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Added documentation for the C API

pull/4/head
Paul Hollinsky 2018-10-31 16:47:46 -04:00
parent 9c2c3298cf
commit 90992ad360
2 changed files with 425 additions and 1 deletions
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2
CMakeLists.txt
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@ -39,7 +39,7 @@ find_package(Doxygen)
if (DOXYGEN_FOUND)
set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/generated/Doxyfile)
configure_file(api/icsneocpp/doxyfile.template ${DOXYGEN_OUT} @ONLY)
configure_file(api/icsneocpp/Doxyfile.template ${DOXYGEN_OUT} @ONLY)
message("Doxygen build started")
add_custom_target(libicsneo_doxygen ALL

424
include/icsneo/icsneoc.h
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@ -15,72 +15,496 @@
extern "C" {
#endif
/**
* \brief Find Intrepid hardware connected via USB and Ethernet.
* \param[out] devices Pointer to memory where devices should be written. If NULL, the current number of detected devices is written to count.
* \param[inout] count Pointer to a size_t, which should initially contain the number of devices the buffer can hold,
* and will afterwards contain the number of devices found.
*
* For each found device, a neodevice_t structure will be written into the memory you provide.
*
* The neodevice_t can later be passed by reference into the API to perform actions relating to the device.
* The neodevice_t contains a handle to the internal memory for the icsneo::Device object.
* The memory for the internal icsneo::Device object is managed by the API.
*
* Any neodevice_t objects which have not been opened will become invalid when icsneo_findAllDevices() is called again.
* To invoke this behavior without finding devices again, call icsneo_freeUnconnectedDevices().
*
* If the size provided is not large enough, the output will be truncated.
* An icsneo::APIError::OutputTruncatedError will be available in icsneo_getLastError() in this case.
*/
extern void DLLExport icsneo_findAllDevices(neodevice_t* devices, size_t* count);
/**
* \brief Invalidate neodevice_t objects which have not been opened.
*
* See icsneo_findAllDevices() for information regarding the neodevice_t validity contract.
*/
extern void DLLExport icsneo_freeUnconnectedDevices();
/**
* \brief Convert a serial number in numerical format to it's string representation.
* \param[in] num A numerical serial number.
* \param[out] str A pointer to a buffer where the string representation will be written. NULL can be passed, which will write a character count to `count`.
* \param[inout] count A pointer to a size_t which, prior to the call,
* holds the maximum number of characters to be written (so str must be of size count + 1 to account for the NULL terminator),
* and after the call holds the number of characters written.
* \returns True if str contains the string representation of the given serial number.
*
* On older devices, the serial number is one like 138635, the numerical representation is the same as the string representation.
*
* On newer devices, the serial number is one like RS2259, and this function can convert the numerical value back into the string seen on the back of the device.
*
* A query for length (`str == NULL`) will return false.
* icsneo_getLastError() should be checked to verify that the neodevice_t provided was valid.
*
* The client application should provide a buffer of size 7, as serial numbers are always 6 characters or fewer.
*
* If the size provided is not large enough, the output will be **NOT** be truncated.
* Nothing will be written to the output.
* Instead, an icsneo::APIError::BufferInsufficient will be available in icsneo_getLastError().
* False will be returned, and `count` will now contain the number of *bytes* necessary to store the full string.
*/
extern bool DLLExport icsneo_serialNumToString(uint32_t num, char* str, size_t* count);
/**
* \brief Convert a serial number in string format to it's numerical representation.
* \param[in] str A NULL terminated string containing the string representation of an Intrepid serial number.
* \returns The numerical representation of the serial number, or 0 if the conversion was unsuccessful.
*
* On older devices, the serial number is one like 138635, and this string will simply be returned as a number.
*
* On newer devices, the serial number is one like RS2259, and this function can convert that string to a number.
*/
extern uint32_t DLLExport icsneo_serialStringToNum(const char* str);
/**
* \brief Verify that a neodevice_t is valid.
* \param[in] device A pointer to the neodevice_t structure to operate on.
