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--- robotsoftware:mobotware:rhd:plugins:hakocan [2012/09/06 16:06]
claes created
+++ robotsoftware:mobotware:rhd:plugins:hakocan [2021/08/14 04:21]
@@ Line 1: / Line 1: @@
-====== HakoCAN ======
-===== Doxygen documentation =====
-[[http://mpt-internal.uni-hohenheim.de/documentation/mobotware/rhd/hakocan/html/index.html]]
-===== Source Code =====
-<sxh c; title:hakocan.h>
-/** \file hakocan.h
- *  \ingroup hwmodule
- *  \brief Hardware abstraction layer for HAKO Tractor can-bus control
- *
- *  This liberary inplements the hardware abstraction layer
- *  for communicating using CAN-BUS on the KU-Life
- *  HAKO Automated tractor
- *
- *  Communication is adjusted directly for the instruction-set
- *  on the HAKO ECU and is based on the HAKO implemention
- *  project by Anders Reeske Nilsen and Asbjørn Mejnertsen in 2006
- *
- *  \author Nils A. Andersen & Anders Billesø Beck, DTU
- *  $Rev: 1570 $
- *  $Date: 2011-07-02 06:52:23 +0200 (Sat, 02 Jul 2011) $
- *
- */
-#ifndef HAKOCAN_H
-  #define HAKOCAN_H
-	extern int initXML(char *);
-	extern int periodic(int);
-	//extern ”C” int terminate (void) ; //No shutdown function
-	#define RPMCMD			0x200
-	#define CURVATURECMD 		0x141
-	#define STEERINGREPORTREQ	0x408
-	#define STEERINGREPORT		0x409
-	#define CVTCONTROLCMD		0x080
-	#define STEERINGANGLECMD	0x142
-	#define HITCHCMD		0x090
-	#define CVTACK			0x750
-	#define STEERINGANGLEACK	0x75A
-	#define STEERINGACK		0x758
-	#define HORNCMD			0x610
-	#define HORNACK			0x740
-#endif
-</sxh>
-<sxh c; title:hakocan.c>
-/** \file hakocan.c
- *  \ingroup hwmodule
- *  \brief Hardware abstraction layer for HAKO Tractor can-bus control
- *
- *  This liberary inplements the hardware abstraction layer
- *  for communicating using CAN-BUS on the KU-Life
- *  HAKO Automated tractor
- *
- *  Communication is adjusted directly for the instruction-set
- *  on the HAKO ECU and is based on the HAKO implemention
- *  project by Anders Reeske Nilsen and Asbjørn Mejnertsen in 2006
- *
- *  \author Nils A. Andersen & Anders Billesø Beck, DTU
- *  $Rev: 1570 $
- *  $Date: 2011-07-02 06:52:23 +0200 (Sat, 02 Jul 2011) $
- *
- */
- /**************************************************************************
- *      Copyright 2008 DTU-Elektro, Automation and Control
- *      Programmers: Nils A. Andersen
- *		     Anders Billesø Beck, DTU
- *                   anders.beck@get2net.dk
- *
- ***************************************************************************/
-/************************** Library version  ***************************/
-#define HAKOCANVERSION 		"1.1030"
-/************************** Version control information ***************************/
- #define REVISION         "$Rev: 1570 $:"
- #define DATE             "$Date: 2011-07-02 06:52:23 +0200 (Sat, 02 Jul 2011) $:"
-/**********************************************************************************/
-#include <sched.h>
-#include <pthread.h>
-#include <stdio.h>
-#include <string.h>
-#include <unistd.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <fcntl.h>
-#include <termios.h>
-#include <unistd.h>
-#include <stdlib.h>
-#include <errno.h>
-#include <sys/ioctl.h>
-#include <signal.h>
-#include <linux/serial.h>
-#include <sys/time.h>
-#include <sys/mman.h>
-#include <expat.h>
-//CAN-Driver definitions, placed in include folder
-#include <rhd.h>
-#include <database.h>
-#include <globalfunc.h>
-#include "canmsg.h"
-#include "hakocan.h"
-/******** Global variables *************/
-///Index pointers for the variable database
-int iSteeringangleref,
-iSteeringangle,iSpeedref,iEnginespeedref,iNavigationmoderef,icurvatureref,icurvature,
-iNavigationmode,iOdopulses,iOdopulses1,iEnginespeed,iHakostate0,
-iHakostate1,iHakostate2,iHakostate3,
-iliftinggearpos,ipowertakeoffspeed,iliftinggearstateref,ipowertakeoffstateref,ihitchposref,icvtack,isteeringack,
