//-------------------------------------------
bool CANPeakSysUSB::transmitMsg(CanMsg CMsg, bool bBlocking)
{
TPCANMsg TPCMsg;
bool bRet = true;
if (m_bInitialized == false) return false;
// copy CMsg to TPCmsg
TPCMsg.LEN = CMsg.m_iLen;
TPCMsg.ID = CMsg.m_iID;
TPCMsg.MSGTYPE = CMsg.m_iType;
for(int i=0; i<8; i++)
TPCMsg.DATA[i] = CMsg.getAt(i);
//TODO Hier stürtzt die Base ab.. verwende libpcan.h pcan.h um Fehler auszulesen, diagnostizieren, ausgeben und CAN_INIT erneut aufzurufen = neustart can-hardware.
int iRet;
//iRet = CAN_Write(m_handle, &TPCMsg);
iRet = LINUX_CAN_Write_Timeout(m_handle, &TPCMsg, 25); //Timeout in micrsoseconds
if(iRet != CAN_ERR_OK) {
#ifdef __DEBUG__
std::cout << "CANPeakSysUSB::transmitMsg An error occured while sending..." << iRet << std::endl;
outputDetailedStatus();
#endif
bRet = false;
}
#ifdef __DEBUG__
//is this necessary? try iRet==CAN_Status(m_handle) ?
iRet = CAN_Status(m_handle);
if(iRet < 0)
{
std::cout << "CANPeakSysUSB::transmitMsg, system error: " << iRet << std::endl;
bRet = false;
} else if((iRet & CAN_ERR_BUSOFF) != 0) {
std::cout << "CANPeakSysUSB::transmitMsg, BUSOFF detected" << std::endl;
//Try to restart CAN-Device
std::cout << "Trying to re-init Hardware..." << std::endl;
bRet = initCAN();
} else if((iRet & CAN_ERR_ANYBUSERR) != 0) {
std::cout << "CANPeakSysUSB::transmitMsg, ANYBUSERR" << std::endl;
} else if( (iRet & (~CAN_ERR_QRCVEMPTY)) != 0) {
std::cout << "CANPeakSysUSB::transmitMsg, CAN_STATUS: " << iRet << std::endl;
bRet = false;
}
#endif
return bRet;
}
bool PcanPci::sendFrame(TPCANMsg &msg)
{
#ifdef WIN32
int errorcode = CAN_Write(pcanHandle, &msg);
#else
int errorcode = LINUX_CAN_Write_Timeout(pcanHandle, &msg, 100000);
#endif
if (errorcode == 0)
{
//std::cerr << "Sent "; printMsg(msg);
return true;
}
else
{
std::cerr << "sendFrame error, code: " << std::hex << errorcode << std::endl;
return false;
}
}
