mirror of
https://github.com/intrepidcs/libicsneo.git
synced 2026-09-20 16:08:37 +02:00
API: Added icsneoc2.
Signed-off-by: David Rebbe <drebbe@intrepidcs.com>
This commit is contained in:
David Rebbe
@@ -0,0 +1,19 @@
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libicsneoc2 simple Go example
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====
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This is a mirror of the icsneoc2 C simple example, written in Go.
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Windows
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====
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- Install [msys64](https://www.msys2.org/) with gcc (`pacman -S mingw-w64-ucrt-x86_64-gcc`)
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- Setup environment variables:
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- add `C:\msys64\ucrt64\bin` to `PATH`
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- Powershell: `$env:PATH += ";C:\msys64\ucrt64\bin"`
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- `gcc --version` should return a version now
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- enable cgo: `CGO_ENABLED = 1`
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- Powershell: `$env:CGO_ENABLED=1`
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- Set compiler to gcc
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- Powershell: `$env:CC="gcc"`
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- `icsneoc2.dll` should be in path (or inside this directory)
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- `go run simple`
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@@ -0,0 +1,3 @@
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module simple
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go 1.23.4
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@@ -0,0 +1,354 @@
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package main
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// #cgo CFLAGS: -I../../../include
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// #cgo LDFLAGS: -L../../../build -licsneoc2
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// #include "icsneo/icsneoc2.h"
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// #include "stdint.h"
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import "C"
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import (
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"fmt"
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"time"
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"unsafe"
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)
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func main() {
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// Find devices connected to host.
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devices := [255]*C.icsneoc2_device_t{nil}
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devicesCount := 255
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print("Finding devices... ")
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if res := C.icsneoc2_device_find_all(&devices[0], (*C.uint)(unsafe.Pointer(&devicesCount)), nil); res != C.icsneoc2_error_success {
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printError(res)
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return
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}
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fmt.Printf("OK, %d device(s) found\n", devicesCount)
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// List off the devices
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for _, device := range devices[:devicesCount] {
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// Get description of the device
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description := make([]byte, 255)
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descriptionLength := 255
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if res := C.icsneoc2_device_description_get(device, (*C.char)(unsafe.Pointer(&description[0])), (*C.uint)(unsafe.Pointer(&descriptionLength))); res != C.icsneoc2_error_success {
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printError(res)
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continue
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}
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fmt.Printf("%s @ Handle %p\n", description, device)
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// Get/Set open options
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options := C.icsneoc2_open_options_none
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if res := C.icsneoc2_device_open_options_get(device, (*C.icsneoc2_open_options_t)(unsafe.Pointer(&options))); res != C.icsneoc2_error_success {
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printError(res)
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continue
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}
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options &= ^C.icsneoc2_open_options_sync_rtc
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options &= ^C.icsneoc2_open_options_go_online
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fmt.Printf("\tDevice open options: 0x%X\n", options)
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if res := C.icsneoc2_device_open_options_set(device, (C.icsneoc2_open_options_t)(options)); res != C.icsneoc2_error_success {
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printError(res)
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continue
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}
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// Open the device
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fmt.Printf("\tOpening device: %s...\n", description)
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if res := C.icsneoc2_device_open(device); res != C.icsneoc2_error_success {
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printError(res)
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continue
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}
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defer func() {
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if !printDeviceEvents(device, string(description)) {
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println("\tFailed to print events...")
