libcansocket.h

+#ifndef __LIBCANSOCKET_H
+#define __LIBCANSOCKET_H
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
+#include <net/if.h>
+#include <sys/ioctl.h>
+
+#include <linux/can.h>
+#include <linux/can/raw.h>
+
+#define SR_ERR -1
+
+struct can_socket {
+    int s;
+    struct sockaddr_can addr;
+    struct ifreq ifr;
+};
+
+/**
+ * Opens a can socket on the given interface
+ */
+struct can_socket* can_socket_open(const char *if_name);
+
+/**
+ * Closes a given socket
+ */
+void can_socket_close(struct can_socket* sock);
+
+/**
+ * Sends a can frame on the specified socket
+ */
+ssize_t can_socket_send(struct can_socket* sock, struct can_frame* frame);
+
+/**
+ * 
+ */
+ssize_t can_socket_receive(struct can_socket* sock, struct can_frame* frame);
+
+#endif // __LIBCANSOCKET_H

org.fortiss.af3.platform.raspberry/trunk/lib/src/CanConnector.c

 
 #include "inc/CanConnector.h"
 
-// init, terminate
-void can_init() {
-    printf("initializing CAN\n");
+// constants
+const char* CAN_DEVICE_NAME = "can0";
+
+// variables
+struct can_socket* can_sock;
+
+// send and receive
+void can_send() {
+    // TODO send and empty buffer
 }
 
-void can_term() {
-    printf("terminating CAN\n");
+void can_send_clock(CAN_CLK_T counter) {
+    // TODO send clock message with clock counter
 }
 
-void prepare_input_CanConnector() {
+void can_receive() {
+    // TODO fill buffer
+}
 
+CAN_CLK_T can_receive_clock() {
+    // TODO receive clock message and return clock counter
 }
 
-void finish_input_CanConnector() {
+// init, terminate
+void can_init() {
+    printf("initializing CAN\n");
+
+    can_sock = can_socket_open(CAN_DEVICE_NAME);
 
+    // TODO init buffers
 }
 
-void prepare_output_CanConnector() {
+void can_term() {
+    printf("terminating CAN\n");
 
+    can_socket_close(can_sock);
 }
 
-void finish_output_CanConnector() {
+void prepare_input_CanConnector() {}
 
-}
+void finish_input_CanConnector() {}
+
+void prepare_output_CanConnector() {}
+
+void finish_output_CanConnector() {}
 
 // noval
-GEN_TYPE_boolean can_is_noval(CAN_PORT_T port) {
-    return true;
+GEN_TYPE_boolean can_is_noval(CAN_MSG_T msg) {
+    return false;
 }
 
-GEN_TYPE_boolean can_set_noval(CAN_PORT_T port) {
-    return true;
+GEN_TYPE_boolean can_set_noval(CAN_MSG_T msg) {
+    return false;
 }
 
 // readers
-GEN_TYPE_boolean can_read_bool(CAN_PORT_T port) {
-    return false;
+GEN_TYPE_boolean can_read_bool(CAN_MSG_T msg) {
+    return false; // TODO
 }
 
-GEN_TYPE_double can_read_double(CAN_PORT_T port) {
-    return 0.0;
+GEN_TYPE_double can_read_double(CAN_MSG_T msg) {
+    return 0.0; // TODO
 }
 
-GEN_TYPE_int can_read_int(CAN_PORT_T port) {
-    return 0;
+GEN_TYPE_int can_read_int(CAN_MSG_T msg) {
+    return 0; // TODO
 }
 
 // writers
-void can_write_bool(CAN_PORT_T port, GEN_TYPE_boolean value) {
-
+void can_write_bool(CAN_MSG_T msg, GEN_TYPE_boolean value) {
+    // TODO
 }
 
-void can_write_double(CAN_PORT_T port, GEN_TYPE_double value) {
-
+void can_write_double(CAN_MSG_T msg, GEN_TYPE_double value) {
+    // TODO
 }
 