-ig01,ig02,iptor,iauxr,ifll,iflr,ihlght,irlght,ihorn,ihornack,iswitchack;
-//PThread definitions
-pthread_t canrx_thread, canrx_thread1;
-pthread_attr_t attr;
-///Number of CAN-messages to be send to CAN-bus in every cycle
-#define CANTXBUFSIZE 4
-///Number of CAN-messages to be received from the CAN-bus in every cycle
-#define CANRXBUFSIZE 3
-#define DFLTENGSP 50
-#define BLOCK_MAX 200
-// Creation of communication buffers
-///Receive buffer for CAN-messages
-struct canmsg_t canrxbuf[CANRXBUFSIZE];
-///Transmit buffer for CAN-messages
-struct canmsg_t cantxbuf[CANTXBUFSIZE];
-///CAN port pointer
-int can_dev,can_dev1;
-///CAN port device identification string
-char canDevString[64];
-char canDevString1[64];
-///Flag to indicate if HakoCan is running or not
-static volatile int hakocanRunning = -1;
-//Function prototypes
-int initHakocan(void);
-void *canrx_task(void *);
-void *canrx_task1(void *);
-/** \brief Initialization of the CAN-bus and all rx/tx buffers
- *
- * All buffers are initilized and database variables are created.
- * Finally, the RX Thread is spawned
- *
- */
-int initHakocan(void)
-{
-//struct canmsg_t msg;
-//int ret;
-//union {float a;char b[4];}conv;
-// Open CAN port
-	can_dev=open(canDevString,O_RDWR);
-	if (can_dev<0)  {
-		fprintf(stderr,"   HakoCan: Error CAN-BUS on %s\n",canDevString);
-		return -1;
-	}
-	if (canDevString1[0]!=0){
-	  can_dev1=open(canDevString1,O_RDWR);
-	  if (can_dev1<0)  {
-		fprintf(stderr,"   HakoCan: Error CAN-BUS on %s\n",canDevString1);
-		return -1;
-	  }
-	  else{
-	     printf("   HakoCan: Ports %s and %s open\n",canDevString,canDevString1) ;
-	  }
-	}
-  //Create CAN RX Thread
-  pthread_attr_init(&attr);
-  pthread_attr_setinheritsched(&attr, PTHREAD_INHERIT_SCHED);
-  pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);
-  if (pthread_create(&canrx_thread, &attr, canrx_task, 0)) {
-      perror("   HakoCan: failed");
-      return -1;
-    }
-  if (can_dev1){
-  pthread_attr_init(&attr);
-  pthread_attr_setinheritsched(&attr, PTHREAD_INHERIT_SCHED);
-  pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);
-  if (pthread_create(&canrx_thread1, &attr, canrx_task1, 0)) {
-      perror("   HakoCan1: failed");
-      return -1;
-    }
-}
-  //Create database variables (if everyting works)
-  iSpeedref=createVariable('w',1,"speedref");
-  iSteeringangleref  = createVariable('w',1,"steeringangleref");
-  icurvatureref  = createVariable('w',1,"curvatureref");
-  iEnginespeedref  = createVariable('w',1,"enginespeedref");
-  ihitchposref  = createVariable('w',1,"hitchposref");
-  iNavigationmoderef  = createVariable('w',1,"hakomanual");
-  iliftinggearstateref  = createVariable('w',1,"liftinggearstateref");
-  ipowertakeoffstateref  = createVariable('w',1,"powertakeoffstateref");
-  ig01  = createVariable('w',1,"g01");
-  ig02  = createVariable('w',1,"g02");
-  iptor  = createVariable('w',1,"ptor");
-  iauxr  = createVariable('w',1,"auxr");
-  ifll  = createVariable('w',1,"fll");
-  iflr  = createVariable('w',1,"flr");
-  ihlght  = createVariable('w',1,"hlght");
-  irlght  = createVariable('w',1,"rlght");
-  ihorn  = createVariable('w',1,"horn");
-  iNavigationmode  = createVariable('r',1,"hakonavigationmode");
-  iSteeringangle     = createVariable('r',1,"hakosteeringangle");
-  icurvature     = createVariable('r',1,"curvature");
-  iOdopulses= createVariable('r',1,"hakoodopulses");
-  iEnginespeed= createVariable('r',1,"enginespeed");
-  iHakostate0= createVariable('r',1,"hakostate0");
-  iHakostate1= createVariable('r',1,"hakostate1");
-  iHakostate2= createVariable('r',1,"hakostate2");
-  iHakostate3= createVariable('r',1,"hakostate3");
-  iliftinggearpos= createVariable('r',1,"liftinggearpos");
-  ipowertakeoffspeed= createVariable('r',1,"powertakeoffspeed");
-  ihornack= createVariable('r',1,"hornack");
-  iswitchack=createVariable('r',1,"switchack");
