mirror of
https://github.com/intrepidcs/libicsneo.git
synced 2026-08-05 01:18:36 +02:00
LIN: Legacy API
This commit is contained in:
Kyle Johannes
@@ -0,0 +1,17 @@
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cmake_minimum_required(VERSION 3.2)
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project(libicsneoc-simple-lin-example VERSION 0.2.0)
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include(GNUInstallDirs)
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# Include libicsneo's include directory
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include_directories(${CMAKE_CURRENT_SOURCE_DIR}/../../../include)
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if(UNIX)
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set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS)
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endif()
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add_executable(libicsneoc-simple-lin-example lin/main.c)
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if(UNIX)
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target_link_libraries(libicsneoc-simple-lin-example ${CMAKE_DL_LIBS})
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endif()
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target_link_libraries(libicsneoc-simple-lin-example icsneoc)
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@@ -0,0 +1,80 @@
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# libicsneo C Example
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This is an example console application that uses the icsneoc library to control an Intrepid Control Systems hardware device.
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## Cloning
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This will create a copy of the repository on your local machine.
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Run:
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```shell
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git clone https://github.com/intrepidcs/libicsneo-examples -b v0.2.0-dev --recursive
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```
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Alternatively, if you cloned without the `--recursive` flag, you must enter the `libicsneo-examples` folder and run the following:
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```shell
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git submodule update --recursive --init
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```
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If you haven't done this, `third-party/libicsneo` will be empty and you won't be able to build!
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## Windows using Visual Studio 2017+
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### Building the DLL
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First, we are going to build the icsneoc library into a .dll file that we can later use in order to access the library functions.
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1. Launch Visual Studio and open the `libicsneo-examples` folder.
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2. Choose `File->Open->Cmake...`
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3. Navigate to `third-party/libicsneo` and select the `CMakeLists.txt` there.
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4. Visual Studio will process the CMake project.
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5. Select `Build->Rebuild All`
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6. Visual Studio will generate the `icsneoc.dll` file, which can then be found by selecting `Project->Cmake Cache (x64-Debug Only)->Open in Explorer`. If the file cannot be found, search in `libicsneo-examples/third-party/libicsneo/out/build/x64-Debug` and double-check that the build succeeded in step 5.
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7. Move the `icsneoc.dll` file to the `/C/Windows/System32` folder. This will allow it to be found by icsneo_init(), which loads all the library functions.
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* Alternatively, the `icsneoc.dll` file can be placed in the same directory as `libicsneoc-example.exe`, which is typically `libicsneo-examples/libicsneoc-example/out/build/x64-Debug`, although this is not recommended. For more information, refer to [the Microsoft documentation](https://docs.microsoft.com/en-us/windows/desktop/dlls/dynamic-link-library-search-order).
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### Building the example program
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Although the example program will build without successfully completing the steps above, it will exit immediately upon running due to a failure to load any library functions.
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1. Choose `File->Open->Cmake...`
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2. Navigate to `libicsneo-examples/libicsneoc-example` and select the `CMakeLists.txt` there.
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3. Visual Studio will process the CMake project.
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4. Select `Build->Rebuild All`
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5. Click on the dropdown arrow attached to the green play button (labelled "Select Startup Item") and select `libicsneoc-example.exe`
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6. Click on the green play button to run the example.
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## Ubuntu 18.04 LTS
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### Building the .so
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First, we are going to build the icsneoc library into a .so file that we can later use in order to access the library functions.
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1. Install dependencies with `sudo apt update` then `sudo apt install build-essential cmake libusb-1.0-0-dev libpcap0.8-dev`
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2. Change directories to `libicsneo-examples/third-party/libicsneo` and create a build directory by running `mkdir -p build`
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3. Enter the build directory with `cd build`
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4. Run `cmake ..` to generate your Makefile.
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* Hint! Running `cmake -DCMAKE_BUILD_TYPE=Debug ..` will generate the proper scripts to build debug, and `cmake -DCMAKE_BUILD_TYPE=Release ..` will generate the proper scripts to build with all optimizations on.
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5. Run `make` to build the library.
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* Hint! Speed up your build by using multiple processors! Use `make -j#` where `#` is the number of cores/threads your system has plus one. For instance, on a standard 8 thread Intel i7, you might use `-j9` for an ~8x speedup.
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6. Run `sudo cp libicsneoc.so /usr/lib` so that it can be found via the default ubuntu .so search path. For more information, see the [ld.so.8 man page](http://man7.org/linux/man-pages/man8/ld.so.8.html).
