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https://github.com/intrepidcs/libicsneo.git
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API: Add icsneoc2
This commit is contained in:
Thomas Stoddard
committed by
Kyle Schwarz
Kyle Schwarz
parent
294e707924
commit
682299cb8c
@@ -0,0 +1,6 @@
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add_executable(libicsneoc2-simple-example src/main.c)
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target_link_libraries(libicsneoc2-simple-example icsneoc2-static)
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if(WIN32)
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target_compile_definitions(libicsneoc2-simple-example PRIVATE _CRT_SECURE_NO_WARNINGS)
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endif()
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@@ -0,0 +1,411 @@
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#include <icsneo/icsneoc2.h>
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#include <icsneo/icsneoc2messages.h>
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#include <icsneo/icsneoc2settings.h>
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#ifdef _WIN32
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#include <windows.h>
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#else
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#include <unistd.h>
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#endif
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#include <stdio.h>
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#include <inttypes.h>
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#include <time.h>
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/**
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* Sleeps for a specified number of milliseconds using Sleep() on Windows and sleep() on *nix.
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*
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* @param ms The number of milliseconds to sleep.
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*/
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void sleep_ms(uint32_t ms) {
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#ifdef _WIN32
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Sleep(ms);
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#else
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sleep(ms / 1000);
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#endif
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}
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/**
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* Prints an error message with the given string and error code.
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*
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* If the error code is not icsneoc2_error_success, prints the error string for the given error code
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* and returns the error code.
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*
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* @param message The message to print.
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* @param error The error code to print.
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* @return error as int
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*/
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int print_error_code(const char* message, icsneoc2_error_t error) {
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char error_str[64];
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size_t error_str_len = sizeof(error_str);
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icsneoc2_error_t res = icsneoc2_error_code_get(error, error_str, &error_str_len);
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if(res != icsneoc2_error_success) {
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printf("%s: Failed to get string for error code %d with error code %d\n", message, error, res);
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return res;
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}
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printf("%s: \"%s\" (%u)\n", message, error_str, error);
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return (int)error;
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}
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/**
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* Processes a list of messages from a device.
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*
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* This function iterates over a given array of messages received from a specified device.
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* For each message in the array, it retrieves and prints the message type and bus type.
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* If an error occurs while retrieving these details, an error message is printed.
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*
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* @param messages An array of pointers to icsneoc2_message_t structures containing the messages to process.
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* @param messages_count The number of messages in the messages array.
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*
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* @return An icsneoc2_error_t value indicating success or failure of the message processing.
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*/
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int process_messages(icsneoc2_message_t** messages, size_t messages_count);
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/**
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* Prints all events
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*
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* @param device_description A description of the device used in the output.
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*/
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void print_events(const char* device_description);
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/**
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* Transmits a series of CAN messages from a device.
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*
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* This function creates and transmits 100 CAN messages with incrementing payload data.
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* Each message is configured with specific attributes such as network ID, arbitration
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* ID, CANFD status, extended status, and baudrate switch. After successfully transmitting
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* each message, it is freed from memory.
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*
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* @param device A pointer to the icsneoc2_device_t structure representing the device to transmit messages from.
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*
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* @return An icsneoc2_error_t value indicating success or failure of the message transmission process.
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*/
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int transmit_can_messages(icsneoc2_device_t* device);
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/**
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* Get the RTC (Real time clock) of a device and print it.
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*
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* @param[in] device The device to get the RTC of.
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* @param[in] description A description of the device for printing purpose.
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*
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* @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters otherwise.
