C2: Add icsneoc2_device_reconnect

examples/CMakeLists.txt

@@ -4,6 +4,7 @@ option(LIBICSNEO_BUILD_C_LEGACY_EXAMPLE "Build the command-line simple C example
 option(LIBICSNEO_BUILD_C2_SIMPLE_EXAMPLE "Build the simple C2 example." ON)
 option(LIBICSNEO_BUILD_C2_READ_MESSAGES_EXAMPLE "Build the C2 read messages example." ON)
 option(LIBICSNEO_BUILD_C2_DISKFORMAT_EXAMPLE "Build the C2 disk format example." ON)
+option(LIBICSNEO_BUILD_C2_RECONNECT_EXAMPLE "Build the C2 reconnect example." ON)
 option(LIBICSNEO_BUILD_CPP_SIMPLE_EXAMPLE "Build the simple C++ example." ON)
 option(LIBICSNEO_BUILD_CPP_INTERACTIVE_EXAMPLE "Build the command-line interactive C++ example." ON)
 option(LIBICSNEO_BUILD_CPP_A2B_EXAMPLE "Build the A2B example." ON)
@@ -47,6 +48,10 @@ if(LIBICSNEO_BUILD_C2_DISKFORMAT_EXAMPLE)
 	add_subdirectory(c2/diskformat)
 endif()
 
+if(LIBICSNEO_BUILD_C2_RECONNECT_EXAMPLE)
+	add_subdirectory(c2/reconnect)
+endif()
+
 if(LIBICSNEO_BUILD_CPP_SIMPLE_EXAMPLE)
 	add_subdirectory(cpp/simple)
 endif()

examples/c2/diskformat/src/main.c

@@ -48,6 +48,7 @@ int main() {
 	size_t description_length = sizeof(description);
 	res = icsneoc2_device_description_get(device, description, &description_length);
 	if(res != icsneoc2_error_success) {
+		icsneoc2_device_free(device);
 		return print_error_code("\tFailed to get device description", res);
 	}
 	printf("\tOpened device: %s\n", description);
@@ -58,11 +59,13 @@ int main() {
 	if(res != icsneoc2_error_success) {
 		print_error_code("\tFailed to check disk formatting support", res);
 		icsneoc2_device_close(device);
+		icsneoc2_device_free(device);
 		return -1;
 	}
 	if(!supported) {
 		printf("\terror: %s does not support disk formatting\n", description);
 		icsneoc2_device_close(device);
+		icsneoc2_device_free(device);
 		return -1;
 	}
 
@@ -79,6 +82,7 @@ int main() {
 		printf("FAIL\n");
 		print_error_code("\tFailed to get disk details", res);
 		icsneoc2_device_close(device);
+		icsneoc2_device_free(device);
 		return -1;
 	}
 	printf("OK\n");
@@ -122,6 +126,7 @@ int main() {
 		printf("\n\terror: no disks are present in the device\n");
 		icsneoc2_disk_details_free(details);
 		icsneoc2_device_close(device);
+		icsneoc2_device_free(device);
 		return -1;
 	}
 
@@ -133,6 +138,7 @@ int main() {
 		printf("\tAborted.\n");
 		icsneoc2_disk_details_free(details);
 		icsneoc2_device_close(device);
+		icsneoc2_device_free(device);
 		return 0;
 	}
 
@@ -145,6 +151,7 @@ int main() {
 		print_error_code("\tFormat failed", res);
 		icsneoc2_disk_details_free(details);
 		icsneoc2_device_close(device);
+		icsneoc2_device_free(device);
 		return -1;
 	}
 	printf("\tFormat complete!\n");
@@ -171,5 +178,6 @@ int main() {
 
 	printf("\tClosing device: %s...\n", description);
 	icsneoc2_device_close(device);
+	icsneoc2_device_free(device);
 	return 0;
 }

examples/c2/read_messages/src/main.c

@@ -83,6 +83,7 @@ int main() {
 	size_t description_length = 255;
 	res = icsneoc2_device_description_get(open_device, description, &description_length);
 	if(res != icsneoc2_error_success) {
+		icsneoc2_device_free(open_device);
 		return print_error_code("\tFailed to get device description", res);
 	};
 	printf("\tOpened device: %s\n", description);
@@ -96,6 +97,7 @@ int main() {
 		res = icsneoc2_device_message_get(open_device, &messages[i], 0);
 		if(res != icsneoc2_error_success) {
 			print_events(description);
+			icsneoc2_device_free(open_device);
 			return print_error_code("\tFailed to get messages from device", res);
 		};
 		if(messages[i] == NULL) {
@@ -106,6 +108,7 @@ int main() {
 	}
 	if(res != icsneoc2_error_success) {
 		print_events(description);
+		icsneoc2_device_free(open_device);
 		return print_error_code("\tFailed to get messages from device", res);
 	}
 	time_t end_time = time(NULL);
@@ -114,6 +117,7 @@ int main() {
 	res = process_message(messages, message_count);
 	if(res != icsneoc2_error_success) {
 		print_events(description);
+		icsneoc2_device_free(open_device);
 		return print_error_code("\tFailed to process messages", res);
 	}
 	// Finally, close the device.
@@ -121,8 +125,10 @@ int main() {
 	res = icsneoc2_device_close(open_device);
 	if(res != icsneoc2_error_success) {
 		print_events(description);
+		icsneoc2_device_free(open_device);
 		return print_error_code("\tFailed to close device", res);
 	};
+	icsneoc2_device_free(open_device);
 
