PeakDriverLinuxTrait.h

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 *
 * Copyright (c) 2008-2010 Michael Schulze <mschulze@ivs.cs.uni-magdeburg.de>
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#ifndef __PeakDriverLinuxTrait_h__
#define __PeakDriverLinuxTrait_h__

#include "debug.h"

#include "devices/nic/can/peak/PeakDriverBase.h"
#include "util/CommandLineParameterGenerator.h"

namespace device {
    namespace nic {
        namespace CAN {

            CLP2(PEAKOptions,
                 "Peak CAN Driver",
                 "pcan,p",
                 "The device that is used and the baudrate in the form of device:baudrate"
                 "Values:\n"
                 "  Device:   \tdevice that has to be used\n"
                 "  Baudrate: \tlegal values are\n"
                 "               0 =   1 MBit/s\n"
                 "               1 = 500 kBit/s\n"
                 "               2 = 250 kBit/s\n"
                 "               3 = 125 kBit/s\n"
                 "               4 = 100 kBit/s\n"
                 "               5 =  50 kBit/s\n"
                 "               6 =  20 kBit/s\n"
                 "               7 =  10 kBit/s\n"
                 "               8 =   5 kBit/s\n"
                 "(e.g. /dev/pcan32:2 (default))",
                 std::string, device, "/dev/pcan32",
                 int, baudrate, 2);

            class PeakDriverLinuxTrait : public PeakDriverBase {
                    HANDLE handle;
                public:

                    ~PeakDriverLinuxTrait() {
                        CAN_Close(handle);
                    }

                    void init() {
                        CLP::config::PEAKOptions::Parameter param;
                        CLP::config::PEAKOptions::instance().getParameter(param);
                        if ( (param.baudrate < 0) || (param.baudrate > 8) ) {
                            ::logging::log::emit< ::logging::Error>()
                                << "Error: parameter baudrate out of Range"
                                << ::logging::log::endl;
                            exit(0);
                        }

                        errno = 0;
                        /* open CAN port */
                        // this needs to be variable to allow using the interface
                        //  on linux and windows in the same way
                        handle = LINUX_CAN_Open(param.device.c_str(), O_RDWR);
                        if (!handle) {
                            ::logging::log::emit< ::logging::Error>()
                                << "can't open CAN device " << param.device.c_str()
                                << ::logging::log::endl;
                            exit(errno);
                        }

                        errno = CAN_Init(handle, baudrates[param.baudrate], CAN_INIT_TYPE_EX);
                        if (errno) {
                            ::logging::log::emit< ::logging::Error>()
                                << "CAN_Init() fails"
                                << ::logging::log::endl;
                            exit(errno);
                        }
                    }

                    DWORD read_mob(MOB &mob) {
                        return CAN_Read(handle, &mob);
                    }

                    DWORD write_mob(MOB &mob) {
                        return CAN_Write(handle, &mob);
                    }

                    DWORD status() {
                        return CAN_Status(handle);
                    }

            };

            typedef PeakDriverLinuxTrait PeakDriverTrait;

        } /* namespace CAN */
    } /* namespace nic */
} /* namespace device */

#endif