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}
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fmt.Printf("\tClosing device: %s...\n", description)
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if res := C.icsneoc2_device_close(device); res != C.icsneoc2_error_success {
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printError(res)
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return
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}
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}()
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// Get timestamp resolution of the device
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fmt.Printf("\tGetting timestamp resolution... ")
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var timestampResolution C.uint = 0
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if res := C.icsneoc2_device_timestamp_resolution_get(device, ×tampResolution); res != C.icsneoc2_error_success {
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printError(res)
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return
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}
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fmt.Printf("%dns\n", timestampResolution)
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// Get baudrates for HSCAN
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fmt.Printf("\tGetting HSCAN Baudrate... ")
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var baudrate uint64 = 0
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if res := C.icsneoc2_device_baudrate_get(device, (C.icsneoc2_netid_t)(C.icsneoc2_netid_hscan), (*C.uint64_t)(unsafe.Pointer(&baudrate))); res != C.icsneoc2_error_success {
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printError(res)
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return
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}
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fmt.Printf("%dmbit/s\n", baudrate)
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// Get FD baudrates for HSCAN
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fmt.Printf("\tGetting FD HSCAN Baudrate... ")
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var fdBaudrate uint64 = 0
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if res := C.icsneoc2_device_canfd_baudrate_get(device, (C.icsneoc2_netid_t)(C.icsneoc2_netid_hscan), (*C.uint64_t)(unsafe.Pointer(&fdBaudrate))); res != C.icsneoc2_error_success {
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printError(res)
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return
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}
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fmt.Printf("%dmbit/s\n", fdBaudrate)
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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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var saveToDevice C.bool = false
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fmt.Printf("\tSetting HSCAN Baudrate... ")
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if res := C.icsneoc2_device_baudrate_set(device, (C.icsneoc2_netid_t)(C.icsneoc2_netid_hscan), (C.uint64_t)(baudrate), saveToDevice); res != C.icsneoc2_error_success {
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printError(res)
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return
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}
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fmt.Printf("OK\n")
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// Set FD baudrates for HSCAN
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fmt.Printf("\tSetting FD HSCAN Baudrate... ")
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if res := C.icsneoc2_device_canfd_baudrate_set(device, (C.icsneoc2_netid_t)(C.icsneoc2_netid_hscan), (C.uint64_t)(fdBaudrate), saveToDevice); res != C.icsneoc2_error_success {
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printError(res)
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return
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}
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fmt.Printf("OK\n")
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// Get RTC
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fmt.Printf("\tGetting RTC... ")
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var unix_epoch C.int64_t = 0
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if res := C.icsneoc2_device_rtc_get(device, (*C.int64_t)(unsafe.Pointer(&unix_epoch))); res != C.icsneoc2_error_success {
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printError(res)
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return
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}
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currentRTC := time.Unix(int64(unix_epoch), 0)
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fmt.Printf("%d %s\n", currentRTC.Unix(), currentRTC)
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// Set RTC
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fmt.Printf("\tSetting RTC... ")
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unix_epoch = (C.int64_t)(time.Now().Unix())
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if res := C.icsneoc2_device_rtc_set(device, unix_epoch); res != C.icsneoc2_error_success {
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printError(res)
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return
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}
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fmt.Printf("OK\n")
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// Get RTC
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fmt.Printf("\tGetting RTC... ")
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if res := C.icsneoc2_device_rtc_get(device, (*C.int64_t)(unsafe.Pointer(&unix_epoch))); res != C.icsneoc2_error_success {
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printError(res)
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return
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}
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currentRTC = time.Unix(int64(unix_epoch), 0)
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fmt.Printf("%d %s\n", currentRTC.Unix(), currentRTC)
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// Go online, start acking traffic
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fmt.Printf("\tGoing online... ")
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if res := C.icsneoc2_device_go_online(device, true); res != C.icsneoc2_error_success {
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printError(res)
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return
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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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var isOnline C.bool = false
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if res := C.icsneoc2_device_is_online(device, &isOnline); res != C.icsneoc2_error_success {
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printError(res)
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return
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}
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if isOnline {
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println("Online")
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} else {
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println("Offline")
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}
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// Transmit CAN messages
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if !transmitCANMessages(device) {
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return
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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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println("\tWaiting 1 second for messages...")