-void can_write_int(CAN_PORT_T port, GEN_TYPE_int value) {
-
+void can_write_int(CAN_MSG_T msg, GEN_TYPE_int value) {
+    // TODO
 }
 

org.fortiss.af3.platform.raspberry/trunk/lib/src/Gamepad.c

@@ -15,7 +15,7 @@ void* gp_worker(void* pt_args) {
     fd = open(GP_DEVICE_NAME, O_RDONLY);
 
     if(fd <= 0) {
-        perror("Error while connecting to gamepad device");
+        perror("Error while connecting to gamepad device. Aborting");
         return NULL;
     }
 

org.fortiss.af3.platform.raspberry/trunk/lib/src/libcansocket.c

+#include "inc/libcansocket.h"
+
+struct can_socket* can_socket_open(const char *if_name) {
+    struct can_socket* sock = malloc(sizeof(struct can_socket));
+
+    /* open socket */
+    if ((sock->s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
+        perror("socket");
+        return NULL;
+    }
+
+    sock->addr.can_family = AF_CAN;
+
+    /* map if name to interface index -> will fail if interface does not exist */
+    strcpy(sock->ifr.ifr_name, if_name);
+    if (ioctl(sock->s, SIOCGIFINDEX, &sock->ifr) < 0) {
+        perror("SIOCGIFINDEX");
+        return NULL;
+    }
+    sock->addr.can_ifindex = sock->ifr.ifr_ifindex;
+
+    /* bind socket to interface -> will fail if interface is not up */
+    if (bind(sock->s, (struct sockaddr *)&sock->addr, sizeof(sock->addr)) < 0) {
+        perror("bind");
+        return NULL;
+    }
+
+    return sock;
+}
+
+void can_socket_close(struct can_socket* sock) {
+    close(sock->s);
+}
+
+ssize_t can_socket_send(struct can_socket* sock, struct can_frame* frame) {
+    ssize_t nbytes;
+
+    /* send frame */
+    if ((nbytes = write(sock->s, &frame, sizeof(*frame))) != sizeof(*frame)) {
+        perror("write");
+        return SR_ERR;
+    }
+
+    return nbytes;
+}
+
+ssize_t can_socket_receive(struct can_socket* sock, struct can_frame* frame) {
+    ssize_t nbytes;
+
+    if ((nbytes = read(sock->s, frame, sizeof(struct can_frame))) != sizeof(*frame)) {
+        perror("read");
+        return SR_ERR;
+    }
+
+    return nbytes;
+}

org.fortiss.af3.platform.raspberry/trunk/lib/src/main.c

@@ -3,13 +3,19 @@
  */
 
 #include <stdio.h>
+#include <string.h>
 #include <unistd.h>
 #include <pthread.h>
 
 #include "inc-gen/system.h"
+#include "inc/CanConnector.h"
 #include "inc/Gamepad.h"
 #include "inc/PWM.h"
 
+#define PARAM_MAXCMP 5
+#define PARAM_MASTER "master"
+#define PARAM_SLAVE "slave"
+
 int main(int argc, char* argv[]) {
     // init the system
     initialize_system();
@@ -22,9 +28,24 @@ int main(int argc, char* argv[]) {
     pthread_t pt_pwm;
     pthread_create(&pt_pwm, NULL, pwm_worker, NULL);
 
-    // run endlessly
-    while(1) {
-        run_system();
-        usleep(50000);
+    // MASTER MODE (master as parameter)
+    if(argc >= 2 && strncmp(argv[1], PARAM_MASTER, PARAM_MAXCMP) == 0) {
+        // TODO do master stuff
+    }
+
+    // SLAVE MODE (slave as parameter)
+    else if(argc >= 2 && strncmp(argv[1], PARAM_SLAVE, PARAM_MAXCMP) == 0) {
+        // TODO do slave stuff
     }
+
+    // DEFAULT MODE (no parameter)
+    else {
+        // run endlessly
+        while(1) {
+            run_system();
+            usleep(50000);
+        }
+    }
+
+    
 }

org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/RaspberryPIExecutable.java

@@ -108,6 +108,8 @@ public class RaspberryPIExecutable extends GenericExecutionUnitExecutable {
 			addFile(pkg, "src/libuart.c");
 			addFile(pkg, "inc/libmaestro.h");
 			addFile(pkg, "src/libmaestro.c");
+			addFile(pkg, "inc/libcansocket.h");
+			addFile(pkg, "src/libcansocket.c");
 
 			/** FIXES AND PATCHES **/