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### Building the example program
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||||
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Although the example program will build without successfully completing the steps above, it will exit immediately upon running due to a failure to load any library functions.
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1. Change directories to `libicsneo-examples/libicsneoc-example`
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2. Create a build directory by running `mkdir -p build`
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3. Enter the build directory with `cd build`
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4. Run `cmake ..` to generate your Makefile.
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* Hint! Running `cmake -DCMAKE_BUILD_TYPE=Debug ..` will generate the proper scripts to build debug, and `cmake -DCMAKE_BUILD_TYPE=Release ..` will generate the proper scripts to build with all optimizations on.
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5. Run `make` to build the library.
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* Hint! Speed up your build by using multiple processors! Use `make -j#` where `#` is the number of cores/threads your system has plus one. For instance, on a standard 8 thread Intel i7, you might use `-j9` for an ~8x speedup.
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6. Run `sudo ./libicsneoc-example` to run the example.
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* Hint! In order to run without sudo, you will need to set up the udev rules. Copy `libicsneo-examples/third-party/libicsneo/99-intrepidcs.rules` to `/etc/udev/rules.d`, then run `udevadm control --reload-rules && udevadm trigger` afterwards. While the program will still run without setting up these rules, it will fail to open any devices.
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## macOS
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Instructions coming soon™
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@@ -0,0 +1,427 @@
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// Signal to dynamically load the library
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//#define ICSNEOC_DYNAMICLOAD
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <stdarg.h>
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#include <ctype.h>
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// Get the PRIu64 macro for timestamps
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#define __STDC_FORMAT_MACROS
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#include <inttypes.h>
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// Include icsneo/icsneoc.h to access library functions
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#include "icsneo/icsneoc.h"
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#ifdef _WIN32
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#define SLEEP(msecs) Sleep(msecs)
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#elif defined (__unix__) || (defined (__APPLE__) && defined (__MACH__))
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#include <time.h>
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#define SLEEP(msecs) do { \
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struct timespec ts; \
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ts.tv_sec = msecs/1000; \
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ts.tv_nsec = msecs%1000*1000; \
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nanosleep(&ts, NULL); \
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} while (0)
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#else
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#error "Platform unknown"
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#endif
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size_t msgLimit = 50000;
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size_t numDevices = 0;
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neodevice_t devices[99];
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const neodevice_t* selectedDevice = NULL;
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/**
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* \brief Prints all current known devices to output in the following format:
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* [num] DeviceType SerialNum Connected: Yes/No Online: Yes/No Msg Polling: On/Off
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*
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* If any devices could not be described due to an error, they will appear in the following format:
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* Description for device num not available!
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*/
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void printAllDevices() {
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if(numDevices == 0) {
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printf("No devices found! Please scan for new devices.\n");
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}
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for(size_t i = 0; i < numDevices; i++) {
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char productDescription[ICSNEO_DEVICETYPE_LONGEST_DESCRIPTION] = { 0 };
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size_t descriptionLength = ICSNEO_DEVICETYPE_LONGEST_DESCRIPTION;
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// Updates productDescription and descriptionLength for each device
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if(icsneo_describeDevice(devices + i, productDescription, &descriptionLength)) {
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printf("[%zd] %s\tConnected: ", i + 1, productDescription);
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if(icsneo_isOpen(devices + i)) {
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printf("Yes\t");
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} else printf("No\t");