-  icvtack=createVariable('r',1,"cvtack");
-  isteeringack=createVariable('r',1,"steringack");
-  if (can_dev1){
-     iOdopulses1= createVariable('r',1,"hakoodopulses1");
-     printf("hakoodopuses1 created\n");
-   }
-  return 1;
-}
-/** \brief Entry-point for Can-Bus RX Thread
- *
- * Responsible for reading and parsing all CAN-Bus messages
- *
- */
-void *canrx_task(void *not_used){
-  fprintf(stderr, "   HakoCan: Canrx_task running (1030)\n");
-  //Lock memory - No more allocations
-  if (mlockall(MCL_CURRENT | MCL_FUTURE))
-    {
-      perror("mlockall");
-      exit(-1);
-    }
-    /* use real-time (fixed priority) scheduler
-     * set priority to one less than the maximum
-     */
-    struct sched_param param;
-    param.sched_priority = sched_get_priority_max(SCHED_RR) - 1;
-    if (sched_setscheduler(0, SCHED_RR, &param)) {
-      perror("setscheduler");
-      pthread_exit(NULL);
-    };
-  if (signal(SIGPIPE, SIG_IGN) == SIG_ERR)
-    fprintf(stderr, "signal: can't ignore SIGPIPE.\n");
-  //Wait to make sure variables are created
-  while (hakocanRunning < 0) usleep(100000);
-  while (hakocanRunning) {
-    int ret, tmp;
-    struct canmsg_t msg;
-    union {
-      short s;
-	    char b[2];
-    }conv;
-  //receive one CAN message
-	ret=secureRead(can_dev, &msg, sizeof(struct canmsg_t));
-	if (ret<0) {
-		fprintf(stderr,"Error receiving message on CAN-bus\n");
-    hakocanRunning = -1; //Shutdown!
-	} else {
-   //Parse input packages
-    switch(msg.id) {
-      case 0x105:{
-	  conv.b[0]=msg.data[0];
-	  conv.b[1]=msg.data[1];
-      //    setVariable(iSteeringangle, 0, -conv.s);
-	  conv.b[0]=msg.data[2];
-	  conv.b[1]=msg.data[3];
-	  tmp=conv.s;
-	  if ((msg.data[7] &0xA0)==0x80)
-	    tmp=-tmp;
-          setVariable(iOdopulses, 0, tmp);
-	//  setVariable(iEnginespeed, 0, msg.data[4]);
-	  if (msg.data[6]=='M')
-	      setVariable(iNavigationmode, 0, 1);
-	  else
-	    setVariable(iNavigationmode, 0, 0);
-        }
-	break;
-	case 0x50:{
-	  conv.b[0]=msg.data[0];
-	  conv.b[1]=msg.data[1];
-          setVariable(iHakostate0, 0, conv.s);
-	  conv.b[0]=msg.data[2];
-	  conv.b[1]=msg.data[3];
-          setVariable(iHakostate1, 0, conv.s);
-	  conv.b[0]=msg.data[4];
-	  conv.b[1]=msg.data[5];
-          setVariable(iHakostate2, 0, conv.s);
-	  conv.b[0]=msg.data[6];
-	  conv.b[1]=msg.data[7];
-          setVariable(iHakostate3, 0, conv.s);
-	  }
-	  break;
-	case 0x145:{
-	  setVariable(iliftinggearpos, 0,msg.data[0]);
-	  setVariable(ipowertakeoffspeed, 0, msg.data[1]);
-        }
-	break;
-      default : break;
-    }
-  }
- } //RX Loop ends
-  //Finish thread
-  fprintf(stderr,"HakoCan: Ending RX Thread!\n");
-  hakocanRunning = -1;
-  pthread_exit(NULL);
-}
-void *canrx_task1(void *not_used){
-  fprintf(stderr, "   HakoCan: Canrx_task1 running\n");
-  //Lock memory - No more allocations
-  if (mlockall(MCL_CURRENT | MCL_FUTURE))
-    {
-      perror("mlockall");
-      exit(-1);
-    }
-    /* use real-time (fixed priority) scheduler
-     * set priority to one less than the maximum
-     */
-    struct sched_param param;
-    param.sched_priority = sched_get_priority_max(SCHED_RR) - 1;
-    if (sched_setscheduler(0, SCHED_RR, &param)) {
-      perror("setscheduler");
-      pthread_exit(NULL);
-    };
-  if (signal(SIGPIPE, SIG_IGN) == SIG_ERR)
-    fprintf(stderr, "signal: can't ignore SIGPIPE.\n");
-  //Wait to make sure variables are created
-  while (hakocanRunning < 0) usleep(100000);
-  while (hakocanRunning) {
-    int ret;
-		//int tmp;
-    struct canmsg_t msg;
-    union {
-      short s;
-      float f;
-      int i;
-      unsigned char b[4];
-    }conv;
-  //receive one CAN message
-	ret=secureRead(can_dev1, &msg, sizeof(struct canmsg_t));
-	if (ret<0) {
-		fprintf(stderr,"Error receiving message on CAN-bus\n");
-    hakocanRunning = -1; //Shutdown!
