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https://github.com/intrepidcs/libicsneo.git
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Disk: Update VSA Example and Fix VSA CAN-FD Decode
- Send and validate CAN/CAN-FD/Eth frames in VSA example (two devices) - Fix failure to decode CAN-FD frames from VSA records
This commit is contained in:
Max Brombach
@@ -3,17 +3,103 @@
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#include "icsneo/icsneocpp.h"
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enum class MessageType {
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ShortEth,
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LongEth,
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CAN,
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CANFD
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};
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const std::vector<std::string> MessageTypeLabels = {"short Ethernet", "long Ethernet", "CAN", "CAN-FD"};
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void onEvent(std::shared_ptr<icsneo::APIEvent> event) {
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std::cout << event->describe() << std::endl;
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}
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std::vector<std::shared_ptr<icsneo::Frame>> constructRandomFrames(size_t frameCount, MessageType frameType) {
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static constexpr size_t ClassicCANSize = 8;
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static constexpr size_t CANFDSize = 64;
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static constexpr size_t ShortEthSize = 500;
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static constexpr size_t LongEthSize = 1500;
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std::vector<std::shared_ptr<icsneo::Frame>> frames;
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std::random_device randDev;
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std::mt19937 randEngine(randDev());
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std::uniform_int_distribution randByteDist(0,255);
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auto randByteGen = [&]() -> uint8_t {
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return static_cast<uint8_t>(randByteDist(randEngine));
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};
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for(size_t i = 0; i < frameCount; i++) {
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switch(frameType) {
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case MessageType::ShortEth:
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// Short Ethernet
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{
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auto frame = std::make_shared<icsneo::EthernetMessage>();
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frame->network = icsneo::Network::NetID::Ethernet;
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frames.push_back(frame);
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frame->data.resize(ShortEthSize);
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std::generate(frame->data.begin(), frame->data.end(), randByteGen);
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}
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break;
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case MessageType::LongEth:
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// Long Ethernet
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{
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auto frame = std::make_shared<icsneo::EthernetMessage>();
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frame->network = icsneo::Network::NetID::Ethernet;
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frames.push_back(frame);
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frame->data.resize(LongEthSize);
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std::generate(frame->data.begin(), frame->data.end(), randByteGen);
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}
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break;
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case MessageType::CAN:
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// Classic CAN
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{
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auto frame = std::make_shared<icsneo::CANMessage>();
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frame->network = icsneo::Network::NetID::HSCAN2;
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frames.push_back(frame);
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frame->data.resize(ClassicCANSize);
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std::generate(frame->data.begin(), frame->data.end(), randByteGen);
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}
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break;
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case MessageType::CANFD:
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// CAN FD
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{
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auto frame = std::make_shared<icsneo::CANMessage>();
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frame->network = icsneo::Network::NetID::HSCAN3;
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frames.push_back(frame);
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frame->data.resize(CANFDSize);
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std::generate(frame->data.begin(), frame->data.end(), randByteGen);
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frame->isCANFD = true;
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}
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break;
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}
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}
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return frames;
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}
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void resetScriptStatus(std::shared_ptr<icsneo::Device> rxDevice, std::shared_ptr<icsneo::Device> txDevice, bool rxInit, bool txInit) {
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if(rxInit) {
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rxDevice->startScript();
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} else {
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rxDevice->stopScript();
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}
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if(txInit) {
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txDevice->startScript();
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} else {
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txDevice->stopScript();
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}
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}
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int main(int argc, char* argv[]) {
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if(argc != 2) {
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std::cout << "Usage: libicsneocpp-vsa-example <device serial>" << std::endl;
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if(argc != 3) {
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std::cout << "Usage: libicsneocpp-vsa-example <Tx device serial> <Rx device serial>" << std::endl;
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return -1;
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}
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std::string deviceSerial = argv[1];
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std::string txSerial = argv[1];
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std::string rxSerial = argv[2];
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// register an event callback so we can see all logged events
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icsneo::EventManager::GetInstance().addEventCallback(icsneo::EventCallback(onEvent));
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@@ -24,44 +110,62 @@ int main(int argc, char* argv[]) {
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return -1;
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}
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std::shared_ptr<icsneo::Device> device;
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std::shared_ptr<icsneo::Device> txDevice;
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std::shared_ptr<icsneo::Device> rxDevice;
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for(auto&& d : devices) {
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if(deviceSerial == d->getSerial()) {
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device = d;
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if(txSerial == d->getSerial()) {
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txDevice = d;
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}
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if(rxSerial == d->getSerial()) {
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rxDevice = d;
