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API: Added icsneoc2.
Signed-off-by: David Rebbe <drebbe@intrepidcs.com>
This commit is contained in:
David Rebbe
@@ -0,0 +1,2 @@
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add_executable(libicsneo-simple-example src/main.c)
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target_link_libraries(libicsneo-simple-example icsneoc2)
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@@ -0,0 +1,454 @@
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#include <icsneo/icsneoc2.h>
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#include <stdio.h>
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#include <time.h>
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#if defined(_WIN32) || defined(_WIN64)
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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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/**
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* @brief Sleeps for a specified number of milliseconds.
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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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#if defined(_WIN32) || defined(_WIN64)
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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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* @brief 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[256] = {0};
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uint32_t error_length = 256;
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icsneoc2_error_t res = icsneoc2_error_code_get(error, error_str, &error_length);
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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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* @brief 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 device A pointer to the icsneoc2_device_t structure representing the device.
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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_device_t* device, icsneoc2_message_t** messages, uint32_t messages_count);
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/**
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* @brief Prints device and global events for a given device.
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*
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* This function retrieves and prints all current events associated with the specified device,
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* as well as any global events not tied to a specific device. For each event, it retrieves
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* and prints a description. If retrieving events or their descriptions fails, an error
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* message is printed. The function also prints a summary of the count of device-specific
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* and global events processed.
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*
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* @param device A pointer to the icsneoc2_device_t structure representing the device to get events from.
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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_device_events(icsneoc2_device_t* device, const char* device_description);
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/**
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* @brief 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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* @brief 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, const char* description);
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int main(int argc, char* argv[]) {
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(void)argc;
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(void)argv;
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icsneoc2_device_t* devices[255] = {0};
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uint32_t devices_count = 255;
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printf("Finding devices...\n");
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icsneoc2_error_t res = icsneoc2_device_find_all(devices, &devices_count, NULL);
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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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printf("OK, %u device%s found\n", devices_count, devices_count == 1 ? "" : "s");
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// List off the devices
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for (uint32_t i = 0; i < devices_count; i++) {
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icsneoc2_device_t* device = devices[i];
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// Get description of the device
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const char description[255] = {0};
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uint32_t description_length = 255;
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res = icsneoc2_device_description_get(device, description, &description_length);
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if (res != icsneoc2_error_success) {
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print_device_events(device, description);
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return print_error_code("\tFailed to get device description", res);
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};
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printf("%.*s @ Handle %p\n", description_length, description, device);
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// Get/Set open options
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icsneoc2_open_options_t options = icsneoc2_open_options_none;
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res = icsneoc2_device_open_options_get(device, &options);
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if (res != icsneoc2_error_success) {
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print_device_events(device, description);
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return print_error_code("\tFailed to get open options", res);
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}
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// Disable Syncing RTC and going online
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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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res = icsneoc2_device_open_options_set(device, options);
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if (res != icsneoc2_error_success) {
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print_device_events(device, description);
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return print_error_code("\tFailed to set open options", res);
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}
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// Open the device
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printf("\tOpening device: %s...\n", description);
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res = icsneoc2_device_open(device);
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if (res != icsneoc2_error_success) {
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print_device_events(device, description);
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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(device, ×tamp_resolution);
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if (res != icsneoc2_error_success) {
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print_device_events(device, 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 HSCAN Baudrate... ");
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uint64_t baudrate = 0;