 	printf("\n");
 	return 0;

examples/c2/reconnect/CMakeLists.txt

@@ -0,0 +1,6 @@
+add_executable(libicsneoc2-reconnect-example src/main.c)
+target_link_libraries(libicsneoc2-reconnect-example icsneoc2-static)
+
+if(WIN32)
+	target_compile_definitions(libicsneoc2-reconnect-example PRIVATE _CRT_SECURE_NO_WARNINGS)
+endif()

examples/c2/reconnect/src/main.c

@@ -0,0 +1,132 @@
+#include <icsneo/icsneoc2.h>
+
+#include <stdio.h>
+
+#ifdef _WIN32
+#include <windows.h>
+#else
+#include <unistd.h>
+#endif
+
+void sleep_ms(uint32_t ms) {
+#ifdef _WIN32
+	Sleep(ms);
+#else
+	usleep(ms * 1000);
+#endif
+}
+
+int print_error_code(const char* message, icsneoc2_error_t error) {
+	char error_str[64];
+	size_t error_str_len = sizeof(error_str);
+	icsneoc2_error_t res = icsneoc2_error_code_get(error, error_str, &error_str_len);
+	if(res != icsneoc2_error_success) {
+		printf("%s: Failed to get string for error code %d with error code %d\n", message, error, res);
+		return res;
+	}
+	printf("%s: \"%s\" (%u)\n", message, error_str, error);
+	return (int)error;
+}
+
+void print_events(void) {
+	icsneoc2_event_t* events[256] = {0};
+	size_t events_count = 256;
+	for(size_t i = 0; i < events_count; ++i) {
+		icsneoc2_error_t res = icsneoc2_event_get(&events[i], NULL);
+		if(res != icsneoc2_error_success) {
+			(void)print_error_code("\tFailed to get events", res);
+			return;
+		}
+		if(events[i] == NULL) {
+			events_count = i;
+			break;
+		}
+	}
+	for(size_t i = 0; i < events_count; i++) {
+		char description[255] = {0};
+		size_t description_length = 255;
+		icsneoc2_error_t res = icsneoc2_event_description_get(events[i], description, &description_length);
+		if(res != icsneoc2_error_success) {
+			print_error_code("\tFailed to get event description", res);
+			continue;
+		}
+		printf("\tEvent %zu: %s\n", i, description);
+	}
+	for(size_t i = 0; i < events_count; i++) {
+		icsneoc2_event_free(events[i]);
+	}
+	if(events_count > 0) {
+		printf("\tReceived %zu events\n", events_count);
+	}
+}
+
+int main(void) {
+	/* Open the first available device */
+	printf("Opening first available device...\n");
+	icsneoc2_device_t* device = NULL;
+	icsneoc2_error_t res = icsneoc2_device_open_first(0, icsneoc2_open_options_default, &device);
+	if(res != icsneoc2_error_success) {
+		return print_error_code("Failed to open first device", res);
+	}
+
+	/* Get a description of the opened device */
+	char description[255] = {0};
+	size_t description_length = 255;
+	res = icsneoc2_device_description_get(device, description, &description_length);
+	if(res != icsneoc2_error_success) {
+		icsneoc2_device_free(device);
+		return print_error_code("Failed to get device description", res);
+	}
+	printf("Opened device: %s\n", description);
+
+	/* Wait for the device to disconnect */
+	printf("Waiting for device to disconnect (unplug device from PC)...\n");
+	for(;;) {
+		bool is_open = true;
+		res = icsneoc2_device_is_open(device, &is_open);
+		if(res != icsneoc2_error_success) {
+			print_events();
+			icsneoc2_device_free(device);
+			return print_error_code("Failed to check open status", res);
+		}
+		if(!is_open) {
+			printf("Device disconnected!\n");
+			break;
+		}
+		sleep_ms(500);
+	}
+
+	/* Attempt to reconnect */
+	uint32_t timeout_ms = 20000; // 20 second timeout
+	printf("Attempting to reconnect (%u second timeout)...\n", timeout_ms / 1000);
+	res = icsneoc2_device_reconnect(device, icsneoc2_open_options_default, timeout_ms);
+	if(res != icsneoc2_error_success) {
+		print_events();
+		icsneoc2_device_free(device);
+		return print_error_code("Failed to reconnect", res);
+	}
+
+	printf("Reconnected successfully!\n");
+
+	/* Verify by getting the description again */
+	description_length = 255;
+	res = icsneoc2_device_description_get(device, description, &description_length);
+	if(res == icsneoc2_error_success) {
+		printf("Device: %s\n", description);
+	}
+
+	/* Print any events */
+	print_events();
+
+	/* Close the device */
+	printf("Closing device...\n");
+	res = icsneoc2_device_close(device);
+	if(res != icsneoc2_error_success) {
+		icsneoc2_device_free(device);
+		return print_error_code("Failed to close device", res);
+	}
+	icsneoc2_device_free(device);
+
+	printf("Done.\n");
+	return 0;
+}

