cml__can_8h-source.html

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<a name="l00082"></a>00082 <span class="comment">   /// Indicates that the specified port name is invalid</span>
<a name="l00083"></a><a class="code" href="classCanError.html#s0">00083</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classCanError.html">CanError</a> <a class="code" href="classCanError.html#s0">BadPortName</a>;<span class="comment"></span>
<a name="l00084"></a>00084 <span class="comment">   /// Indicates that the CAN port is not open.</span>
<a name="l00085"></a><a class="code" href="classCanError.html#s1">00085</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classCanError.html">CanError</a> <a class="code" href="classCanError.html#s1">NotOpen</a>;<span class="comment"></span>
<a name="l00086"></a>00086 <span class="comment">   /// Indicates an illegal attempt to open an already open port</span>
<a name="l00087"></a><a class="code" href="classCanError.html#s2">00087</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classCanError.html">CanError</a> <a class="code" href="classCanError.html#s2">AlreadyOpen</a>;<span class="comment"></span>
<a name="l00088"></a>00088 <span class="comment">   /// A parameter passed to the CAN member function is not valid.</span>
<a name="l00089"></a><a class="code" href="classCanError.html#s3">00089</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classCanError.html">CanError</a> <a class="code" href="classCanError.html#s3">BadParam</a>;<span class="comment"></span>
<a name="l00090"></a>00090 <span class="comment">   /// Generic error from the CAN driver.</span>
<a name="l00091"></a><a class="code" href="classCanError.html#s4">00091</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classCanError.html">CanError</a> <a class="code" href="classCanError.html#s4">Driver</a>;<span class="comment"></span>
<a name="l00092"></a>00092 <span class="comment">   /// Illegal baud rate specified</span>
<a name="l00093"></a><a class="code" href="classCanError.html#s5">00093</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classCanError.html">CanError</a> <a class="code" href="classCanError.html#s5">BadBaud</a>;<span class="comment"></span>
<a name="l00094"></a>00094 <span class="comment">   /// Timeout waiting on read/write</span>
<a name="l00095"></a><a class="code" href="classCanError.html#s6">00095</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classCanError.html">CanError</a> <a class="code" href="classCanError.html#s6">Timeout</a>;<span class="comment"></span>
<a name="l00096"></a>00096 <span class="comment">   /// CAN buffer overflow</span>
<a name="l00097"></a><a class="code" href="classCanError.html#s7">00097</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classCanError.html">CanError</a> <a class="code" href="classCanError.html#s7">Overflow</a>;<span class="comment"></span>
<a name="l00098"></a>00098 <span class="comment">   /// CAN bus is in the OFF state</span>
<a name="l00099"></a><a class="code" href="classCanError.html#s8">00099</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classCanError.html">CanError</a> <a class="code" href="classCanError.html#s8">BusOff</a>;<span class="comment"></span>
<a name="l00100"></a>00100 <span class="comment">   /// Indicates an invalid CAN ID passed</span>
<a name="l00101"></a><a class="code" href="classCanError.html#s9">00101</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classCanError.html">CanError</a> <a class="code" href="classCanError.html#s9">InvalidID</a>;<span class="comment"></span>
<a name="l00102"></a>00102 <span class="comment">   /// Unknown CAN error condition</span>
<a name="l00103"></a><a class="code" href="classCanError.html#s10">00103</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classCanError.html">CanError</a> <a class="code" href="classCanError.html#s10">Unknown</a>;<span class="comment"></span>
<a name="l00104"></a>00104 <span class="comment">   /// Unable to open CAN driver, or missing dll file</span>
<a name="l00105"></a><a class="code" href="classCanError.html#s11">00105</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classCanError.html">CanError</a> <a class="code" href="classCanError.html#s11">NoDriver</a>;<span class="comment"></span>
<a name="l00106"></a>00106 <span class="comment">   /// CAN driver memory allocation error</span>
<a name="l00107"></a><a class="code" href="classCanError.html#s12">00107</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classCanError.html">CanError</a> <a class="code" href="classCanError.html#s12">Alloc</a>;<span class="comment"></span>
<a name="l00108"></a>00108 <span class="comment">   /// Permission error opening CAN port</span>
<a name="l00109"></a><a class="code" href="classCanError.html#s13">00109</a> <span class="comment"></span>   <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classCanError.html">CanError</a> <a class="code" href="classCanError.html#s13">Permission</a>;
<a name="l00110"></a>00110 
<a name="l00111"></a>00111 <span class="keyword">protected</span>:
<a name="l00112"></a><a class="code" href="classCanError.html#b0">00112</a>    <a class="code" href="classCanError.html#b0">CanError</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> <span class="keywordtype">id</span>, <span class="keyword">const</span> <span class="keywordtype">char</span> *desc ): <a class="code" href="classError.html">Error</a>( id, desc ){}
<a name="l00113"></a>00113 };
<a name="l00114"></a>00114 
<a name="l00115"></a>00115 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00116"></a>00116 <span class="comment">/**</span>
