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PeakDriver.h

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00001 /*******************************************************************************
00002  *
00003  * Copyright (c) 2008-2010 Michael Schulze <mschulze@ivs.cs.uni-magdeburg.de>
00004  * All rights reserved.
00005  *
00006  *    Redistribution and use in source and binary forms, with or without
00007  *    modification, are permitted provided that the following conditions
00008  *    are met:
00009  *
00010  *    * Redistributions of source code must retain the above copyright
00011  *      notice, this list of conditions and the following disclaimer.
00012  *
00013  *    * Redistributions in binary form must reproduce the above copyright
00014  *      notice, this list of conditions and the following disclaimer in
00015  *      the documentation and/or other materials provided with the
00016  *      distribution.
00017  *
00018  *    * Neither the name of the copyright holders nor the names of
00019  *      contributors may be used to endorse or promote products derived
00020  *      from this software without specific prior written permission.
00021  *
00022  *
00023  *    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
00024  *    IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
00025  *    TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
00026  *    PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
00027  *    OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
00028  *    SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
00029  *    LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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00033  *    OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00034  *
00035  *
00036  * $Id$
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00038  ******************************************************************************/
00039 
00040 #ifndef __PeakDriver_h__
00041 #define __PeakDriver_h__
00042 
00043 #include "debug.h"
00044 #include <stdint.h>
00045 
00046 namespace device {
00047     namespace nic {
00048         namespace CAN {
00049 
00057             template < class PeakTrait >
00058             class PeakDriver : public PeakTrait {
00059                 public:
00060 
00062                     void init() {
00063                         PeakTrait::init();
00064                     }
00065 
00070                     void write(typename PeakTrait::MOB &mob) {
00071                         if ((errno = PeakTrait::write_mob(mob))) {
00072                             ::logging::log::emit< ::logging::Error>()
00073                                 << "CAN_Read() error" << ::logging::log::endl
00074                                 << "closing application" << ::logging::log::endl;
00075                             exit(0);
00076                         }
00077                     }
00078 
00086                     bool read(typename PeakTrait::MOB &mob) {
00087                         uint32_t status;
00088                         errno = PeakTrait::read_mob(mob);
00089                         switch (errno) {
00090                             case    CAN_ERR_OK : {
00091                                     if (mob.MSGTYPE & MSGTYPE_STATUS) {
00092                                         status = PeakTrait::status();
00093                                         if ((int)status < 0) {
00094                                             ::logging::log::emit< ::logging::Error>()
00095                                                 << "CAN error" << ::logging::log::endl
00096                                                 << "closing application" << ::logging::log::endl;
00097                                             exit(0);
00098                                         } else
00099                                             ::logging::log::emit< ::logging::Error>()
00100                                                 << "pending %CAN status 0x." << status
00101                                                 << " read." << ::logging::log::endl;
00102                                         return false;
00103                                     }
00104                                     return true;
00105                                 }
00106                             case    CAN_ERR_QRCVEMPTY: break; // hier muss warten implementiert werden, falls zu oft gepolled wird
00107                             default: {
00108                                     ::logging::log::emit< ::logging::Error>()
00109                                         << "CAN_Read() error" << ::logging::log::endl
00110                                         << "closing application" << ::logging::log::endl;
00111                                     exit(0);
00112                                 }
00113                         }
00114                         return false;
00115                     }
00116             };
00117 
00118         } /* namespace CAN */
00119     } /* namespace nic */
00120 } /* namespace device */
00121 
00122 #endif
00123