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*/
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icsneoc2_error_t get_and_print_rtc(icsneoc2_device_t* device);
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int main() {
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icsneoc2_device_info_t* found_devices = NULL;
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printf("Finding devices...\n");
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icsneoc2_error_t res = icsneoc2_device_enumerate(0, &found_devices);
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if(res != icsneoc2_error_success) {
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return print_error_code("\tFailed to find devices", res);
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}
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if(found_devices == NULL) {
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printf("No devices found, exiting\n");
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return 0;
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}
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// Count and list off the devices
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size_t devices_count = 0;
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for(icsneoc2_device_info_t* cur = found_devices; cur != NULL; cur = icsneoc2_device_info_next(cur)) {
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devices_count++;
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}
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printf("OK, %zu device%s found\n", devices_count, devices_count == 1 ? "" : "s");
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for(icsneoc2_device_info_t* cur = found_devices; cur != NULL; cur = icsneoc2_device_info_next(cur)) {
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// Get description of the device
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char description[255] = {0};
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size_t description_length = 255;
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res = icsneoc2_device_info_description_get(cur, description, &description_length);
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if(res != icsneoc2_error_success) {
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return print_error_code("\tFailed to get device description", res);
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};
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printf("%.*s\n", (int)description_length, description);
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// Open the device without RTC sync and going online
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icsneoc2_open_options_t options = icsneoc2_open_options_default;
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options &= ~ICSNEOC2_OPEN_OPTIONS_SYNC_RTC;
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options &= ~ICSNEOC2_OPEN_OPTIONS_GO_ONLINE;
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printf("\tDevice open options: 0x%x\n", options);
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printf("\tOpening device: %s...\n", description);
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icsneoc2_device_t* open_device = NULL;
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res = icsneoc2_device_open(cur, options, &open_device);
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if(res != icsneoc2_error_success) {
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return print_error_code("\tFailed to open device", res);
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};
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// Get timestamp resolution of the device
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printf("\tGetting timestamp resolution... ");
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uint32_t timestamp_resolution = 0;
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res = icsneoc2_device_timestamp_resolution_get(open_device, ×tamp_resolution);
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if(res != icsneoc2_error_success) {
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print_events(description);
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return print_error_code("\tFailed to get timestamp resolution", res);
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}
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printf("%uns\n", timestamp_resolution);
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// Get baudrates for HSCAN
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printf("\tGetting DW CAN 01 Baudrate... ");
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int64_t baudrate = 0;
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res = icsneoc2_settings_baudrate_get(open_device, icsneoc2_netid_dwcan_01, &baudrate);
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if(res != icsneoc2_error_success) {
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print_events(description);
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return print_error_code("\tFailed to get baudrate", res);
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};
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printf("%" PRIu64 "mbit/s\n", baudrate);
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// Get FDbaudrates for HSCAN
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printf("\tGetting FD DW CAN 01 Baudrate... ");
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int64_t fd_baudrate = 0;
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res = icsneoc2_settings_canfd_baudrate_get(open_device, icsneoc2_netid_dwcan_01, &fd_baudrate);
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if(res != icsneoc2_error_success) {
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print_events(description);
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return print_error_code("\tFailed to get FD baudrate", res);
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};
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printf("%" PRIu64 "mbit/s\n", fd_baudrate);
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// Set baudrates for HSCAN
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// save_to_device: If this is set to true, the baudrate will be saved on the device
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// and will persist through a power cycle
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printf("\tSetting DW CAN 01 Baudrate... ");
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res = icsneoc2_settings_baudrate_set(open_device, icsneoc2_netid_dwcan_01, baudrate);
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if(res != icsneoc2_error_success) {
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print_events(description);
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return print_error_code("\tFailed to set baudrate", res);
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};
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printf("Ok\n");
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// Set FDbaudrates for HSCAN
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printf("\tSetting FD DW CAN 01 Baudrate... ");
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res = icsneoc2_settings_canfd_baudrate_set(open_device, icsneoc2_netid_dwcan_01, fd_baudrate);
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if(res != icsneoc2_error_success) {
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print_events(description);
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return print_error_code("\tFailed to set FD baudrate", res);
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};
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printf("Ok\n");
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// Get RTC
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printf("\tGetting RTC... ");
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res = get_and_print_rtc(open_device);
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if(res != icsneoc2_error_success) {
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print_events(description);
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return print_error_code("\tFailed to get RTC", res);
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}
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// Set RTC
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printf("\tSetting RTC to current time... ");
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time_t current_time = time(NULL);
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res = icsneoc2_device_rtc_set(open_device, current_time);