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printf("Online: ");
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if(icsneo_isOnline(devices + i)) {
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printf("Yes\t");
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} else printf("No\t");
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printf("Msg Polling: ");
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if(icsneo_isMessagePollingEnabled(devices + i)) {
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printf("On\n");
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} else printf("Off\n");
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} else {
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printf("Description for device %zd not available!\n", i + 1);
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}
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}
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}
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/**
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* \brief Scans for any new devices, adding them to devices and updating numDevices accordingly
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* A total of 99 devices may be stored at once
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*/
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size_t scanNewDevices() {
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neodevice_t newDevices[99];
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size_t numNewDevices = 99;
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icsneo_findAllDevices(newDevices, &numNewDevices);
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for(size_t i = 0; i < numNewDevices; ++i) {
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devices[numDevices + i] = newDevices[i];
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}
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numDevices += numNewDevices;
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return numNewDevices;
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}
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void printLastError() {
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neoevent_t error;
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if(icsneo_getLastError(&error))
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printf("Error 0x%u: %s\n", error.eventNumber, error.description);
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else
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printf("No errors found!\n");
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}
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/**
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* \brief Gets all current API events and prints them to output
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* Flushes the API event cache, meaning future calls (barring any new events) will not detect any further API events
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*/
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void printAPIEvents() {
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neoevent_t events[99];
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size_t eventCount = 99;
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if(icsneo_getEvents(events, &eventCount)) {
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if(eventCount == 1) {
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printf("1 API event found!\n");
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printf("Event 0x%u: %s\n", events[0].eventNumber, events[0].description);
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} else {
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printf("%d API events found!\n", (int) eventCount);
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for(size_t i = 0; i < eventCount; ++i) {
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printf("Event 0x%u: %s\n", events[i].eventNumber, events[i].description);
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}
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}
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} else {
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printf("Failed to get API events!\n");
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}
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}
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/**
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* \brief Gets all current device events and prints them to output. If no device events were found, printAPIEvents() is called
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* Flushes the device event cache, meaning future calls (barring any new events) will not detect any further device events for this device
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*/
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void printDeviceEvents(neodevice_t* device) {
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neoevent_t events[99];
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size_t eventCount = 99;
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if(icsneo_getDeviceEvents(selectedDevice, events, &eventCount)) {
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if(eventCount == 1) {
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printf("1 device event found!\n");
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printf("Event 0x%x: %s\n", events[0].eventNumber, events[0].description);
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} else {
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printf("%d device events found!\n", (int) eventCount);
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for(size_t i = 0; i < eventCount; ++i) {
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printf("Event 0x%x: %s\n", events[i].eventNumber, events[i].description);
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}
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}
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}