* \returns True if the neodevice_t is valid.
*
* This check is automatically performed at the beginning of any API function that operates on a device.
* If there is a failure, an icsneo::APIError::InvalidNeoDevice will be available in icsneo_getLastError().
*
* See icsneo_findAllDevices() for information regarding the neodevice_t validity contract.
*/
extern bool DLLExport icsneo_isValidNeoDevice(const neodevice_t* device);
/**
* \brief Connect to the specified hardware
* \param[in] device A pointer to the neodevice_t structure specifying the device to open.
* \returns True if the connection could be opened.
*
* The device **MUST** be opened before any other functions which operate on the device will be valid.
*
* See icsneo_goOnline() for information about enabling network communication once the device is open.
*
* If the open did not succeed, icsneo_getLastError() should provide more information about why.
*/ // TODO Solidify what happens in case the connection was already open
extern bool DLLExport icsneo_openDevice(const neodevice_t* device);
/**
* \brief Close an open connection to the specified hardware
* \param[in] device A pointer to the neodevice_t structure specifying the device to close.
* \returns True if the connection could be closed.
*
* After this function succeeds, the neodevice_t will be invalid.
* To connect again, you must call icsneo_findAllDevices() or similar to re-find the device.
*/
extern bool DLLExport icsneo_closeDevice(const neodevice_t* device);
/**
* \brief Enable network communication for the specified hardware
* \param[in] device A pointer to the neodevice_t structure specifying the device to operate on.
* \returns True if communication could be enabled.
*
* The device is not "online" when it is first opened. It is not possible to receive or transmit while the device is "offline".
* Network controllers are disabled. (i.e. In the case of CAN, the hardware will not send ACKs on the client application's behalf)
*
* This allows filtering or handlers to be set up before allowing traffic to flow.
*
* This also allows device settings to be set (i.e. baudrates) before enabling the controllers,
* which prevents momentarily causing loss of communication if the baud rates are not correct.
*/
extern bool DLLExport icsneo_goOnline(const neodevice_t* device);
/**
* \brief Disable network communication for the specified hardware
* \param[in] device A pointer to the neodevice_t structure specifying the device to operate on.
* \returns True if communication could be disabled.
*
* See icsneo_goOnline() for an explaination about the concept of being "online".
*/
extern bool DLLExport icsneo_goOffline(const neodevice_t* device);
/**
* \brief Verify network communication for the specified hardware
* \param[in] device A pointer to the neodevice_t structure specifying the device to operate on.
* \returns True if communication is enabled.
*
* This function does not modify the working state of the device at all.
*
* See icsneo_goOnline() for an explaination about the concept of being "online".
*/
extern bool DLLExport icsneo_isOnline(const neodevice_t* device);
/**
* \brief Enable buffering of messages for the specified hardware
* \param[in] device A pointer to the neodevice_t structure specifying the device to operate on.
* \returns True if polling could be enabled.
*
* By default, traffic the device receives will not reach the client application.
* The client application must register traffic handlers, enable message polling, or both.
* This function addresses message polling.
*
* With polling enabled, all traffic that the device receives will be stored in a buffer managed by the API.
* The client application should then call icsneo_getMessages() periodically to take ownership of the messages in that buffer.
*
* The API managed buffer will only grow to a specified size, 20k messages by default.
* See icsneo_getPollingMessageLimit() and icsneo_setPollingMessageLimit() for more information.
*
* In high traffic situations, the default 20k message limit can be reached very quickly.
* The client application will have to call icsneo_getMessages() very often to avoid losing messages, or change the limit.
*
* If the message limit is exceeded before a call to icsneo_getMessages() takes ownership of the messages,
* the oldest message will be dropped (**LOST**) and an icsneo::APIError::PollingMessageOverflow will be flagged for the device.
*/
extern bool DLLExport icsneo_enableMessagePolling(const neodevice_t* device);
/**
* \brief Disable buffering of messages for the specified hardware
* \param[in] device A pointer to the neodevice_t structure specifying the device to operate on.