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res = icsneoc2_device_baudrate_get(device, icsneoc2_netid_hscan, &baudrate);
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if (res != icsneoc2_error_success) {
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print_device_events(device, description);
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return print_error_code("\tFailed to get baudrate", res);
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};
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printf("%llumbit/s\n", baudrate);
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// Get FDbaudrates for HSCAN
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printf("\tGetting FD HSCAN Baudrate... ");
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uint64_t fd_baudrate = 0;
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res = icsneoc2_device_canfd_baudrate_get(device, icsneoc2_netid_hscan, &fd_baudrate);
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if (res != icsneoc2_error_success) {
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print_device_events(device, description);
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return print_error_code("\tFailed to get FD baudrate", res);
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};
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printf("%llumbit/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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bool save_to_device = false;
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printf("\tSetting HSCAN Baudrate... ");
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res = icsneoc2_device_baudrate_set(device, icsneoc2_netid_hscan, baudrate, save_to_device);
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if (res != icsneoc2_error_success) {
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print_device_events(device, 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 HSCAN Baudrate... ");
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res = icsneoc2_device_canfd_baudrate_set(device, icsneoc2_netid_hscan, fd_baudrate, save_to_device);
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if (res != icsneoc2_error_success) {
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print_device_events(device, 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(device, description);
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if (res != icsneoc2_error_success) {
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print_device_events(device, 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(device, current_time);
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if (res != icsneoc2_error_success) {
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print_device_events(device, 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(device, description);
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if (res != icsneoc2_error_success) {
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print_device_events(device, 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(device, true);
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if (res != icsneoc2_error_success) {
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print_device_events(device, 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(device, &is_online);
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if (res != icsneoc2_error_success) {
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print_device_events(device, 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(device);
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if (res != icsneoc2_error_success) {
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print_device_events(device, 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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uint32_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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res = icsneoc2_device_messages_get(device, messages, &message_count, 3000);
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if (res != icsneoc2_error_success) {
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print_device_events(device, description);
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return print_error_code("\tFailed to get messages from device", res);
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};
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// Process the messages
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res = process_messages(device, messages, message_count);
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if (res != icsneoc2_error_success) {
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print_device_events(device, description);
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return print_error_code("\tFailed to process messages", res);
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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(device);
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if (res != icsneoc2_error_success) {
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print_device_events(device, 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_device_events(device, description);
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}
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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, const char* description) {
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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", unix_epoch, rtc_time);
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return icsneoc2_error_success;
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}
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void print_device_events(icsneoc2_device_t* device, const char* device_description) {
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// Get device events
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icsneoc2_event_t* events[1024] = {0};
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uint32_t events_count = 1024;
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icsneoc2_error_t res = icsneoc2_device_events_get(device, events, &events_count);
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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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// Loop over each event and describe it.
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for (uint32_t i = 0; i < events_count; i++) {
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const char event_description[255] = {0};
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uint32_t event_description_length = 255;
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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 %u: %s\n", device_description, i, event_description);
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}
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// Get global events
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icsneoc2_event_t* global_events[1024] = {0};
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uint32_t global_events_count = 1024;
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res = icsneoc2_events_get(global_events, &global_events_count);
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if (res != icsneoc2_error_success) {
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(void)print_error_code("\tFailed to get global events", res);
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return;
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}
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// Loop over each event and describe it.
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for (uint32_t i = 0; i < global_events_count; i++) {
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const char event_description[255] = {0};
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uint32_t event_description_length = 255;