-	} else {
-   //Parse input packages
-    switch(msg.id) {
-      case 0x100:
-	conv.b[0]=msg.data[0];
-	conv.b[1]=msg.data[1];
-	conv.b[2]=msg.data[2];
-	conv.b[3]=msg.data[3];
-        setVariable(iOdopulses1, 0,conv.i);
-      break;
-      case STEERINGREPORT:
-	conv.b[0]=msg.data[0];
-	conv.b[1]=msg.data[1];
-	conv.b[2]=msg.data[2];
-	conv.b[3]=msg.data[3];
-        setVariable(icurvature, 0,(int)(conv.f*10000.0));
-      break;
-      case CVTACK:
-	conv.b[0]=msg.data[0];
-	conv.b[1]=msg.data[1];
-	conv.b[2]=msg.data[2];
-	conv.b[3]=msg.data[3];
-        setVariable(icvtack, 0,conv.i);
-      break;
-      case STEERINGACK:
-	conv.b[0]=msg.data[0];
-	conv.b[1]=msg.data[1];
-        setVariable(isteeringack, 0,conv.s);
-      break;
-      case STEERINGANGLEACK:
-	conv.b[0]=msg.data[0];
-	conv.b[1]=msg.data[1];
-        setVariable(iSteeringangle, 0,conv.s);
-      break;
-      case 0x730:
-         setVariable(iswitchack,0, msg.data[1]);
-      break;
-      case HORNACK:
-         setVariable(ihornack,0, msg.data[1]);
-      break;
-      default : break;
-    }
-  }
- } //RX Loop ends
-  //Finish thread
-  fprintf(stderr,"HakoCan: Ending RX Thread!\n");
-  hakocanRunning = -1;
-  pthread_exit(NULL);
-}
- void setmask(  struct canmsg_t *msg,int var,int bit){
-   char tmp;
-   tmp=(1 << bit);
-    if (getWriteVariable(var,0))
-       {msg->data[0]|=tmp; msg->data[1]&=~tmp;}
-     else
-       {msg->data[1]|=tmp; msg->data[0]&= ~tmp;}
- }
-/** \brief Transmit messages to the CAN bus
- *
- * Periodic function to transmit variables and
- * requests to the can-bus
- *
- */
-extern int periodic(int tick)
-{
-  //Just return if CAN isn't running
-  if (hakocanRunning < 0) return -1;
-  int ret;
-  struct canmsg_t msg;
-  union {
-        short s;
-	char b[2];
-      }conv;
-   union {
-        float f;
-        int i;
-	char b[4];
-      }conv1;
- #if(1)
-    msg.id=0x110;
-    msg.flags=0;
-    msg.length=0;
-    msg.data[0]=0x0;
-    msg.data[1]=0x0;
-    ret=secureWrite(can_dev,&msg, sizeof(struct canmsg_t));
-    if (ret<0) {
-      fprintf(stderr,"Error sending message with id:0x%4x\n",(int)msg.id);
-      hakocanRunning = -1;
-			return -1;
-    }
-    msg.id=0x150;
-    msg.flags=0;
-    msg.length=0;
-    msg.data[0]=0x0;
-    msg.data[1]=0x0;
-    ret=secureWrite(can_dev,&msg, sizeof(struct canmsg_t));
-    if (ret<0) {
-      fprintf(stderr,"Error sending message with id:0x%4x\n",(int)msg.id);
-      hakocanRunning = -1;
-			return -1;
-    }
-  if (isUpdated('w',iSteeringangleref) || isUpdated('w',iSpeedref)||
-      isUpdated('w',iEnginespeedref) || isUpdated('w',iNavigationmoderef)) {
-    conv.s= -getWriteVariable(iSteeringangleref,0);
-    msg.id=0x100;
-    msg.flags=0;
-    msg.length=8;
-    msg.data[0]=conv.b[0];
-    msg.data[1]=conv.b[1];
-    conv.s= getWriteVariable(iSpeedref,0);
-    msg.data[2]=conv.b[0];