* \returns True if polling could be disabled.
*
* See icsneo_enableMessagePolling() for more information about the message polling system.
*
* Any messages left in the API managed buffer will be lost upon disabling polling.
*/
extern bool DLLExport icsneo_disableMessagePolling(const neodevice_t* device);
/**
* \brief Read out messages which have been recieved
* \param[in] device A pointer to the neodevice_t structure specifying the device to operate on.
* \param[out] messages A pointer to a buffer which neomessage_t structures will be written to. NULL can be passed, which will write the current message count to size.
* \param[inout] items A pointer to a size_t which, prior to the call,
* holds the maximum number of messages to be written, and after the call holds the number of messages written.
* \returns True if the messages were read out successfully (even if there were no messages to read) or if the count was read successfully.
*
* Messages are available using this function if icsneo_goOnline() and icsneo_enableMessagePolling() have been called.
* See those functions for more information.
*
* Messages are read out of the API managed buffer in order of oldest to newest.
* As they are read out, they are removed from the API managed buffer.
*
* If size is too small to contain all messages, as many messages as will fit will be read out.
* Subsequent calls to icsneo_getMessages() can retrieve any messages which were not read out.
*
* The memory for the data pointer within the neomessage_t is managed by the API. Do *not* attempt to free the data pointer.
* The memory will become invalid the next time icsneo_getMessages() is called for this device.
*
* ``` C
* size_t messageCount;
* bool result = icsneo_getMessages(device, NULL, &messageCount); // Reading the message count
* // Handle errors here
* neomessage_t* messages = malloc(messageCount * sizeof(neomessage_t)); // It is also possible and encouraged to use a static buffer
* result = icsneo_getMessages(device, messages, &messageCount);
* // Handle errors here
* for(size_t i = 0; i < messageCount; i++) {
* switch(messages[i].type) {
* case ICSNEO_NETWORK_TYPE_CAN: {
* // All messages of type CAN can be accessed using neomessage_can_t
* neomessage_can_t* canMessage = (neomessage_can_t*)&messages[i];
* printf("ArbID: 0x%x\n", canMessage->arbid);
* printf("DLC: %u\n", canMessage->length);
* printf("Data: ");
* for(size_t i = 0; i < canMessage->length; i++) {
* printf("%02x ", canMessage->data[i]);
* }
* printf("\nTimestamp: %lu\n", canMessage->timestamp);
* }
* }
* }
* ```
*/
extern bool DLLExport icsneo_getMessages(const neodevice_t* device, neomessage_t* messages, size_t* items);
/**
* \brief Get the maximum number of messages which will be held in the API managed buffer for the specified hardware.
* \param[in] device A pointer to the neodevice_t structure specifying the device to operate on.
* \returns Number of messages.
*
* See icsneo_enableMessagePolling() for more information about the message polling system.
*/
extern size_t DLLExport icsneo_getPollingMessageLimit(const neodevice_t* device);
/**
* \brief Set the maximum number of messages which will be held in the API managed buffer for the specified hardware.
* \param[in] device A pointer to the neodevice_t structure specifying the device to operate on.
* \param[in] newLimit The new limit to be enforced.
* \returns True if the limit was set successfully.
*
* See icsneo_enableMessagePolling() for more information about the message polling system.
*
* Setting the maximum lower than the current number of stored messages will cause the oldest messages
* to be dropped (**LOST**) and an icsneo::APIError::PollingMessageOverflow to be flagged for the device.
*/
extern bool DLLExport icsneo_setPollingMessageLimit(const neodevice_t* device, size_t newLimit);
/**
* \brief Get the friendly product name for a specified device.
* \param[in] device A pointer to the neodevice_t structure specifying the device to operate on.
* \param[out] str A pointer to a buffer where the string will be written. NULL can be passed, which will write a character count to maxLength.
* \param[inout] maxLength A pointer to a size_t which, prior to the call,
* holds the maximum number of characters to be written (so str must be of size maxLength + 1 to account for the NULL terminator),
* and after the call holds the number of characters written.
