mirror of
https://github.com/intrepidcs/libicsneo.git
synced 2026-08-05 09:28:40 +02:00
API: Added icsneoc2.
Signed-off-by: David Rebbe <drebbe@intrepidcs.com>
This commit is contained in:
David Rebbe
@@ -0,0 +1,333 @@
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use icsneoc2rs::ffi::_icsneoc2_msg_bus_type_t::*;
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use icsneoc2rs::ffi::_icsneoc2_msg_type_t::*;
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use icsneoc2rs::ffi::_icsneoc2_netid_t;
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use icsneoc2rs::ffi::_icsneoc2_netid_t::*;
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use icsneoc2rs::ffi::_icsneoc2_open_options_t::*;
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use icsneoc2rs::ffi::icsneoc2_message_t;
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use icsneoc2rs::ffi::icsneoc2_msg_bus_type_t;
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use icsneoc2rs::ffi::icsneoc2_msg_type_t;
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use icsneoc2rs::ffi::icsneoc2_netid_t;
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use icsneoc2rs::Device;
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use icsneoc2rs::Error;
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use icsneoc2rs::Result as ICSNeoResult;
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use scopeguard::defer;
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fn main() -> ICSNeoResult<()> {
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print!("Finding devices... ");
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let devices = Device::find_all(255)?;
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println!(
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"OK, {} device{} found...",
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devices.len(),
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if devices.len() > 1 { "s" } else { "" }
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);
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for device in devices {
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device.device_is_valid()?;
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// Get description of the device
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let description = match device.device_description_get() {
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Ok(description) => description,
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Err(err) => {
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println!("Failed to get description of device: {err}");
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continue;
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}
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};
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println!("{} @ Handle {:?}", description, device.handle);
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// Get/Set open options
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let mut open_options = match device.device_open_options_get() {
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Ok(value) => value,
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Err(err) => {
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println!("Failed to get open options of device: {err}");
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continue;
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}
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};
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// Disable Syncing RTC and going online
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open_options &= !(icsneoc2_open_options_sync_rtc as u32);
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open_options &= !(icsneoc2_open_options_go_online as u32);
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match device.device_open_options_set(open_options) {
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Ok(value) => value,
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Err(err) => {
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print_error(&device, &description, err);
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continue;
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}
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};
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println!("\tDevice open options: {open_options:#02x}");
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// Open the device
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print!("\tOpening device... ");
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match device.device_open() {
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Ok(value) => value,
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Err(err) => {
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print_error(&device, &description, err);
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continue;
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}
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};
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println!("OK");
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defer! {
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print_device_events(&device, &description).expect("Critical: Failed to print device events");
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}
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// Get timestamp resolution of the device
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print!("\tGetting timestamp resolution... ");
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let timestamp_resolution = match device.device_timestamp_resolution_get() {
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Ok(value) => value,
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Err(err) => {
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print_error(&device, &description, err);
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continue;
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}
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};
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println!("{timestamp_resolution}ns");
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// Get baudrates for HSCAN
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print!("\tGetting HSCAN baudrate... ");
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let baudrate = match device.device_baudrate_get(icsneoc2_netid_hscan) {
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Ok(value) => value,
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Err(err) => {
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print_error(&device, &description, err);
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continue;
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}
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};
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println!("{baudrate}mbit/s");
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// Get FD baudrates for HSCAN
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print!("\tGetting FD HSCAN baudrate... ");
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let fd_baudrate = match device.device_canfd_baudrate_get(icsneoc2_netid_hscan) {
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Ok(value) => value,
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Err(err) => {
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print_error(&device, &description, err);
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continue;
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}
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};
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println!("{fd_baudrate}mbit/s");
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// Set baudrates for HSCAN
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// saveToDevice: 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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print!("\tSetting HSCAN baudrate... ");
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let save_to_device = false;
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match device.device_baudrate_set(icsneoc2_netid_hscan, baudrate, save_to_device) {
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Ok(value) => value,
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Err(err) => {
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print_error(&device, &description, err);
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continue;
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}
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};
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println!("OK");
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// Set FD baudrates for HSCAN
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print!("\tSetting FD HSCAN baudrate... ");
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match device.device_canfd_baudrate_set(icsneoc2_netid_hscan, fd_baudrate, save_to_device) {
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Ok(value) => value,
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Err(err) => {
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print_error(&device, &description, err);
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continue;
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}
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};
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println!("OK");
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// Get RTC
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print!("\tGetting RTC... ");
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let current_rtc = match device.device_rtc_get() {
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Ok(value) => value,
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Err(err) => {
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print_error(&device, &description, err);
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continue;
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}
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};
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println!("{current_rtc}");
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// Set RTC
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print!("\tSetting RTC... ");
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match device.device_rtc_set(current_rtc) {
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Ok(value) => value,
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Err(err) => {
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print_error(&device, &description, err);
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continue;
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}
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};
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println!("OK");
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// Get RTC
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print!("\tGetting RTC... ");
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let rtc = match device.device_rtc_get() {
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Ok(value) => value,
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Err(err) => {
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print_error(&device, &description, err);
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continue;
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}
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};
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println!("{rtc}");
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// Go online, start acking traffic
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print!("\tGoing online... ");
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match device.device_go_online(true) {
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Ok(value) => value,
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Err(err) => {
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print_error(&device, &description, err);
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continue;
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}
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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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let is_online = match device.device_is_online() {
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Ok(value) => value,
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Err(err) => {
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print_error(&device, &description, err);
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continue;
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}
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};
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println!("{}", if is_online { "Online" } else { "Offline" });
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// Transmit CAN messages