-    msg.data[3]=conv.b[1];
-    msg.data[4]=getWriteVariable(iEnginespeedref,0);
-    msg.data[5]=0;
-    if (getWriteVariable(iNavigationmoderef,0)==1)
-      msg.data[6]='M';
-    else
-        msg.data[6]='A';
-    msg.data[7]=0;
-    ret=secureWrite(can_dev,&msg, sizeof(struct canmsg_t));
-    if (ret<0) {
-      fprintf(stderr,"Error sending message with id:0x%4x\n",(int)msg.id);
-      hakocanRunning = -1;
-      return -1;
-    }
-    }
-    if (isUpdated('w',iliftinggearstateref)||isUpdated('w',ipowertakeoffstateref)){
-      msg.id=0x130;
-      msg.flags=0;
-      msg.length=2;
-      msg.data[0]=getWriteVariable(iliftinggearstateref,0);
-      msg.data[1]=getWriteVariable(ipowertakeoffstateref,0);
-      ret=secureWrite(can_dev,&msg, sizeof(struct canmsg_t));
-      if (ret<0) {
-        fprintf(stderr,"Error sending message with id:0x%4x\n",(int)msg.id);
-        hakocanRunning = -1;
-	return -1;
-      }
-    }
-    #endif
-    if (can_dev1){
-    // Ask for encoderdata
-     msg.id=0x110;
-     msg.flags=0;
-     msg.length=0;
-     msg.data[0]=0x0;
-     msg.data[1]=0x0;
-    ret=secureWrite(can_dev1,&msg, sizeof(struct canmsg_t));
-    if (ret<0) {
-      fprintf(stderr,"Error sending message with id:0x%4x\n",(int)msg.id);
-      hakocanRunning = -1;
-      return -1;
-    }
-     // Ask for Steeringreport
-     msg.id=STEERINGREPORTREQ;
-     msg.flags=0;
-     msg.length=0;
-     msg.data[0]=0x0;
-    ret=secureWrite(can_dev1,&msg, sizeof(struct canmsg_t));
-    if (ret<0) {
-      fprintf(stderr,"Error sending message with id:0x%4x\n",(int)msg.id);
-      hakocanRunning = -1;
-      return -1;
-    }
-    msg.id=0x600;
-    msg.flags=0;
-    msg.length=2;
-    setmask(&msg,irlght,0);
-    setmask(&msg,ihlght,1);
-    setmask(&msg,iflr,2);
-    setmask(&msg,ifll,3);
-    setmask(&msg,iauxr,4);
-    setmask(&msg,iptor,5);
-    setmask(&msg,ig01,6);
-    setmask(&msg,ig02,7);
-    ret=secureWrite(can_dev1,&msg, sizeof(struct canmsg_t));
-    if (ret<0) {
-      fprintf(stderr,"Error sending message with id:0x%4x\n",(int)msg.id);
-      hakocanRunning = -1;
-      return -1;
-    }
-    if (isUpdated('w',iEnginespeedref)){
-      msg.id=RPMCMD;
-      msg.flags=0;
-      msg.length=8;
-      conv1.i=(getWriteVariable(iEnginespeedref,0) * 1000) / 60;
-      // convert to mHz
-      //conv.i = (conv.i * 1000) / 60;
-      msg.data[0]=0xc5;
-      msg.data[1]=0;
-      msg.data[4]=conv1.b[0];
-      msg.data[5]=conv1.b[1];
-      msg.data[6]=conv1.b[2];
-      msg.data[7]=conv1.b[3];
-      ret=secureWrite(can_dev1,&msg, sizeof(struct canmsg_t));
-      if (ret<0) {
-        fprintf(stderr,"Error sending message with id:0x%4x\n",(int)msg.id);
-        hakocanRunning = -1;
-	return -1;
-      }
-    }
-    if (isUpdated('w',icurvatureref)){
-      msg.id=CURVATURECMD;
-      msg.flags=0;
-      msg.length=4;