<a name="l00117"></a>00117 <span class="comment">Abstract class used for low level interaction with CAN hardware.</span>
<a name="l00118"></a>00118 <span class="comment"></span>
<a name="l00119"></a>00119 <span class="comment">This class contains methods that are used to open and</span>
<a name="l00120"></a>00120 <span class="comment">close the CAN network adapter, as well as transmit and</span>
<a name="l00121"></a>00121 <span class="comment">receive frames over the CAN network.  </span>
<a name="l00122"></a>00122 <span class="comment"></span>
<a name="l00123"></a>00123 <span class="comment">The base CanInterface class defines a standard minimal</span>
<a name="l00124"></a>00124 <span class="comment">interface to the CAN network.  This base class does not</span>
<a name="l00125"></a>00125 <span class="comment">actually provide support for any hardware, rather</span>
<a name="l00126"></a>00126 <span class="comment">it should be extended by a class that provides access</span>
<a name="l00127"></a>00127 <span class="comment">to the actual CAN network adapter being used.</span>
<a name="l00128"></a>00128 <span class="comment">*/</span>
<a name="l00129"></a>00129 <span class="comment">/***************************************************************************/</span>
<a name="l00130"></a><a class="code" href="classCanInterface.html">00130</a> <span class="keyword">class </span><a class="code" href="classCanInterface.html">CanInterface</a>
<a name="l00131"></a>00131 {
<a name="l00132"></a>00132 <span class="keyword">public</span>:
<a name="l00133"></a>00133 
<a name="l00134"></a>00134    <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00135"></a>00135 <span class="comment">   /**</span>
<a name="l00136"></a>00136 <span class="comment">     Default constructor for a CAN interface object.</span>
<a name="l00137"></a>00137 <span class="comment">     */</span>
<a name="l00138"></a>00138    <span class="comment">/***************************************************************************/</span>
<a name="l00139"></a><a class="code" href="classCanInterface.html#a0">00139</a>    <a class="code" href="classCanInterface.html#a0">CanInterface</a>( <span class="keywordtype">void</span> ): <a class="code" href="classCanInterface.html#p0">portName</a>(0), canOpenPtr(0) {}
<a name="l00140"></a>00140 
<a name="l00141"></a>00141    <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00142"></a>00142 <span class="comment">   /**</span>
<a name="l00143"></a>00143 <span class="comment">     Standard constructor for the CAN interface object.</span>
<a name="l00144"></a>00144 <span class="comment">     The only thing that the constructor does is initialize the</span>
<a name="l00145"></a>00145 <span class="comment">     portName member variable to the value passed.</span>
<a name="l00146"></a>00146 <span class="comment">     @param port A string that may be used to identify which port to open.</span>
<a name="l00147"></a>00147 <span class="comment">     */</span>
<a name="l00148"></a>00148    <span class="comment">/***************************************************************************/</span>
<a name="l00149"></a><a class="code" href="classCanInterface.html#a1">00149</a>    <a class="code" href="classCanInterface.html#a0">CanInterface</a>( <span class="keyword">const</span> <span class="keywordtype">char</span> *port ): <a class="code" href="classCanInterface.html#p0">portName</a>(port), canOpenPtr(0) {}
<a name="l00150"></a>00150 
<a name="l00151"></a>00151    <span class="keyword">virtual</span> <a class="code" href="classCanInterface.html#a2">~CanInterface</a>();
<a name="l00152"></a>00152 <span class="comment"></span>
<a name="l00153"></a>00153 <span class="comment">   /// Set the name of the port.</span>
<a name="l00154"></a>00154 <span class="comment">   /// @param name The port name.</span>
<a name="l00155"></a><a class="code" href="classCanInterface.html#a3">00155</a> <span class="comment"></span>   <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classCanInterface.html#a3">SetName</a>( <span class="keyword">const</span> <span class="keywordtype">char</span> *name )
<a name="l00156"></a>00156    {
<a name="l00157"></a>00157       <a class="code" href="classCanInterface.html#p0">portName</a> = name;
<a name="l00158"></a>00158       <span class="keywordflow">return</span> 0;
<a name="l00159"></a>00159    }
<a name="l00160"></a>00160 <span class="comment"></span>
<a name="l00161"></a>00161 <span class="comment">   /**</span>
<a name="l00162"></a>00162 <span class="comment">     Open the CAN interface.</span>
<a name="l00163"></a>00163 <span class="comment">     @return A valid CAN error object</span>
<a name="l00164"></a>00164 <span class="comment">     */</span>
<a name="l00165"></a><a class="code" href="classCanInterface.html#a4">00165</a>    <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classCanInterface.html#a4">Open</a>( <span class="keywordtype">void</span> ){ <span class="keywordflow">return</span> 0; }
<a name="l00166"></a>00166 <span class="comment"></span>
<a name="l00167"></a>00167 <span class="comment">   /**</span>
<a name="l00168"></a>00168 <span class="comment">     Close the CAN interface.</span>
<a name="l00169"></a>00169 <span class="comment">     @return A valid CAN error object</span>
<a name="l00170"></a>00170 <span class="comment">     */</span>
<a name="l00171"></a><a class="code" href="classCanInterface.html#a5">00171</a>    <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classCanInterface.html#a5">Close</a>( <span class="keywordtype">void</span> ){ <span class="keywordflow">return</span> 0; }