examples/c2/simple/src/main.c

@@ -116,6 +116,7 @@ int main() {
 		size_t description_length = 255;
 		res = icsneoc2_device_info_description_get(cur, description, &description_length);
 		if(res != icsneoc2_error_success) {
+			icsneoc2_enumeration_free(found_devices);
 			return print_error_code("\tFailed to get device description", res);
 		};
 		printf("%.*s\n", (int)description_length, description);
@@ -126,8 +127,15 @@ int main() {
 		printf("\tDevice open options: 0x%x\n", options);
 		printf("\tOpening device: %s...\n", description);
 		icsneoc2_device_t* open_device = NULL;
-		res = icsneoc2_device_open(cur, options, &open_device);
+		res = icsneoc2_device_create(cur, &open_device);
 		if(res != icsneoc2_error_success) {
+			icsneoc2_enumeration_free(found_devices);
+			return print_error_code("\tFailed to create device", res);
+		}
+		res = icsneoc2_device_open(open_device, options);
+		if(res != icsneoc2_error_success) {
+			icsneoc2_device_free(open_device);
+			icsneoc2_enumeration_free(found_devices);
 			return print_error_code("\tFailed to open device", res);
 		};
 
@@ -137,6 +145,8 @@ int main() {
 		res = icsneoc2_device_timestamp_resolution_get(open_device, &timestamp_resolution);
 		if(res != icsneoc2_error_success) {
 			print_events(description);
+			icsneoc2_device_free(open_device);
+			icsneoc2_enumeration_free(found_devices);
 			return print_error_code("\tFailed to get timestamp resolution", res);
 		}
 		printf("%uns\n", timestamp_resolution);
@@ -146,6 +156,8 @@ int main() {
 		res = icsneoc2_settings_baudrate_get(open_device, icsneoc2_netid_dwcan_01, &baudrate);
 		if(res != icsneoc2_error_success) {
 			print_events(description);
+			icsneoc2_device_free(open_device);
+			icsneoc2_enumeration_free(found_devices);
 			return print_error_code("\tFailed to get baudrate", res);
 		};
 		printf("%" PRIu64 "mbit/s\n", baudrate);
@@ -155,6 +167,8 @@ int main() {
 		res = icsneoc2_settings_canfd_baudrate_get(open_device, icsneoc2_netid_dwcan_01, &fd_baudrate);
 		if(res != icsneoc2_error_success) {
 			print_events(description);
+			icsneoc2_device_free(open_device);
+			icsneoc2_enumeration_free(found_devices);
 			return print_error_code("\tFailed to get FD baudrate", res);
 		};
 		printf("%" PRIu64 "mbit/s\n", fd_baudrate);
@@ -165,6 +179,8 @@ int main() {
 		res = icsneoc2_settings_baudrate_set(open_device, icsneoc2_netid_dwcan_01, baudrate);
 		if(res != icsneoc2_error_success) {
 			print_events(description);
+			icsneoc2_device_free(open_device);
+			icsneoc2_enumeration_free(found_devices);
 			return print_error_code("\tFailed to set baudrate", res);
 		};
 		printf("Ok\n");
@@ -173,6 +189,8 @@ int main() {
 		res = icsneoc2_settings_canfd_baudrate_set(open_device, icsneoc2_netid_dwcan_01, fd_baudrate);
 		if(res != icsneoc2_error_success) {
 			print_events(description);
+			icsneoc2_device_free(open_device);
+			icsneoc2_enumeration_free(found_devices);
 			return print_error_code("\tFailed to set FD baudrate", res);
 		};
 		printf("Ok\n");
@@ -181,6 +199,8 @@ int main() {
 		res = get_and_print_rtc(open_device);
 		if(res != icsneoc2_error_success) {
 			print_events(description);
+			icsneoc2_device_free(open_device);
+			icsneoc2_enumeration_free(found_devices);
 			return print_error_code("\tFailed to get RTC", res);
 		}
 		// Set RTC
@@ -189,6 +209,8 @@ int main() {
 		res = icsneoc2_device_rtc_set(open_device, current_time);
 		if(res != icsneoc2_error_success) {
 			print_events(description);
+			icsneoc2_device_free(open_device);
+			icsneoc2_enumeration_free(found_devices);
 			return print_error_code("\tFailed to set RTC", res);
 		}
 		printf("Ok\n");
@@ -197,6 +219,8 @@ int main() {
