can_8cpp-source.html

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<a name="l00076"></a>00076 <span class="comment">Standard destructor for base CanInterface object.</span>
<a name="l00077"></a>00077 <span class="comment">*/</span>
<a name="l00078"></a>00078 <span class="comment">/***************************************************************************/</span>
<a name="l00079"></a><a class="code" href="classCanInterface.html#a2">00079</a> <a class="code" href="classCanInterface.html#a2">CanInterface::~CanInterface</a>()
<a name="l00080"></a>00080 {
<a name="l00081"></a>00081    <span class="comment">// Remove the link to this object from the CanOpen class.  This</span>
<a name="l00082"></a>00082    <span class="comment">// prevents the CanOpen destructor from trying to close me.</span>
<a name="l00083"></a>00083    <span class="keywordflow">if</span>( canOpenPtr )
<a name="l00084"></a>00084    {
<a name="l00085"></a>00085       canOpenPtr-&gt;<a class="code" href="classThread.html#a4">stop</a>();
<a name="l00086"></a>00086       canOpenPtr-&gt;<a class="code" href="classCanOpen.html#r2">can</a> = 0;
<a name="l00087"></a>00087    }
<a name="l00088"></a>00088 }
<a name="l00089"></a>00089 
<a name="l00090"></a>00090 <span class="comment">/**************************************************</span>
<a name="l00091"></a>00091 <span class="comment">* These default implementations just delay the calling thread</span>
<a name="l00092"></a>00092 <span class="comment">* and return.</span>
<a name="l00093"></a>00093 <span class="comment">**************************************************/</span>
<a name="l00094"></a><a class="code" href="classCanInterface.html#b0">00094</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classCanInterface.html#b0">CanInterface::RecvFrame</a>( <a class="code" href="structCanFrame.html">CanFrame</a> &amp;frame, <a class="code" href="CML__Utils_8h.html#a9">int32</a> timeout )
<a name="l00095"></a>00095 {
<a name="l00096"></a>00096    <a class="code" href="classThread.html#e0">Thread::sleep</a>( timeout );
<a name="l00097"></a>00097    <span class="keywordflow">return</span> &amp;<a class="code" href="classThreadError.html#s2">ThreadError::Timeout</a>;
<a name="l00098"></a>00098 }
<a name="l00099"></a>00099 
<a name="l00100"></a><a class="code" href="classCanInterface.html#b1">00100</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classCanInterface.html#b1">CanInterface::XmitFrame</a>( <a class="code" href="structCanFrame.html">CanFrame</a> &amp;frame, <a class="code" href="CML__Utils_8h.html#a9">int32</a> timeout )
<a name="l00101"></a>00101 {
<a name="l00102"></a>00102    <a class="code" href="classThread.html#e0">Thread::sleep</a>( timeout );
<a name="l00103"></a>00103    <span class="keywordflow">return</span> &amp;<a class="code" href="classThreadError.html#s2">ThreadError::Timeout</a>;
<a name="l00104"></a>00104 }
<a name="l00105"></a>00105 
<a name="l00106"></a>00106 <span class="comment">/*************************************************************</span>
<a name="l00107"></a>00107 <span class="comment"> * This is a private utility function used by some of the </span>
<a name="l00108"></a>00108 <span class="comment"> * CAN Interface objects.  It converts the port name string</span>
<a name="l00109"></a>00109 <span class="comment"> * to a port number using the following algorithm:</span>
<a name="l00110"></a>00110 <span class="comment"> *</span>
<a name="l00111"></a>00111 <span class="comment"> *  If the port name is NULL, then the port number is 0</span>
<a name="l00112"></a>00112 <span class="comment"> *  If the port name is of the form "&lt;id string&gt;&lt;x&gt;" where</span>
<a name="l00113"></a>00113 <span class="comment"> *    &lt;id string&gt; is the passed string and &lt;x&gt; is an integer</span>
<a name="l00114"></a>00114 <span class="comment"> *    then the port number is &lt;x&gt;</span>
<a name="l00115"></a>00115 <span class="comment"> *  Otherwise, the port name doesn't match.</span>
<a name="l00116"></a>00116 <span class="comment"> *</span>
<a name="l00117"></a>00117 <span class="comment"> *  @param id The ID string to match the port name against</span>
<a name="l00118"></a>00118 <span class="comment"> *  @return The port number, or -1 on no match.</span>
<a name="l00119"></a>00119 <span class="comment"> ************************************************************/</span>
<a name="l00120"></a><a class="code" href="classCanInterface.html#b2">00120</a> <span class="keywordtype">int</span> <a class="code" href="classCanInterface.html#b2">CanInterface::FindPortNumber</a>( <span class="keyword">const</span> <span class="keywordtype">char</span> *<span class="keywordtype">id</span> )
<a name="l00121"></a>00121 {
<a name="l00122"></a>00122    <span class="keywordflow">if</span>( <a class="code" href="classCanInterface.html#p0">portName</a> == 0 ) 
<a name="l00123"></a>00123       <span class="keywordflow">return</span> 0; 
<a name="l00124"></a>00124 
<a name="l00125"></a>00125    <span class="keywordtype">int</span> i;
<a name="l00126"></a>00126    <span class="keywordflow">for</span>( i=0; <span class="keywordtype">id</span>[i]; i++ )
<a name="l00127"></a>00127    {
<a name="l00128"></a>00128       <span class="keywordtype">char</span> ch = <a class="code" href="classCanInterface.html#p0">portName</a>[i];
<a name="l00129"></a>00129       <span class="keywordflow">if</span>( ch &gt;= <span class="charliteral">'a'</span> &amp;&amp; ch &lt;= <span class="charliteral">'z'</span> )
<a name="l00130"></a>00130     ch += <span class="charliteral">'A'</span> - <span class="charliteral">'a'</span>;
<a name="l00131"></a>00131 
<a name="l00132"></a>00132       <span class="keywordflow">if</span>( <span class="keywordtype">id</span>[i] != ch )
<a name="l00133"></a>00133     <span class="keywordflow">return</span> -1;
<a name="l00134"></a>00134    }
<a name="l00135"></a>00135 
<a name="l00136"></a>00136    <span class="keywordtype">int</span> num = 0;
<a name="l00137"></a>00137    <span class="keywordflow">while</span>( <a class="code" href="classCanInterface.html#p0">portName</a>[i] )
<a name="l00138"></a>00138    {
<a name="l00139"></a>00139       <span class="keywordtype">char</span> ch = <a class="code" href="classCanInterface.html#p0">portName</a>[i];
<a name="l00140"></a>00140       <span class="keywordflow">if</span>( ch &lt; '0' || ch &gt; <span class="charliteral">'9'</span> )
<a name="l00141"></a>00141     <span class="keywordflow">return</span> -1;
<a name="l00142"></a>00142       num *= 10;
<a name="l00143"></a>00143       num += ch - <span class="charliteral">'0'</span>;
<a name="l00144"></a>00144       i++;
<a name="l00145"></a>00145    }
<a name="l00146"></a>00146    <span class="keywordflow">return</span> num;
<a name="l00147"></a>00147 }
<a name="l00148"></a>00148 
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