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if transmit_can_messages(&device).is_err() {
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continue;
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}
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println!("\tWaiting 1 second for messages...");
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std::thread::sleep(std::time::Duration::from_secs(1));
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// Get the messages
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let messages = match device.device_messages_get(20000, 3000) {
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Ok(messages) => messages,
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Err(err) => {
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print_error(&device, &description, err);
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continue;
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}
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};
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// Process the messages
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if process_messages(&device, messages).is_err() {
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continue;
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}
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// Close the device
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print!("\tClosing device... ");
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match device.device_close() {
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Ok(value) => value,
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Err(err) => {
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print_error(&device, &description, err);
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continue;
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}
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};
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println!("OK");
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}
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Ok(())
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}
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fn print_error(device: &Device, device_description: &String, err: Error) {
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println!("Failed: {err}");
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print_device_events(device, device_description)
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.expect("Critical: Failed to print device events");
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}
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fn transmit_can_messages(device: &Device) -> ICSNeoResult<()> {
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const MESSAGE_COUNT: usize = 100;
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println!("\tTransmitting {MESSAGE_COUNT} messages...");
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for i in 0..MESSAGE_COUNT {
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let message = match device.message_can_create(1) {
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Ok(messages) => messages[0],
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Err(err) => {
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println!("Failed to create CAN message #{i}: {err}");
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continue;
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}
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};
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device.message_netid_set(message, icsneoc2_netid_hscan)?;
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device.message_can_arbid_set(message, 0x10)?;
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device.message_can_canfd_set(message, true)?;
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device.message_can_extended_set(message, true)?;
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device.message_can_baudrate_switch_set(message, true)?;
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device.message_data_set(
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message,
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vec![
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(i >> 56 & 0xFF) as u8,
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(i >> 48 & 0xFF) as u8,
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(i >> 40 & 0xFF) as u8,
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(i >> 32 & 0xFF) as u8,
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(i >> 24 & 0xFF) as u8,
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(i >> 16 & 0xFF) as u8,
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(i >> 8 & 0xFF) as u8,
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(i & 0xFF) as u8,
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],
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)?;
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device.message_can_dlc_set(message, -1)?;
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device.device_messages_transmit(vec![message])?;
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}
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Ok(())
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}
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fn process_messages(device: &Device, messages: Vec<*mut icsneoc2_message_t>) -> ICSNeoResult<()> {
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let mut tx_count: u32 = 0;
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for (i, message) in messages.iter().enumerate() {
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// Get the message type
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let msg_type = device.message_type_get(*message)?;
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// Get the message type name
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let msg_type_name = device.message_type_name_get(msg_type)?;
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// Check if the message is a bus message, ignore otherwise
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if msg_type != icsneoc2_msg_type_bus as icsneoc2_msg_type_t {
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println!("\tIgnoring message type : {msg_type} ({msg_type_name})");
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continue;
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}
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// Get the message bus type
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let msg_bus_type = device.message_bus_type_get(*message)?;
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// Get the message type name
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let msg_bus_type_name = device.bus_type_name_get(msg_bus_type)?;
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// Check if message is a transmit message
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if device.message_is_transmit(*message)? {
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tx_count += 1;
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continue;
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}
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println!("\t{i} Message type: {msg_type} bus type: {msg_bus_type_name} ({msg_bus_type})\n");
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// Check if the message is a CAN message, ignore otherwise
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if msg_bus_type == icsneoc2_msg_bus_type_can as icsneoc2_msg_bus_type_t {
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let netid = device.message_netid_get(*message)?;
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let netid_name = device.netid_name_get(netid)?;
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let arbid = device.message_can_arbid_get(*message)?;
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let dlc = device.message_can_dlc_get(*message)?;
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let is_remote = device.message_can_is_remote(*message)?;
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let is_canfd = device.message_can_is_canfd(*message)?;
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let is_extended = device.message_can_is_extended(*message)?;
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let data = device.message_data_get(*message, 64)?;
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// Finally lets print the RX message
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println!("\t NetID: {netid_name} ({:#02x})\tArbID: {arbid:#02x}\t DLC: {dlc}\t Remote: {is_remote}\t \
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CANFD: {is_canfd}\t Extended: {is_extended}\t Data length: {}\n", netid as icsneoc2_netid_t,data.len());
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println!("\t Data: {data:#02x?}\n");
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} else {
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println!("\tIgnoring bus message type: {msg_bus_type} ({msg_bus_type_name})\n");
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}
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}
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println!(
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"\tReceived {} messages total, {} were TX messages",
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messages.len(),
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tx_count
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);
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Ok(())
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}
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fn print_device_events(device: &Device, device_description: &String) -> ICSNeoResult<()> {
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let events = match device.device_events_get(1024) {
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Ok(events) => events,
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Err(err) => {
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println!("Failed to get device events: {err}");
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return Err(err);
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}
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};
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for (i, event) in events.iter().enumerate() {
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let description = match device.event_description_get(*event) {
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Ok(description) => description,
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Err(err) => {
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println!("Failed to get event description: {err}");
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continue;
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}
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};
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println!("\t{device_description}: Event {i}: {description}");
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}
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// Get global events
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let global_events = match device.events_get(1024) {
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Ok(events) => events,
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Err(err) => {
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println!("Failed to get global events: {err}");
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return Err(err);
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}
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};
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for (i, event) in global_events.iter().enumerate() {
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let description = match device.event_description_get(*event) {
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Ok(description) => description,
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Err(err) => {
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println!("Failed to get event description: {err}");
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continue;
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}
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};
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println!("\t{device_description}: Global Event {i}: {description}");
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}
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println!(
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"\t{device_description}: Received {} events and {} global events\n",
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events.len(),
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global_events.len()
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);
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Ok(())
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}
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