 		res = get_and_print_rtc(open_device);
 		if(res != icsneoc2_error_success) {
 			print_events(description);
+			icsneoc2_device_free(open_device);
+			icsneoc2_enumeration_free(found_devices);
 			return print_error_code("\tFailed to get RTC", res);
 		}
 		// Go online, start acking traffic
@@ -204,6 +228,8 @@ int main() {
 		res = icsneoc2_device_go_online(open_device, true);
 		if(res != icsneoc2_error_success) {
 			print_events(description);
+			icsneoc2_device_free(open_device);
+			icsneoc2_enumeration_free(found_devices);
 			return print_error_code("\tFailed to go online", res);
 		}
 		// Redundant check to show how to check if the device is online, if the previous
@@ -212,6 +238,8 @@ int main() {
 		res = icsneoc2_device_is_online(open_device, &is_online);
 		if(res != icsneoc2_error_success) {
 			print_events(description);
+			icsneoc2_device_free(open_device);
+			icsneoc2_enumeration_free(found_devices);
 			return print_error_code("\tFailed to check if online", res);
 		}
 		printf("%s\n", is_online ? "Online" : "Offline");
@@ -219,6 +247,8 @@ int main() {
 		res = transmit_can_messages(open_device);
 		if(res != icsneoc2_error_success) {
 			print_events(description);
+			icsneoc2_device_free(open_device);
+			icsneoc2_enumeration_free(found_devices);
 			return print_error_code("\tFailed to transmit CAN messages", res);
 		}
 		// Wait for the bus to collect some messages, requires an active bus to get messages
@@ -231,7 +261,12 @@ int main() {
 		for(size_t i = 0; i < message_count; ++i) {
 			res = icsneoc2_device_message_get(open_device, &messages[i], 0);
 			if(res != icsneoc2_error_success) {
+				for(size_t j = 0; j < i; ++j) {
+					icsneoc2_message_free(messages[j]);
+				}
 				print_events(description);
+				icsneoc2_device_free(open_device);
+				icsneoc2_enumeration_free(found_devices);
 				return print_error_code("\tFailed to get messages from device", res);
 			};
 			if(messages[i] == NULL) {
@@ -243,7 +278,12 @@ int main() {
 		// Process the messages
 		res = process_messages(messages, message_count);
 		if(res != icsneoc2_error_success) {
+			for(size_t i = 0; i < message_count; ++i) {
+				icsneoc2_message_free(messages[i]);
+			}
 			print_events(description);
+			icsneoc2_device_free(open_device);
+			icsneoc2_enumeration_free(found_devices);
 			return print_error_code("\tFailed to process messages", res);
 		}
 		for(size_t i = 0; i < message_count; ++i) {
@@ -254,11 +294,13 @@ int main() {
 		res = icsneoc2_device_close(open_device);
 		if(res != icsneoc2_error_success) {
 			print_events(description);
+			icsneoc2_device_free(open_device);
+			icsneoc2_enumeration_free(found_devices);
 			return print_error_code("\tFailed to close device", res);
 		};
 		// Print device events
 		print_events(description);
-
+		icsneoc2_device_free(open_device);
 	}
 	icsneoc2_enumeration_free(found_devices);
 	printf("\n");
@@ -285,6 +327,9 @@ void print_events(const char* device_description) {
 		// no device filter, get all events
 		icsneoc2_error_t res = icsneoc2_event_get(&events[i], NULL);
 		if(res != icsneoc2_error_success) {
+			for(size_t j = 0; j < i; ++j) {
+				icsneoc2_event_free(events[j]);
+			}
 			(void)print_error_code("\tFailed to get device events", res);
 			return;
 		}
@@ -397,6 +442,7 @@ int transmit_can_messages(icsneoc2_device_t* device) {
 		res += icsneoc2_message_can_props_set(message, &arb_id, &flags);
 		res += icsneoc2_message_data_set(message, (uint8_t*)&counter, sizeof(counter));
 		if(res != icsneoc2_error_success) {
+			icsneoc2_message_free(message);
 			return print_error_code("\tFailed to modify message", res);
 		}
 		res = icsneoc2_device_message_transmit(device, message);