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time.Sleep(1 * time.Second)
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// Get the messages
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messages := [20000]*C.icsneoc2_message_t{nil}
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var messagesCount C.uint32_t = 20000
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if res := C.icsneoc2_device_messages_get(device, &messages[0], &messagesCount, 3000); res != C.icsneoc2_error_success {
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printError(res)
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return
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}
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// Process the messages
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if !processMessages(device, messages[0:messagesCount]) {
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return
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}
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}
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}
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func printError(err C.icsneoc2_error_t) C.icsneoc2_error_t {
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buffer := make([]byte, 255)
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bufferLength := 255
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res := C.icsneoc2_error_code_get(err, (*C.char)(unsafe.Pointer(&buffer[0])), (*C.uint)(unsafe.Pointer(&bufferLength)))
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if res != C.icsneoc2_error_success {
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println("\ticsneoc2_get_error_code failed, original error:", err)
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return res
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}
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println("\tError:", string(buffer[:bufferLength]))
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return res
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}
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func printDeviceEvents(device *C.icsneoc2_device_t, deviceDescription string) bool {
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// Get device events
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events := [1024]*C.icsneoc2_event_t{nil}
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var eventsCount C.uint32_t = 1024
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if res := C.icsneoc2_device_events_get(device, &events[0], &eventsCount); res != C.icsneoc2_error_success {
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printError(res)
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return false
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}
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for i, event := range events[:eventsCount] {
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eventDescription := make([]byte, 255)
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var eventDescriptionLength C.uint32_t = 255
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if res := C.icsneoc2_event_description_get(event, (*C.char)(unsafe.Pointer(&eventDescription[0])), &eventDescriptionLength); res != C.icsneoc2_error_success {
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printError(res)
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continue
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}
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fmt.Printf("\t%s: Event %d: %s\n", deviceDescription, i, eventDescription)
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}
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// Get global events
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globalEvents := [1024]*C.icsneoc2_event_t{nil}
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var globalEventsCount C.uint32_t = 1024
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if res := C.icsneoc2_events_get(&globalEvents[0], &globalEventsCount); res != C.icsneoc2_error_success {
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printError(res)
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return false
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}
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for i, event := range globalEvents[:globalEventsCount] {
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globalEventsDescription := make([]byte, 255)
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var globalEventsDescriptionLength C.uint32_t = 255
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if res := C.icsneoc2_event_description_get(event, (*C.char)(unsafe.Pointer(&globalEventsDescription[0])), &globalEventsDescriptionLength); res != C.icsneoc2_error_success {
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printError(res)
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continue
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}
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fmt.Printf("\t%s: Global Event %d: %s\n", deviceDescription, i, globalEventsDescription)
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}
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fmt.Printf("\t%s: Received %d events and %d global events\n", deviceDescription, eventsCount, globalEventsCount)
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return true
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}
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func transmitCANMessages(device *C.icsneoc2_device_t) bool {
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var counter uint32 = 0
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const msgCount int = 100
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fmt.Printf("\tTransmitting %d messages...\n", msgCount)
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for range msgCount {
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// Create the message
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var message *C.icsneoc2_message_t = nil
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if res := C.icsneoc2_message_can_create(device, &message, 1); res != C.icsneoc2_error_success {
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printError(res)
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return false
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}
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defer func() {
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if res := C.icsneoc2_message_can_free(device, message); res != C.icsneoc2_error_success {
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printError(res)
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}
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}()
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// Set the message attributes
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res := C.icsneoc2_message_netid_set(device, message, C.icsneoc2_netid_hscan)
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res += C.icsneoc2_message_can_arbid_set(device, message, 0x10)
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res += C.icsneoc2_message_can_canfd_set(device, message, true)
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res += C.icsneoc2_message_can_extended_set(device, message, true)
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res += C.icsneoc2_message_can_baudrate_switch_set(device, message, true)
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// Create the payload
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data := [...]C.uint8_t{
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(C.uint8_t)(counter >> 56),
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(C.uint8_t)(counter >> 48),
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(C.uint8_t)(counter >> 40),
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(C.uint8_t)(counter >> 32),
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(C.uint8_t)(counter >> 24),
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(C.uint8_t)(counter >> 16),
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(C.uint8_t)(counter >> 8),
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(C.uint8_t)(counter >> 0),
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}
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res += C.icsneoc2_message_data_set(device, message, &data[0], (C.uint32_t)(len(data)))
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res += C.icsneoc2_message_can_dlc_set(device, message, -1)
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if res != C.icsneoc2_error_success {
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fmt.Printf("\tFailed to modify message: %d\n", res)
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return false