* \returns True if str was written to
*
* In the case of a neoVI FIRE 2, this function will write a string "neoVI FIRE 2" with a NULL terminator into str.
*
* The constant ICSNEO_DEVICETYPE_LONGEST_NAME is defined for the client application to create static buffers of the correct length.
*
* See also icsneo_describeDevice().
*
* A query for length (`str == NULL`) will return false.
* icsneo_getLastError() should be checked to verify that the neodevice_t provided was valid.
*
* If the size provided is not large enough, the output will be truncated.
* An icsneo::APIError::OutputTruncatedError will be available in icsneo_getLastError() in this case.
* True will still be returned.
*/
extern bool DLLExport icsneo_getProductName(const neodevice_t* device, char* str, size_t* maxLength);
/**
* \brief Trigger a refresh of the settings structure for a specified device.
* \param[in] device A pointer to the neodevice_t structure specifying the device to operate on.
* \returns True if the refresh succeeded.
*/
extern bool DLLExport icsneo_settingsRefresh(const neodevice_t* device);
/**
* \brief Commit the settings structure for a specified device to non-volatile storage.
* \param[in] device A pointer to the neodevice_t structure specifying the device to operate on.
* \returns True if the settings were applied.
*
* When modifications are made to the device settings, this function (or icsneo_settingsApplyTemoporary()) must be called to send the changes to the device and make them active.
*
* This function sets the settings such that they will survive device power cycles.
*
* If the function fails, the settings will be refreshed so that the structure in the API matches the one held by the device.
*/
extern bool DLLExport icsneo_settingsApply(const neodevice_t* device);
/**
* \brief Apply the settings structure for a specified device temporarily.
* \param[in] device A pointer to the neodevice_t structure specifying the device to operate on.
* \returns True if the settings were applied.
*
* See icsneo_settingsApply() for further information about applying settings.
*
* This function sets the settings such that they will revert to the values saved in non-volatile storage when the device loses power.
*/
extern bool DLLExport icsneo_settingsApplyTemporary(const neodevice_t* device);
/**
* \brief Apply the default settings structure for a specified device.
* \param[in] device A pointer to the neodevice_t structure specifying the device to operate on.
* \returns True if the default settings were applied.
*
* See icsneo_settingsApply() for further information about applying settings.
*
* This function sets the default settings such that they will survive device power cycles.
*/
extern bool DLLExport icsneo_settingsApplyDefaults(const neodevice_t* device);
/**
* \brief Apply the default settings structure for a specified device temporarily.
* \param[in] device A pointer to the neodevice_t structure specifying the device to operate on.
* \returns True if the default settings were applied.
*
* See icsneo_settingsApply() for further information about applying settings. See icsneo_settingsApplyDefaults() for further information about applying default settings.
*
* This function sets the default settings such that they will revert to the values saved in non-volatile storage when the device loses power.
*/
extern bool DLLExport icsneo_settingsApplyDefaultsTemporary(const neodevice_t* device);
/**
* \brief Set the network baudrate for a specified device.
* \param[in] device A pointer to the neodevice_t structure specifying the device to operate on.
* \param[in] netid The network to which the new baudrate should apply.
* \param[in] newBaudrate The requested baudrate, with no multipliers. (i.e. 500K CAN should be represented as 500000)
* \returns True if the baudrate could be set.
*
* In the case of CAN, this function sets the standard CAN baudrate. See icsneo_setFDBaudrate() to set the baudrate for (the baudrate-switched portion of) CAN FD.
*
* Call icsneo_settingsApply() or similar to make the changes active on the device.
*/
extern bool DLLExport icsneo_setBaudrate(const neodevice_t* device, uint16_t netid, uint32_t newBaudrate);
/**
* \brief Set the CAN FD baudrate for a specified device.
* \param[in] device A pointer to the neodevice_t structure specifying the device to operate on.
* \param[in] netid The network to which the new baudrate should apply.