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if(res != icsneoc2_error_success) {
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print_events(description);
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return print_error_code("\tFailed to set RTC", res);
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}
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printf("Ok\n");
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// Get RTC
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printf("\tGetting RTC... ");
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res = get_and_print_rtc(open_device);
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if(res != icsneoc2_error_success) {
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print_events(description);
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return print_error_code("\tFailed to get RTC", res);
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}
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// Go online, start acking traffic
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printf("\tGoing online... ");
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res = icsneoc2_device_go_online(open_device, true);
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if(res != icsneoc2_error_success) {
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print_events(description);
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return print_error_code("\tFailed to go online", res);
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}
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// Redundant check to show how to check if the device is online, if the previous
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// icsneoc2_device_go_online call was successful we can assume we are online already
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bool is_online = false;
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res = icsneoc2_device_is_online(open_device, &is_online);
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if(res != icsneoc2_error_success) {
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print_events(description);
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return print_error_code("\tFailed to check if online", res);
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}
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printf("%s\n", is_online ? "Online" : "Offline");
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// Transmit CAN messages
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res = transmit_can_messages(open_device);
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if(res != icsneoc2_error_success) {
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print_events(description);
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return print_error_code("\tFailed to transmit CAN messages", res);
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}
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// Wait for the bus to collect some messages, requires an active bus to get messages
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printf("\tWaiting 1 second for messages...\n");
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sleep_ms(1000);
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// Get the messages
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icsneoc2_message_t* messages[20000] = {0};
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size_t message_count = 20000;
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printf("\tGetting messages from device with timeout of 3000ms on %s...\n", description);
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for(size_t i = 0; i < message_count; ++i) {
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res = icsneoc2_device_message_get(open_device, &messages[i], 0);
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if(res != icsneoc2_error_success) {
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print_events(description);
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return print_error_code("\tFailed to get messages from device", res);
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};
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if(messages[i] == NULL) {
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// no more messages
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message_count = i;
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break;
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}
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}
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// Process the messages
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res = process_messages(messages, message_count);
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if(res != icsneoc2_error_success) {
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print_events(description);
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return print_error_code("\tFailed to process messages", res);
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}
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for(size_t i = 0; i < message_count; ++i) {
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icsneoc2_message_free(messages[i]);
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}
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// Finally, close the device.
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printf("\tClosing device: %s...\n", description);
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res = icsneoc2_device_close(open_device);
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if(res != icsneoc2_error_success) {
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print_events(description);
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return print_error_code("\tFailed to close device", res);
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};
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// Print device events
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print_events(description);
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}
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icsneoc2_enumeration_free(found_devices);
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printf("\n");
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return 0;
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}
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icsneoc2_error_t get_and_print_rtc(icsneoc2_device_t* device) {
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time_t unix_epoch = 0;
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icsneoc2_error_t res = icsneoc2_device_rtc_get(device, &unix_epoch);
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if(res != icsneoc2_error_success) {
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return res;
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}
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char rtc_time[32] = {0};
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strftime(rtc_time, sizeof(rtc_time), "%Y-%m-%d %H:%M:%S", localtime(&unix_epoch));
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printf("RTC: %lld %s\n", (long long)unix_epoch, rtc_time);
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return icsneoc2_error_success;
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}
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void print_events(const char* device_description) {
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icsneoc2_event_t* events[1024] = {0};
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size_t events_count = 1024;
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for(size_t i = 0; i < events_count; ++i) {
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// no device filter, get all events
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icsneoc2_error_t res = icsneoc2_event_get(&events[i], NULL);
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if(res != icsneoc2_error_success) {
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(void)print_error_code("\tFailed to get device events", res);
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return;
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}
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if(events[i] == NULL) {
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events_count = i;
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break;
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}
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}
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// Loop over each event and describe it.