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}
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/**
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* \brief Used to check character inputs for correctness (if they are found in an expected list)
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* \param[in] numArgs the number of possible options for the expected character
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* \param[in] ... the possible options for the expected character
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* \returns the entered character
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*
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* This function repeatedly prompts the user for input until a matching input is entered
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* Example usage: char input = getCharInput(5, 'F', 'u', 'b', 'a', 'r');
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*/
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char getCharInput(int numArgs, ...) {
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// 99 chars shold be more than enough to catch any typos
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char input[99];
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bool found = false;
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va_list vaList;
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va_start(vaList, numArgs);
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char* list = (char*) calloc(numArgs, sizeof(char));
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for(int i = 0; i < numArgs; ++i) {
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*(list + i) = va_arg(vaList, int);
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}
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va_end(vaList);
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while(!found) {
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fgets(input, 99, stdin);
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if(strlen(input) == 2) {
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for(int i = 0; i < numArgs; ++i) {
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if(input[0] == *(list + i)) {
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found = true;
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break;
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}
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}
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}
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if(!found) {
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printf("Input did not match expected options. Please try again.\n");
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}
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}
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free(list);
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return input[0];
|
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}
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/**
|
||||
* \brief Prompts the user to select a device from the list of currently known devices
|
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* \returns a pointer to the device in devices[] selected by the user
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* Requires an input from 1-9, so a maximum of 9 devices are supported
|
||||
*/
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||||
const neodevice_t* selectDevice() {
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printf("Please select a device:\n");
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printAllDevices();
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printf("\n");
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||||
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||||
size_t selectedDeviceNum = 10;
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||||
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||||
while(selectedDeviceNum > numDevices) {
|
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char deviceSelection = getCharInput(9, '1', '2', '3', '4', '5', '6', '7', '8', '9');
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||||
if(deviceSelection < '0') {
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printf("Selected device out of range!\n");
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||||
continue;
|
||||
}
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||||
selectedDeviceNum = deviceSelection - '0';
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||||
if(selectedDeviceNum > numDevices) {
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||||
printf("Selected device out of range!\n");
|
||||
}
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||||
}
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||||
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||||
printf("\n");
|
||||
|
||||
return devices + selectedDeviceNum - 1;
|
||||
}
|
||||
|
||||
int main() {
|
||||
neoversion_t ver = icsneo_getVersion();
|
||||
printf("ICS icsneoc version %u.%u.%u\n\n", ver.major, ver.minor, ver.patch);
|
||||
// Find and attempt to open device
|
||||
size_t numNewDevices = scanNewDevices();
|
||||
if(numNewDevices == 1) {
|
||||
printf("1 new device found!\n");
|
||||
} else {
|
||||
printf("%d new devices found!\n", (int) numNewDevices);
|
||||
}
|
||||
printAllDevices();
|
||||
printf("\n");
|
||||
|
||||
// Select a device and get its description
|
||||
if(numDevices == 0) {
|
||||
printf("No devices found! Please scan for new devices.\n\n");
|
||||
return 1;
|
||||
}
|
||||
selectedDevice = &devices[0];
|
||||
|
||||
// Get the product description for the device
|
||||
char productDescription[ICSNEO_DEVICETYPE_LONGEST_DESCRIPTION] = { 0 };
|
||||
size_t descriptionLength = ICSNEO_DEVICETYPE_LONGEST_DESCRIPTION;
|
||||
icsneo_describeDevice(selectedDevice, productDescription, &descriptionLength);
|
||||
|
||||
// Attempt to open the selected device
|
||||
{
|
||||
if(icsneo_openDevice(selectedDevice)) {
|
||||
printf("%s successfully opened!\n\n", productDescription);
|
||||
} else {