-      conv1.f=getWriteVariable(icurvatureref,0)/10000.0;
-      msg.data[0]=conv1.b[0];
-      msg.data[1]=conv1.b[1];
-      msg.data[2]=conv1.b[2];
-      msg.data[3]=conv1.b[3];
-      ret=secureWrite(can_dev1,&msg, sizeof(struct canmsg_t));
-      if (ret<0) {
-        fprintf(stderr,"Error sending message with id:0x%4x\n",(int)msg.id);
-        hakocanRunning = -1;
-	return -1;
-      }
-    }
-    if (isUpdated('w',iSpeedref)){
-      msg.id=CVTCONTROLCMD;
-      msg.flags=0;
-      msg.length=4;
-      conv1.i=getWriteVariable(iSpeedref,0);
-      msg.data[0]=conv1.b[0];
-      msg.data[1]=conv1.b[1];
-      msg.data[2]=conv1.b[2];
-      msg.data[3]=conv1.b[3];
-      msg.data[3]&=0x3f;
-      msg.data[3]|=0xc0;
-      ret=secureWrite(can_dev1,&msg, sizeof(struct canmsg_t));
-      if (ret<0) {
-        fprintf(stderr,"Error sending message with id:0x%4x\n",(int)msg.id);
-        hakocanRunning = -1;
-	return -1;
-      }
-    }
-    if (isUpdated('w',iSteeringangleref)){
-      msg.id=STEERINGANGLECMD;
-      msg.flags=0;
-      msg.length=2;
-      conv.s=getWriteVariable(iSteeringangleref,0);
-      msg.data[0]=conv.b[0];
-      msg.data[1]=conv.b[1];
-      ret=secureWrite(can_dev1,&msg, sizeof(struct canmsg_t));
-      if (ret<0) {
-        fprintf(stderr,"Error sending message with id:0x%4x\n",(int)msg.id);
-        hakocanRunning = -1;
-	return -1;
-      }
-    }
-    if (isUpdated('w',ihitchposref)){
-      msg.id=HITCHCMD;
-      msg.flags=0;
-      msg.length=4;
-      conv1.i=getWriteVariable(ihitchposref,0);
-      msg.data[0]=conv1.b[0];
-      msg.data[1]=conv1.b[1];
-      msg.data[2]=conv1.b[0];
-      msg.data[3]=conv1.b[1];
-      ret=secureWrite(can_dev1,&msg, sizeof(struct canmsg_t));
-      if (ret<0) {
-        fprintf(stderr,"Error sending message with id:0x%4x\n",(int)msg.id);
-        hakocanRunning = -1;
-	return -1;
-      }
-    }
-    msg.id=HORNCMD;
-    msg.flags=0;
-    msg.length=2;
-    setmask(&msg,ihorn,0);
-    ret=secureWrite(can_dev1,&msg, sizeof(struct canmsg_t));
-    if (ret<0) {
-      fprintf(stderr,"Error sending message with id:0x%4x\n",(int)msg.id);
-      hakocanRunning = -1;
-      return -1;
-    }
-   }
-  return 1;
-}
-/************************** XML Initialization **************************/
-///Struct for shared parse data
-typedef struct  {
-    int depth;
-    char skip;
-    char enable;
-		char found;
-  }parseInfo;
-//Parsing functions
-void XMLCALL hakocanStartTag(void *, const char *, const char **);
-void XMLCALL hakocanEndTag(void *, const char *);
-/** \brief Initialize the Crossbow HAL
- *
- * Reads the XML file and sets up the Crossbow settings
- *
- * Finally the rx thread is started and the server
- * is ready to accept connections
- *
- * \param[in] *char filename
- * Filename of the XML file
- *
- * \returns int status
- * Status of the initialization process. Negative on error.