* \param[in] newBaudrate The requested baudrate, with no multipliers. (i.e. 2Mbaud CAN FD should be represented as 2000000)
* \returns True if the baudrate could be set.
*
* Call icsneo_settingsApply() or similar to make the changes active on the device.
*/
extern bool DLLExport icsneo_setFDBaudrate(const neodevice_t* device, uint16_t netid, uint32_t newBaudrate);
/**
* \brief Transmit a single message.
* \param[in] device A pointer to the neodevice_t structure specifying the device to transmit on.
* \param[in] message A pointer to the neomessage_t structure defining the message.
* \returns True if the message was verified transmittable and enqueued for transmit.
*
* To transmit a message, you must set the `data`, `length`, and `netid` attributes of the neomessage_t.
*
* The `data` attribute must be set to a pointer to a buffer of at least `length` which holds the payload bytes.
* This buffer only needs to be valid for the duration of this call, and can safely be deallocated or reused after the return.
*
* You may also have to set network dependent variables.
* For CAN, you must set the `arbid` attribute defined in neomessage_can_t.
*
* Other attributes of the neomessage_t such as `timestamp`, `type` and `reserved` which are not used should be set to 0. Unused status bits should also be set to 0.
*
* Any types defined `neomessage_*_t` are designed to be binary compatible with neomessage_t.
*
* For instance, for CAN, it is recommended to use neomessage_can_t as it exposes the `arbid` field.
*
* ``` C
* neomessage_can_t mySendMessage = {}; // Zero all before use
* uint8_t myData[3] = { 0xAA, 0xBB, 0xCC }; // Either heap or stack allocated is okay
* mySendMessage.netid = ICSNEO_NETID_HSCAN;
* mySendMessage.arbid = 0x1c5001c5;
* mySendMessage.length = 3;
* mySendMessage.data = myData;
* mySendMessage.status.canfdFDF = true; // CAN FD
* mySendMessage.status.extendedFrame = true; // Extended (29-bit) arbitration IDs
* mySendMessage.status.canfdBRS = true; // CAN FD Baudrate Switch
* bool result = icsneo_transmit(device, (neomessage_t*)&mySendMessage);
*
* myData[1] = 0x55; // The message and buffer can be safely reused for the next message
* result = icsneo_transmit(device, (neomessage_t*)&mySendMessage);
* ```
*/
extern bool DLLExport icsneo_transmit(const neodevice_t* device, const neomessage_t* message);
/**
* \brief Transmit a multiple messages.
* \param[in] device A pointer to the neodevice_t structure specifying the device to transmit on.
* \param[in] messages A pointer to the neomessage_t structures defining the messages.
* \param[in] count The number of messages to transmit.
* \returns True if the messages were verified transmittable and enqueued for transmit.
*
* See icsneo_transmit() for information regarding transmitting messages.
*
* On a per-network basis, messages will be transmitted in the order that they were enqueued.
*
* In this case, messages will be enqueued in order of increasing index.
*/
extern bool DLLExport icsneo_transmitMessages(const neodevice_t* device, const neomessage_t* messages, size_t count);
/**
* \brief Get the friendly description for a specified device.
* \param[in] device A pointer to the neodevice_t structure specifying the device to operate on.
* \param[out] str A pointer to a buffer where the string will be written. NULL can be passed, which will write a character count to maxLength.
* \param[inout] maxLength A pointer to a size_t which, prior to the call,
* holds the maximum number of characters to be written (so str must be of size maxLength + 1 to account for the NULL terminator),
* and after the call holds the number of characters written.
* \returns True if str was written to
*
* In the case of a neoVI FIRE 2 with serial number CY2285, this function will write a string "neoVI FIRE 2 CY2285" with a NULL terminator into str.
*
* The constant ICSNEO_DEVICETYPE_LONGEST_DESCRIPTION is defined for the client application to create static buffers of the correct length.
*
* See also icsneo_getProductName().
*
* A query for length (`str == NULL`) will return false.
