diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/inc/CanConnector.h b/org.fortiss.af3.platform.raspberry/trunk/lib/inc/CanConnector.h
index c2042c622be595d5b610edbc283a836785d3185b..a75fa33e0743b97dc0581d91843497031ab8ef63 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/lib/inc/CanConnector.h
+++ b/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
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/inc/libcansocket.h b/org.fortiss.af3.platform.raspberry/trunk/lib/inc/libcansocket.h
new file mode 100644
index 0000000000000000000000000000000000000000..a791bad054014c1e9057e1589a2d1bd093dbf3b2
--- /dev/null
+++ b/org.fortiss.af3.platform.raspberry/trunk/lib/inc/libcansocket.h
@@ -0,0 +1,43 @@
+#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
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/src/CanConnector.c b/org.fortiss.af3.platform.raspberry/trunk/lib/src/CanConnector.c
index 42ec3c814dd62f76fd6878ea574d89afaccff451..196072d4b2921e8b197e0b7c6560d100041c4439 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/lib/src/CanConnector.c
+++ b/org.fortiss.af3.platform.raspberry/trunk/lib/src/CanConnector.c
@@ -1,63 +1,84 @@
#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
}
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/src/Gamepad.c b/org.fortiss.af3.platform.raspberry/trunk/lib/src/Gamepad.c
index 39222859efc6af810509d7edae8d231a8e0b971b..c3134d4fd907563640d0671ff7f02575cf86db72 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/lib/src/Gamepad.c
+++ b/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;
}
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/src/libcansocket.c b/org.fortiss.af3.platform.raspberry/trunk/lib/src/libcansocket.c
new file mode 100644
index 0000000000000000000000000000000000000000..b57cc6e8b4e33be281d3beec9e2ce293f79c1f30
--- /dev/null
+++ b/org.fortiss.af3.platform.raspberry/trunk/lib/src/libcansocket.c
@@ -0,0 +1,56 @@
+#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;
+}
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/src/main.c b/org.fortiss.af3.platform.raspberry/trunk/lib/src/main.c
index f39feb8986786440fb76b996c8ae3071bcd72555..0f7a5177407818f83526b06bdd798ca8c7ad931c 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/lib/src/main.c
+++ b/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);
+ }
+ }
+
+
}
diff --git a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/RaspberryPIExecutable.java b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/RaspberryPIExecutable.java
index caeeca62854cde045d801306eb77d99286e0a4fa..920e0922fd8cf136dea062f526d510c6555eb433 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/RaspberryPIExecutable.java
+++ b/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 **/