- */
-extern int initXML(char *filename) {
-  parseInfo xmlParse;
-  char *xmlBuf = NULL;
-	int xmlFilelength;
-  int done = 0;
-  int len;
-  FILE *fp;
-  //Print initialization message
-  //Find revision number from SVN Revision
-	char *i,versionString[20] = REVISION, tempString[10];
-	i = strrchr(versionString,'$');
-	strncpy(tempString,versionString+6,(i-versionString-6));
-	tempString[(i-versionString-6)] = 0;
-  printf("HakoCan: Initializing HAKO CAN-Bus driver %s.%s\n",HAKOCANVERSION,tempString);
-   /* Initialize Expat parser*/
-   XML_Parser parser = XML_ParserCreate(NULL);
-   if (! parser) {
-    fprintf(stderr, "HakoCan: Couldn't allocate memory for XML parser\n");
-    return -1;
-   }
-   //Setup element handlers
-   XML_SetElementHandler(parser, hakocanStartTag, hakocanEndTag);
-   //Setup shared data
-   memset(&xmlParse,0,sizeof(parseInfo));
-   XML_SetUserData(parser,&xmlParse);
-  //Open and read the XML file
-  fp = fopen(filename,"r");
-  if(fp == NULL)
-  {
-    printf("HakoCan: Error reading: %s\n",filename);
-    return -1;
-  }
-  //Get the length of the file
-	fseek(fp,0,SEEK_END);
-	xmlFilelength = ftell(fp); //Get position
-	fseek(fp,0,SEEK_SET); //Return to start of file
-	//Allocate text buffer
-	xmlBuf = realloc(xmlBuf,xmlFilelength+10); //Allocate memory
-	if (xmlBuf == NULL) {
-		fprintf(stderr, "   Couldn't allocate memory for XML File buffer\n");
-		return -1;
-	}
-	memset(xmlBuf,0,xmlFilelength);
-  len = fread(xmlBuf, 1, xmlFilelength, fp);
-  fclose(fp);
-  //Start parsing the XML file
-  if (XML_Parse(parser, xmlBuf, len, done) == XML_STATUS_ERROR) {
-    fprintf(stderr, "HakoCan: XML Parse error at line %d: %s\n",
-            (int)XML_GetCurrentLineNumber(parser),
-            XML_ErrorString(XML_GetErrorCode(parser)));
-    return -1;
-  }
-  XML_ParserFree(parser);
-	free(xmlBuf);
-	//Print error, if no XML tag found
-	if (xmlParse.found <= 0) {
-		printf("   Error: No <hakocan> XML tag found in plugins section\n");
-		return -1;
-	}
-  //Start crossbow thread after init
-  if (xmlParse.enable) hakocanRunning = initHakocan();
- return hakocanRunning;
-}
-///Handle XML Start tags
-void XMLCALL
-hakocanStartTag(void *data, const char *el, const char **attr)
-{
-  int i;
-  parseInfo *info = (parseInfo *) data;
-  info->depth++;
-  //Check for the right 1., 2. and 3. level tags
-  if (!info->skip) {
-    if (((info->depth == 1) && (strcmp("rhd",el) != 0)) ||
-        ((info->depth == 2) && (strcmp("plugins",el) != 0)) ||
- 				((info->depth == 3) && (strcmp("hakocan",el) != 0))) {
-      info->skip = info->depth;
-      return;
-    } else if (info->depth == 3) info->found = 1;
-  } else return;
-  //Branch to parse the elements of the XML file.
-  if (!strcmp("hakocan",el)) {
-    for(i = 0; attr[i]; i+=2) if ((strcmp("enable",attr[i]) == 0) && (strcmp("true",attr[i+1]) == 0)) {
-      info->enable = 1;
-    }
-    if (!info->enable) {
-      printf("   HakoCan: Use of HakoCan disabled in configuration\n");
-      info->skip = info->depth;
-    }
-  } else if (strcmp("controlcan",el) == 0) {
-    //Check for the correct depth for this tag
-    if(info->depth != 4) {
-      printf("Error: Wrong depth for the %s tag\n",el);
-    }
-    for(i = 0; attr[i]; i+=2) {
-       if (strcmp("port",attr[i]) == 0) strncpy(canDevString,attr[i+1],63);
-       if (strcmp("port1",attr[i]) == 0) strncpy(canDevString1,attr[i+1],63);
-    }
-    printf("   HakoCan: Using Control CAN-port %s  %s\n",canDevString,canDevString1);
-  }
-}
-///Handle XML End tags
-void XMLCALL
-hakocanEndTag(void *data, const char *el)
-{
-  parseInfo *info = (parseInfo *) data;
-  info->depth--;
-  if (info->depth < info->skip) info->skip = 0;
-}
-</sxh>
-<sxh c; title:canmsg.h>
-/** /file canmsg.h
- * canmsg.h - common kernel-space and user-space CAN message structure
- * Linux CAN-bus device driver.
- * Written by Pavel Pisa - OCERA team member
- * email:pisa@cmp.felk.cvut.cz
- * This software is released under the GPL-License.