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}
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var messageCount C.uint32_t = 1
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if res := C.icsneoc2_device_messages_transmit(device, &message, &messageCount); res != C.icsneoc2_error_success {
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printError(res)
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return false
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}
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counter += 1
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}
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return true
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}
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func processMessages(device *C.icsneoc2_device_t, messages []*C.icsneoc2_message_t) bool {
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txCount := 0
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for i, message := range messages {
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// Get the message type
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var msgType C.icsneoc2_msg_type_t = 0
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if res := C.icsneoc2_message_type_get(device, message, &msgType); res != C.icsneoc2_error_success {
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printError(res)
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return false
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}
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// Get the message type name
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msgTypeName := make([]byte, 128)
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var msgTypeNameLength C.uint32_t = 128
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if res := C.icsneoc2_message_type_name_get(msgType, (*C.char)(unsafe.Pointer(&msgTypeName[0])), &msgTypeNameLength); res != C.icsneoc2_error_success {
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printError(res)
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return false
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}
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// Check if the message is a bus message, ignore otherwise
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if msgType != C.icsneoc2_msg_type_bus {
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fmt.Print("\tIgnoring message type: %d (%s)\n", msgType, msgTypeName)
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continue
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}
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// Get the message bus type
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var msgBusType C.icsneoc2_msg_bus_type_t = 0
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if res := C.icsneoc2_message_bus_type_get(device, message, &msgBusType); res != C.icsneoc2_error_success {
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printError(res)
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return false
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}
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// Get the bus message type name
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msgBusTypeName := make([]byte, 128)
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var msgBusTypeNameLength C.uint32_t = 128
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if res := C.icsneoc2_bus_type_name_get(msgBusType, (*C.char)(unsafe.Pointer(&msgBusTypeName[0])), &msgBusTypeNameLength); res != C.icsneoc2_error_success {
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printError(res)
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return false
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}
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// Check if the message is a transmit message
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var isTransmit C.bool = false
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if res := C.icsneoc2_message_is_transmit(device, message, &isTransmit); res != C.icsneoc2_error_success {
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printError(res)
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return false
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}
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if isTransmit {
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txCount += 1
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continue
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}
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fmt.Printf("\t%d) Message type: %d bus type: %s (%d)\n", i, msgType, msgBusTypeName, msgBusType)
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if msgBusType == C.icsneoc2_msg_bus_type_can {
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var arbid C.uint32_t = 0
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var dlc C.int32_t = 0
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var netid C.icsneoc2_netid_t = 0
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var isRemote C.bool = false
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var isCanfd C.bool = false
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var isExtended C.bool = false
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data := make([]byte, 64)
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var dataLength C.uint32_t = 64
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netidName := make([]byte, 128)
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var netidNameLength C.uint32_t = 128
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var res C.icsneoc2_error_t = C.icsneoc2_error_success
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res = C.icsneoc2_message_netid_get(device, message, &netid)
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res += C.icsneoc2_netid_name_get(netid, (*C.char)(unsafe.Pointer(&netidName)), &netidNameLength)
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res += C.icsneoc2_message_can_arbid_get(device, message, &arbid)
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res += C.icsneoc2_message_can_dlc_get(device, message, &dlc)
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res += C.icsneoc2_message_can_is_remote(device, message, &isRemote)
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res += C.icsneoc2_message_can_is_canfd(device, message, &isCanfd)
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res += C.icsneoc2_message_can_is_extended(device, message, &isExtended)
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res += C.icsneoc2_message_data_get(device, message, (*C.uint8_t)(unsafe.Pointer(&data[0])), &dataLength)
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// We really should check the error message for all of these since we can't tell the exact error if something
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// bad happens but for an example this should be okay.
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if res != C.icsneoc2_error_success {
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fmt.Printf("\tFailed to get CAN parameters (error: %d) for index %d\n", res, i)
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continue
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}
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// Finally lets print the RX message
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fmt.Printf("\t NetID: %s (0x%X)\tArbID: 0x%X\t DLC: %d\t Remote: %t\t CANFD: %t\t Extended: %t\t Data length: %d\n", netidName, netid, arbid, dlc, isRemote, isCanfd, isExtended, dataLength)
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fmt.Printf("\t Data: [")
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for _, d := range data[:dataLength] {
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fmt.Printf(" 0x%X", d)
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}
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println(" ]")
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continue
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} else {
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fmt.Printf("\tIgnoring bus message type: %d (%s)\n", msgBusType, msgBusTypeName)
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continue
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}
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}
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fmt.Printf("\tReceived %d messages total, %d were TX messages\n", len(messages), txCount)
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return true
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}
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