socan.h

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#ifndef _SOCAN_H
#define _SOCAN_H
 
/* ----------------------------------------------
 * includes
 * ---------------------------------------------- */
 
#include <stdbool.h>
 
/* ----------------------------------------------
 * constants
 * ---------------------------------------------- */
 
#define SOCAN_VERSION_STR "1.2.1"
 
#define SOCAN_VERSION_MAJOR 1
 
#define SOCAN_VERSION_MINOR 2
 
#define SOCAN_MAX_PORTS 8
 
#define SOCAN_FRAME_LENGTH 8
 
#define COB_NO 2048
 
/* ----------------------------------------------
 * types
 * ---------------------------------------------- */
 
typedef enum
  { 
    SOCAN_READ,       
    SOCAN_WRITE,      
    SOCAN_READ_RTR,   
    SOCAN_WRITE_RTR   
  } socan_obj_type;
 
typedef enum
  { 
    SOCAN_OK             = 0,   
    SOCAN_TIMEOUT        = 1,   
    SOCAN_OLD            = 2,   
    SOCAN_LOST           = 3,   
    SOCAN_WAIT           = 4,   
    SOCAN_EXISTS         = 5,   
    SOCAN_LENGTH_ERR     = 6,   
    SOCAN_PORT_ERR       = 7,   
    SOCAN_COB_ERR        = 8,   
    SOCAN_NOT_RO_ERR     = 9,   
    SOCAN_NOT_WO_ERR     =10,   
    SOCAN_TYPE_ERR       =11,   
    SOCAN_NOT_EXISTS_ERR =12,   
    SOCAN_NOT_OWNED_ERR  =13,   
    SOCAN_EXISTS_ERR     =14,   
    SOCAN_ERROR          =15    
  } socan_rc;
 
 
typedef struct socan_obj_s *socan_obj_h;
 
typedef struct socan_hdl_s *socan_hdl;
 
/* ----------------------------------------------
 * functions
 * ---------------------------------------------- */
 
extern char *socan_str_rc(socan_rc rc);
 
extern bool socan_rc_is_error(socan_rc rc);
 
extern int socan_errprintlevel(int level);
 
extern int socan_tracelevel(int level);
 
extern int socan_add_port(const char *devicename);
 
extern bool socan_realtime_setup(bool use_rt_priority,
                                 bool require_rt_priority,
                                 int reader_priority,
                                 int writer_priority);
 
extern bool socan_init(void);
 
extern socan_rc socan_port_bitrate(unsigned char port, unsigned int *bitrate);
 
extern socan_hdl socan_open(void);
 
extern bool socan_close(socan_hdl h);
 
extern socan_rc socan_port_device(unsigned char port, char **dev);
 
extern socan_rc socan_add_obj(socan_hdl hdl, unsigned char port,
                              unsigned short cob, unsigned char length,
                              unsigned int tmo_ms, socan_obj_type type);
 
extern socan_rc socan_del_obj(unsigned char port, unsigned short cob);
 
extern socan_rc socan_obj_info(socan_hdl hdl,
                               unsigned char port, unsigned short cob,
                               unsigned char *length,
                               unsigned int *tmo_ms,
                               socan_obj_type *type);
 
extern socan_rc socan_obj_ts(unsigned char port, unsigned short cob,
                             unsigned long *ts);
 
extern socan_rc socan_ts_to_str(unsigned long ts, char *buf, int buflen);
 
extern socan_rc socan_set_inhibit(unsigned char port, unsigned short cob, unsigned long inhibit_time);
 
extern socan_rc socan_use_queue(unsigned char port, unsigned short cob);
 
extern socan_rc socan_new_user_area(unsigned char port, unsigned short cob,
                                    unsigned int size,
                                    void **area);
 
extern socan_rc socan_user_area(unsigned char port, unsigned short cob,
                                void **area);
 
extern socan_rc socan_set_user_area(unsigned char port, unsigned short cob,
                                    void *ptr);
 
extern socan_rc socan_free_user_area(unsigned char port, unsigned short cob);
 
extern socan_rc socan_write(socan_hdl hdl,
                            unsigned char port, unsigned short cob,
                            const void *data);
 
extern socan_rc socan_writelater(socan_hdl hdl,
                                 unsigned char port, unsigned short cob,
                                 const void *data);
 
extern socan_rc socan_write_inhibit(socan_hdl hdl,
                                    unsigned char port, unsigned short cob,
                                    const void *data,
                                    unsigned long *inhibit_time);
 
extern socan_rc socan_readnow(socan_hdl hdl, unsigned char port, unsigned short cob, void *data);
 
extern socan_rc socan_read(socan_hdl hdl, unsigned char port, unsigned short cob, void *data);
 
extern socan_rc socan_queue_read(socan_hdl hdl, unsigned char *port,
                                 unsigned short *cob, void *data);
 
#endif