- * Version lincan-0.3  17 Jun 2004
- */
-#ifndef _CANMSG_T_H
-#define _CANMSG_T_H
-#ifdef __KERNEL__
-#include <linux/time.h>
-#include <linux/types.h>
-#else /* __KERNEL__ */
-#include <sys/time.h>
-#include <sys/types.h>
-#endif /* __KERNEL__ */
-#ifdef __cplusplus
-extern "C" {
-#endif
-/*
- * CAN_MSG_VERSION_2 enables new canmsg_t layout compatible with
- * can4linux project from http://www.port.de/
- *
- */
-#define CAN_MSG_VERSION_2
-/* Number of data bytes in one CAN message */
-#define CAN_MSG_LENGTH 8
-#ifdef CAN_MSG_VERSION_2
-typedef struct timeval canmsg_tstamp_t ;
-typedef unsigned long canmsg_id_t;
-/**
- * struct canmsg_t - structure representing CAN message
- * @flags:  message flags
- *      %MSG_RTR .. message is Remote Transmission Request,
- *	%MSG_EXT .. message with extended ID,
- *      %MSG_OVR .. indication of queue overflow condition,
- *	%MSG_LOCAL .. message originates from this node.
- * @cob:    communication object number (not used)
- * @id:     ID of CAN message
- * @timestamp: not used
- * @length: length of used data
- * @data:   data bytes buffer
- *
- * Header: canmsg.h
- */
-struct canmsg_t {
-	int             flags;
-	int             cob;
-	canmsg_id_t     id;
-	canmsg_tstamp_t timestamp;
-	unsigned short  length;
-	unsigned char   data[CAN_MSG_LENGTH];
-};
-#else /*CAN_MSG_VERSION_2*/
-#ifndef PACKED
-#define PACKED __attribute__((packed))
-#endif
-/* Old, deprecated version of canmsg_t structure */
-struct canmsg_t {
-	short		flags;
-	int		cob;
-	canmsg_id_t	id;
-	unsigned long	timestamp;
-	unsigned int	length;
-	unsigned char	data[CAN_MSG_LENGTH];
-} PACKED;
-#endif /*CAN_MSG_VERSION_2*/
-typedef struct canmsg_t canmsg_t;
-/**
- * struct canfilt_t - structure for acceptance filter setup
- * @flags:  message flags
- *      %MSG_RTR .. message is Remote Transmission Request,
- *	%MSG_EXT .. message with extended ID,
- *      %MSG_OVR .. indication of queue overflow condition,
- *	%MSG_LOCAL .. message originates from this node.
- *	there are corresponding mask bits
- *	%MSG_RTR_MASK, %MSG_EXT_MASK, %MSG_LOCAL_MASK.
- *	%MSG_PROCESSLOCAL enables local messages processing in the
- *	combination with global setting
- * @queid:  CAN queue identification in the case of the multiple
- *	    queues per one user (open instance)
- * @cob:    communication object number (not used)
- * @id:     selected required value of cared ID id bits
- * @mask:   select bits significand for the comparation;
- *          1 .. take care about corresponding ID bit, 0 .. don't care
- *
- * Header: canmsg.h
- */
-struct canfilt_t {
-	int		flags;
-	int		queid;
-	int		cob;
-	canmsg_id_t	id;
-	canmsg_id_t	mask;
-};
-typedef struct canfilt_t canfilt_t;
-/* Definitions to use for canmsg_t and canfilt_t flags */
-#define MSG_RTR   (1<<0)
-#define MSG_OVR   (1<<1)
-#define MSG_EXT   (1<<2)
-#define MSG_LOCAL (1<<3)
-/* If you change above lines, check canque_filtid2internal function */
-/* Additional definitions used for canfilt_t only */
-#define MSG_FILT_MASK_SHIFT   8
-#define MSG_RTR_MASK   (MSG_RTR<<MSG_FILT_MASK_SHIFT)
-#define MSG_EXT_MASK   (MSG_EXT<<MSG_FILT_MASK_SHIFT)
-#define MSG_LOCAL_MASK (MSG_LOCAL<<MSG_FILT_MASK_SHIFT)
-#define MSG_PROCESSLOCAL (MSG_OVR<<MSG_FILT_MASK_SHIFT)
-/* Can message ID mask */
-#define MSG_ID_MASK ((1l<<29)-1)
-#ifdef __cplusplus
-} /* extern "C"*/
-#endif
-#endif /*_CANMSG_T_H*/
-</sxh>

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