|
||||
printf("%s failed to open!\n\n", productDescription);
|
||||
printLastError();
|
||||
printf("\n");
|
||||
}
|
||||
}
|
||||
// Attempt to go online
|
||||
{
|
||||
if(icsneo_goOnline(selectedDevice)) {
|
||||
printf("%s successfully went online!\n\n", productDescription);
|
||||
} else {
|
||||
printf("%s failed to go online!\n\n", productDescription);
|
||||
printLastError();
|
||||
printf("\n");
|
||||
}
|
||||
}
|
||||
// Attempt to enable message polling
|
||||
{
|
||||
if(icsneo_enableMessagePolling(selectedDevice)) {
|
||||
printf("Successfully enabled message polling for %s!\n\n", productDescription);
|
||||
} else {
|
||||
printf("Failed to enable message polling for %s!\n\n", productDescription);
|
||||
printLastError();
|
||||
printf("\n");
|
||||
}
|
||||
}
|
||||
// Send message LIN
|
||||
{
|
||||
// Start generating sample msg
|
||||
uint8_t sendMessageData[8];
|
||||
sendMessageData[0] = 0x33;
|
||||
sendMessageData[1] = 0x44;
|
||||
sendMessageData[2] = 0x55;
|
||||
sendMessageData[3] = 0x66;
|
||||
sendMessageData[4] = 0x77;
|
||||
sendMessageData[5] = 0x88;
|
||||
sendMessageData[6] = 0x88;
|
||||
|
||||
neomessage_lin_t msg = {0};
|
||||
|
||||
msg.header[0] = 0x11; //protected ID
|
||||
msg.header[1] = 0x11;
|
||||
msg.header[2] = 0x22;
|
||||
msg.length = 10;
|
||||
msg.netid = ICSNEO_NETID_LIN;
|
||||
msg.data = sendMessageData;
|
||||
msg.linStatus.txCommander = 1;
|
||||
msg.linStatus.txChecksumEnhanced = 1;
|
||||
msg.type = ICSNEO_NETWORK_TYPE_LIN;
|
||||
msg.checksum = 0x88;
|
||||
|
||||
// Attempt to transmit the sample msg
|
||||
if(icsneo_transmit(selectedDevice, (const neomessage_t*) &msg)) {
|
||||
printf("Message transmit successful!\n\n");
|
||||
} else {
|
||||
printf("Failed to transmit message to %s!\n\n", productDescription);
|
||||
printLastError();
|
||||
printf("\n");
|
||||
}
|
||||
}
|
||||
// Wait for a moment
|
||||
SLEEP(1000);
|
||||
// Get messages
|
||||
{
|
||||
// Prepare the array of neomessage_t ptrs for reading in the messages
|
||||
neomessage_t* msgs = (neomessage_t*) malloc(msgLimit * sizeof(neomessage_t));
|
||||
|
||||
// Get messages
|
||||
size_t msgCount = msgLimit;
|
||||
|
||||
// Attempt to get messages
|
||||
if(!icsneo_getMessages(selectedDevice, msgs, &msgCount, (uint64_t) 0)) {
|
||||
printf("Failed to get messages for %s!\n\n", productDescription);
|
||||
printLastError();
|
||||
free(msgs);
|
||||
printf("\n");
|
||||
}
|
||||
|
||||
if(msgCount == 1) {
|
||||
printf("1 message received from %s!\n", productDescription);
|
||||
} else {
|
||||
printf("%d messages received from %s!\n", (int) msgCount, productDescription);
|
||||
}
|
||||
|
||||
// Print out the received messages
|
||||
for(size_t i = 0; i < msgCount; i++) {
|
||||
const neomessage_t* msg = &msgs[i];
|
||||
switch(msg->messageType) {
|
||||
case ICSNEO_MESSAGE_TYPE_FRAME: {
|
||||
const neomessage_frame_t* frame = (neomessage_frame_t*)msg;
|
||||
switch(frame->type) {
|
||||
case ICSNEO_NETWORK_TYPE_CAN: {
|
||||
neomessage_can_t* canMsg = (neomessage_can_t*)frame;
|
||||
printf("\t0x%03x [%zu] ", canMsg->arbid, canMsg->length);
|
||||
for(size_t i = 0; i < canMsg->length; i++) {
|
||||
printf("%02x ", canMsg->data[i]);
|
||||
}
|
||||
if(canMsg->status.transmitMessage)
|
||||
printf("TX%s %04x ", canMsg->status.globalError ? " ERR" : "", canMsg->description);
|
||||
printf("(%"PRIu64")\n", canMsg->timestamp);
|
||||
break;
|
||||
}
|
||||
case ICSNEO_NETWORK_TYPE_LIN: {
|
||||
neomessage_lin_t* linMsg = (neomessage_lin_t*)frame;
|
||||
size_t frameLen = linMsg->length;
|
||||
size_t dataLen = (frameLen > 2) ? (frameLen - 2) : 0;
|
||||
size_t numberBytesHeader = (dataLen > 1) ? 3 : 1;
|
||||
size_t numberBytesData = frameLen - numberBytesHeader;
|
||||
if(linMsg->netid == ICSNEO_NETID_LIN) {
|
||||
printf("LIN 1 | ID: 0x%02x [%zu] ", linMsg->header[0], dataLen);
|
||||
}
|
||||
else if (linMsg->netid == ICSNEO_NETID_LIN2) {
|
||||
printf("LIN 2 | ID: 0x%02x [%zu] ", linMsg->header[0], dataLen);
|
||||
}
|
||||
|
||||
for(size_t i = 0; i < dataLen; ++i) {
|
||||
if (i < 2) {
|
||||
printf("%02x ", linMsg->header[i+1]);
|
||||
} else {
|
||||
printf("%02x ", linMsg->data[i-2]);
|
||||
}
|
||||
}
|
||||
printf("| Checksum: 0x%02x\n", linMsg->checksum);
|
||||
break;
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
case ICSNEO_MESSAGE_TYPE_CAN_ERROR_COUNT: {
|
||||
const neomessage_can_error_t* cec = (neomessage_can_error_t*)msg;
|
||||
printf("\tCAN error counts changed, TEC=%d, REC=%d%s", cec->transmitErrorCount, cec->receiveErrorCount,
|
||||
cec->status.canBusOff ? " (Bus Off)" : "");
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
printf("\n");
|
||||
|
||||
free(msgs);
|
||||
}
|
||||
// Attempt to disable message polling
|
||||
{
|
||||
if(icsneo_disableMessagePolling(selectedDevice)) {
|
||||
printf("Successfully disabled message polling for %s!\n\n", productDescription);
|
||||
} else {
|
||||
printf("Failed to disable message polling limit for %s!\n\n", productDescription);
|
||||
printLastError();
|
||||
printf("\n");
|
||||
}
|
||||
}
|
||||
// Attempt to go offline
|
||||
{
|
||||
if(icsneo_goOffline(selectedDevice)) {
|
||||
printf("%s successfully went offline!\n\n", productDescription);
|
||||
} else {
|
||||
printf("%s failed to go offline!\n\n", productDescription);
|
||||
printLastError();
|
||||
printf("\n");
|
||||
}
|
||||
}
|
||||
// Attempt to close the device
|
||||
{
|
||||
if(icsneo_closeDevice(selectedDevice)) {
|
||||
numDevices--;
|
||||
printf("Successfully closed %s!\n\n", productDescription);
|
||||
|
||||
// Shifts everything after the removed device 1 index to the left
|
||||
bool startResizing = false;
|
||||
for(size_t i = 0; i < numDevices; ++i) {
|
||||
if(selectedDevice == devices + i)
|
||||
startResizing = true;
|
||||
if(startResizing)
|
||||
devices[i] = devices[i + 1];
|
||||
}
|
||||
|
||||
selectedDevice = NULL;
|
||||
} else {
|
||||
printf("Failed to close %s!\n\n", productDescription);
|
||||
printLastError();
|
||||
printf("\n");
|
||||
}
|
||||
}
|
||||
//exit
|
||||
printf("Exiting program\n");
|
||||
return 0;
|
||||
}
|
||||
Reference in New Issue
Block a user