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res = icsneoc2_event_description_get(global_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 global event description", res);
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continue;
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}
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printf("\t%s: Global Event %u: %s\n", device_description, i, event_description);
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}
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printf("\t%s: Received %u events and %u global events\n", device_description, events_count, global_events_count);
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}
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int process_messages(icsneoc2_device_t* device, icsneoc2_message_t** messages, uint32_t messages_count) {
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// Print the type and bus type of each message
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uint32_t tx_count = 0;
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for (uint32_t i = 0; i < messages_count; i++) {
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icsneoc2_message_t* message = messages[i];
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// Get the message type
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icsneoc2_msg_type_t msg_type = 0;
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icsneoc2_error_t res = icsneoc2_message_type_get(device, message, &msg_type);
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if (res != icsneoc2_error_success) {
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return print_error_code("\tFailed to get message type", res);
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}
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// Get the message type name
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char msg_type_name[128] = {0};
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uint32_t msg_type_name_length = 128;
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res = icsneoc2_message_type_name_get(msg_type, msg_type_name, &msg_type_name_length);
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if (res != icsneoc2_error_success) {
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return print_error_code("\tFailed to get message type name", res);
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}
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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) {
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printf("Ignoring message type: %u (%s)\n", msg_type, msg_type_name);
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continue;
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}
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icsneoc2_msg_bus_type_t bus_type = 0;
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res = icsneoc2_message_bus_type_get(device, message, &bus_type);
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if (res != icsneoc2_error_success) {
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return print_error_code("\tFailed to get message bus type", res);
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}
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const char bus_name[128] = {0};
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uint32_t bus_name_length = 128;
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res = icsneoc2_bus_type_name_get(bus_type, bus_name, &bus_name_length);
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if (res != icsneoc2_error_success) {
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return print_error_code("\tFailed to get message bus type name", res);
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}
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bool is_tx = false;
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res = icsneoc2_message_is_transmit(device, 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%d) Message type: %u bus type: %s (%u)\n", i, msg_type, bus_name, bus_type);
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if (bus_type == icsneoc2_msg_bus_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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uint32_t data_length = 64;
|
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const char netid_name[128] = {0};
|
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uint32_t netid_name_length = 128;
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uint32_t result = icsneoc2_message_netid_get(device, message, &netid);
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result += icsneoc2_netid_name_get(netid, netid_name, &netid_name_length);
|
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result += icsneoc2_message_can_arbid_get(device, message, &arbid);
|
||||
result += icsneoc2_message_can_dlc_get(device, message, &dlc);
|
||||
result += icsneoc2_message_can_is_remote(device, message, &is_remote);
|
||||
result += icsneoc2_message_can_is_canfd(device, message, &is_canfd);
|
||||
result += icsneoc2_message_can_is_extended(device, message, &is_extended);
|
||||
result += icsneoc2_message_data_get(device, message, data, &data_length);
|
||||
if (result != icsneoc2_error_success) {
|
||||
printf("\tFailed get get CAN parameters (error: %u) for index %u\n", result, i);
|
||||
continue;
|
||||
}
|
||||
printf("\t NetID: %s (0x%x)\tArbID: 0x%x\t DLC: %u\t Remote: %d\t CANFD: %d\t Extended: %d\t Data length: %u\n", netid_name, netid, arbid, dlc, is_remote, is_canfd, is_extended, data_length);
|
||||
printf("\t Data: [");
|
||||
for (uint32_t x = 0; x < data_length; x++) {
|
||||
printf(" 0x%x", data[x]);
|
||||
}
|
||||
printf(" ]\n");
|
||||
}
|
||||
}
|
||||
printf("\tReceived %u messages total, %u were TX messages\n", messages_count, tx_count);
|
||||
|
||||
return icsneoc2_error_success;
|
||||
}
|
||||
|
||||
int transmit_can_messages(icsneoc2_device_t* device) {
|
||||
uint64_t counter = 0;
|
||||
const uint32_t msg_count = 100;
|
||||
printf("\tTransmitting %d messages...\n", msg_count);
|
||||
for (uint32_t i = 0; i < msg_count; i++) {
|
||||
// Create the message
|
||||
icsneoc2_message_t* message = NULL;
|
||||
uint32_t message_count = 1;
|
||||
icsneoc2_error_t res = icsneoc2_message_can_create(device, &message, message_count);
|
||||
if (res != icsneoc2_error_success) {
|
||||
return print_error_code("\tFailed to create messages", res);
|
||||
}
|
||||
// Set the message attributes
|
||||
res = icsneoc2_message_netid_set(device, message, icsneoc2_netid_hscan);
|
||||
res += icsneoc2_message_can_arbid_set(device, message, 0x10);
|
||||
res += icsneoc2_message_can_canfd_set(device, message, true);
|
||||
res += icsneoc2_message_can_extended_set(device, message, true);
|
||||
res += icsneoc2_message_can_baudrate_switch_set(device, message, true);
|
||||
// Create the payload
|
||||
uint8_t data[8] = {0};
|
||||
data[0] = (uint8_t)(counter >> 56);
|
||||
data[1] = (uint8_t)(counter >> 48);
|
||||
data[2] = (uint8_t)(counter >> 40);
|
||||
data[3] = (uint8_t)(counter >> 32);
|
||||
data[4] = (uint8_t)(counter >> 24);
|
||||
data[5] = (uint8_t)(counter >> 16);
|
||||
data[6] = (uint8_t)(counter >> 8);
|
||||
data[7] = (uint8_t)(counter >> 0);
|
||||
res += icsneoc2_message_data_set(device, message, data, sizeof(data));
|
||||
res += icsneoc2_message_can_dlc_set(device, message, -1);
|
||||
if (res != icsneoc2_error_success) {
|
||||
return print_error_code("\tFailed to modify message", res);
|
||||
}
|
||||
res = icsneoc2_device_messages_transmit(device, &message, &message_count);
|
||||
res += icsneoc2_message_can_free(device, message);
|
||||
if (res != icsneoc2_error_success) {
|
||||
return print_error_code("\tFailed to transmit messages", res);
|
||||
}
|
||||
counter++;
|
||||
}
|
||||
|
||||
return icsneoc2_error_success;
|
||||
}
|
||||
Reference in New Issue
Block a user