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for(size_t i = 0; i < events_count; i++) {
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char event_description[255] = {0};
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size_t event_description_length = 255;
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icsneoc2_error_t res = icsneoc2_event_description_get(events[i], event_description, &event_description_length);
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if(res != icsneoc2_error_success) {
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print_error_code("\tFailed to get event description", res);
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continue;
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}
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printf("\t%s: Event %zu: %s\n", device_description, i, event_description);
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}
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for(size_t i = 0; i < events_count; i++) {
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icsneoc2_event_free(events[i]);
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}
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printf("\t%s: Received %zu events\n", device_description, events_count);
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}
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int process_messages(icsneoc2_message_t** messages, size_t messages_count) {
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// Print the type and bus type of each message
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size_t tx_count = 0;
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for(size_t i = 0; i < messages_count; i++) {
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icsneoc2_message_t* message = messages[i];
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bool is_frame = false;
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icsneoc2_error_t res = icsneoc2_message_is_frame(message, &is_frame);
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if(res != icsneoc2_error_success) {
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return print_error_code("\tFailed to check if message is a frame", res);
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}
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if(!is_frame) {
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printf("Ignoring non-frame message at index %zu\n", i);
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continue;
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}
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icsneoc2_network_type_t network_type;
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res = icsneoc2_message_network_type_get(message, &network_type);
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if(res != icsneoc2_error_success) {
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return print_error_code("\tFailed to get message network type", res);
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}
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char network_type_name[128] = {0};
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size_t network_type_name_length = 128;
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res = icsneoc2_network_type_name_get(network_type, network_type_name, &network_type_name_length);
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if(res != icsneoc2_error_success) {
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return print_error_code("\tFailed to get network type name", res);
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}
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bool is_tx = false;
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res = icsneoc2_message_is_transmit(message, &is_tx);
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if(res != icsneoc2_error_success) {
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return print_error_code("\tFailed to get message is transmit", res);
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}
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if(is_tx) {
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tx_count++;
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continue;
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}
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printf("\t%zd) network type: %s (%u)\n", i, network_type_name, network_type);
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if(network_type == icsneoc2_network_type_can) {
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uint32_t arbid = 0;
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int32_t dlc = 0;
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icsneoc2_netid_t netid = 0;
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bool is_remote = false;
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bool is_canfd = false;
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bool is_extended = false;
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uint8_t data[64] = {0};
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size_t data_length = 64;
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char netid_name[128] = {0};
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size_t netid_name_length = 128;
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icsneoc2_error_t result = icsneoc2_message_netid_get(message, &netid);
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result += icsneoc2_netid_name_get(netid, netid_name, &netid_name_length);
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result += icsneoc2_message_data_get(message, data, &data_length);
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if(result != icsneoc2_error_success) {
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printf("\tFailed get get CAN parameters (error: %u) for index %zu\n", result, i);
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continue;
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}
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printf("\t NetID: %s (0x%x)\tArbID: 0x%x\t DLC: %u\t Remote: %d\t CANFD: %d\t Extended: %d\t Data length: %zu\n", netid_name, netid, arbid, dlc, is_remote, is_canfd, is_extended, data_length);
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printf("\t Data: [");
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for(size_t x = 0; x < data_length; x++) {
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printf(" 0x%x", data[x]);
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}
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printf(" ]\n");
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}
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}
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printf("\tReceived %zu messages total, %zu were TX messages\n", messages_count, tx_count);
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return icsneoc2_error_success;
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}
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int transmit_can_messages(icsneoc2_device_t* device) {
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uint64_t counter = 0;
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const size_t msg_count = 100;
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printf("\tTransmitting %zd messages...\n", msg_count);
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for(size_t i = 0; i < msg_count; i++) {
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// Create the message
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icsneoc2_message_t* message = NULL;
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icsneoc2_error_t res = icsneoc2_message_can_create(&message);
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if(res != icsneoc2_error_success) {
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return print_error_code("\tFailed to create messages", res);
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}
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// Set the message attributes
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res = icsneoc2_message_netid_set(message, icsneoc2_netid_dwcan_01);
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uint64_t arb_id = 0x10;
|
||||
uint64_t flags = ICSNEOC2_MESSAGE_CAN_FLAGS_BRS | ICSNEOC2_MESSAGE_CAN_FLAGS_IDE | ICSNEOC2_MESSAGE_CAN_FLAGS_FDF;
|
||||
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) {
|
||||
return print_error_code("\tFailed to modify message", res);
|
||||
}
|
||||
res = icsneoc2_device_message_transmit(device, message);
|
||||
res += icsneoc2_message_free(message);
|
||||
if(res != icsneoc2_error_success) {
|
||||
return print_error_code("\tFailed to transmit message", res);
|
||||
}
|
||||
counter++;
|
||||
}
|
||||
|
||||
return icsneoc2_error_success;
|
||||
}
|
||||
Reference in New Issue
Block a user