* icsneo_getLastError() should be checked to verify that the neodevice_t provided was valid.
*
* If the size provided is not large enough, the output will be truncated.
* An icsneo::APIError::OutputTruncatedError will be available in icsneo_getLastError() in this case.
* True will still be returned.
*/
extern bool DLLExport icsneo_describeDevice(const neodevice_t* device, char* str, size_t* maxLength);
/**
* \brief Get the version of libicsneo in use.
* \returns A neoversion_t structure containing the version.
*/
extern neoversion_t DLLExport icsneo_getVersion(void);
/**
* \brief Read out errors which have occurred in API operation
* \param[out] errors A pointer to a buffer which neoerror_t structures will be written to. NULL can be passed, which will write the current error count to size.
* \param[inout] size A pointer to a size_t which, prior to the call,
* holds the maximum number of errors to be written, and after the call holds the number of errors written.
* \returns True if the errors were read out successfully (even if there were no errors to report).
*
* Errors can be caused by API usage, such as bad input or operating on a closed neodevice_t.
*
* Errors can also occur asynchronously to the client application threads, in the case of a device communication error or similar.
*
* Errors are read out of the API managed buffer in order of oldest to newest.
* As they are read out, they are removed from the API managed buffer.
*
* If size is too small to contain all errors, as many errors as will fit will be read out.
* Subsequent calls to icsneo_getErrors() can retrieve any errors which were not read out.
*/
extern bool DLLExport icsneo_getErrors(neoerror_t* errors, size_t* size);
/**
* \brief Read out errors which have occurred in API operation for a specific device
* \param[in] device A pointer to the neodevice_t structure specifying the device to read out errors for. NULL can be passed, which indicates that **ONLY** errors *not* associated with a device are desired (API errors).
* \param[out] errors A pointer to a buffer which neoerror_t structures will be written to. NULL can be passed, which will write the current error count to size.
* \param[inout] size A pointer to a size_t which, prior to the call,
* holds the maximum number of errors to be written, and after the call holds the number of errors written.
* \returns True if the errors were read out successfully (even if there were no errors to report).
*
* See icsneo_getErrors() for more information about the error system.
*/
extern bool DLLExport icsneo_getDeviceErrors(const neodevice_t* device, neoerror_t* errors, size_t* size);
/**
* \brief Read out the last error which occurred in API operation.
* \param[out] error A pointer to a buffer which a neoerror_t structure will be written to.
* \returns True if an error was read out.
*
* See icsneo_getErrors() for more information about the error system.
*
* This operation removes the returned error from the buffer, so subsequent calls to error functions will not inlcude the error.
*/
extern bool DLLExport icsneo_getLastError(neoerror_t* error);
/**
* \brief Discard all errors which have occurred in API operation.
*/
extern void DLLExport icsneo_discardAllErrors(void);
/**
* \brief Discard all errors which have occurred in API operation.
* \param[in] device A pointer to the neodevice_t structure specifying the device to discard errors for. NULL can be passed, which indicates that **ONLY** errors *not* associated with a device are desired (API errors).
*/
extern void DLLExport icsneo_discardDeviceErrors(const neodevice_t* device);
/**
* \brief Set the number of errors which will be held in the API managed buffer before icsneo::APIError::TooManyErrors
* \param[in] newLimit The new limit. Must be >10.
*
* If the error limit is reached, an icsneo::APIError::TooManyErrors will be flagged.
*
* If the `newLimit` is smaller than the current error count,
* errors will be removed in order of increasing severity and decreasing age.
* This will also flag an icsneo::APIError::TooManyErrors.
*/
extern void DLLExport icsneo_setErrorLimit(size_t newLimit);
/**
* \brief Set the number of errors which will be held in the API managed buffer before icsneo::APIError::TooManyErrors
* \returns The current limit.
*
* If the error limit is reached, an icsneo::APIError::TooManyErrors will be flagged.
*/
extern size_t DLLExport icsneo_getErrorLimit(void);
#ifdef __cplusplus