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}
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}
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if(!device) {
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std::cout << "error: failed to find a device with serial number: " << deviceSerial << std::endl;
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if(!txDevice) {
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std::cout << "error: failed to find a device with serial number: " << txSerial << std::endl;
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return -1;
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}
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if(!rxDevice) {
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std::cout << "error: failed to find a device with serial number: " << rxSerial << std::endl;
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return -1;
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}
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std::cout << "info: found " << device->describe() << std::endl;
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std::cout << "info: found " << txDevice->describe() << std::endl;
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std::cout << "info: found " << rxDevice->describe() << std::endl;
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if(!device->open()) {
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if(!txDevice->open()) {
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std::cout << "error: unable to open device" << std::endl;
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}
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if(!rxDevice->open()) {
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std::cout << "error: unable to open device" << std::endl;
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}
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device->stopScript();
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const auto& rxInitialCoreminiStatus = rxDevice->getScriptStatus()->isCoreminiRunning;
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const auto& txInitialCoreminiStatus = txDevice->getScriptStatus()->isCoreminiRunning;
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uint64_t firstOffset;
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std::shared_ptr<icsneo::VSA> firstRecord;
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if(!device->findFirstVSARecord(firstOffset, firstRecord)) {
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rxDevice->stopScript();
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txDevice->stopScript();
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uint64_t origFirstOffset;
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std::shared_ptr<icsneo::VSA> origFirstRecord;
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if(!rxDevice->findFirstVSARecord(origFirstOffset, origFirstRecord)) {
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std::cout << "error: unable to find first VSA record" << std::endl;
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resetScriptStatus(rxDevice, txDevice, rxInitialCoreminiStatus, txInitialCoreminiStatus);
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return -1;
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}
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std::cout << "info: found first VSA record at " << firstOffset << std::endl;
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std::cout << "info: found first VSA record at " << origFirstOffset << std::endl;
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uint64_t origLastOffset;
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std::shared_ptr<icsneo::VSA> origLastRecord;
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if(!device->findLastVSARecord(origLastOffset, origLastRecord)) {
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if(!rxDevice->findLastVSARecord(origLastOffset, origLastRecord)) {
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std::cout << "error: unable to find last VSA record" << std::endl;
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resetScriptStatus(rxDevice, txDevice, rxInitialCoreminiStatus, txInitialCoreminiStatus);
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return -1;
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}
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std::cout << "info: found last VSA record at " << origLastOffset << std::endl;
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uint64_t canFrameCount = 0;
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uint64_t ethFrameCount = 0;
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device->addMessageCallback(std::make_shared<icsneo::MessageCallback>([&](std::shared_ptr<icsneo::Message> msg) {
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rxDevice->addMessageCallback(std::make_shared<icsneo::MessageCallback>([&](std::shared_ptr<icsneo::Message> msg) {
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if(msg->type != icsneo::Message::Type::Frame) {
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return;
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}
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@@ -80,15 +184,68 @@ int main(int argc, char* argv[]) {
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}
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{
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auto& filter = settings.filters.emplace_back();
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filter.readRange.first = firstRecord->getTimestampICSClock() + std::chrono::seconds(0);
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filter.readRange.second = firstRecord->getTimestampICSClock() + std::chrono::seconds(10);
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filter.readRange.first = origFirstRecord->getTimestampICSClock() + std::chrono::seconds(0);
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filter.readRange.second = origFirstRecord->getTimestampICSClock() + std::chrono::seconds(10);
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}
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std::cout << "info: reading two blocks of VSA, 10s from the start and 10s from the end..." << std::endl;
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if(!device->readVSA(settings)) {
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if(!rxDevice->readVSA(settings)) {
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std::cout << "error: unable to read VSA" << std::endl;
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resetScriptStatus(rxDevice, txDevice, rxInitialCoreminiStatus, txInitialCoreminiStatus);
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return -1;
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}
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std::cout << "info: processed " << canFrameCount << " CAN frames and " << ethFrameCount << " Ethernet frames" << std::endl;
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rxDevice->startScript();
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txDevice->goOnline();
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const uint8_t NumFrameTypes = 4;
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const size_t FrameCountPerType = 2500;
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std::vector<std::shared_ptr<icsneo::Frame>> frames;
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for(uint8_t i = 0; i < NumFrameTypes; i++) {
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std::cout << "info: transmitting " << FrameCountPerType << " random " << MessageTypeLabels[i] << " frames" << std::endl;
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auto tempFrames = constructRandomFrames(FrameCountPerType, static_cast<MessageType>(i));
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frames.insert(frames.end(), tempFrames.begin(), tempFrames.end());
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if(!txDevice->transmit(tempFrames)) {
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std::cout << "error: failed to transmit frames" << std::endl;
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resetScriptStatus(rxDevice, txDevice, rxInitialCoreminiStatus, txInitialCoreminiStatus);
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return -1;
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}
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std::this_thread::sleep_for(std::chrono::milliseconds(600));
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}
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size_t currentMessage = 0;
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rxDevice->addMessageCallback(std::make_shared<icsneo::MessageCallback>([&](std::shared_ptr<icsneo::Message> msg) {
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if(msg->type != icsneo::Message::Type::Frame) {
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return;
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}
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auto frame = std::static_pointer_cast<icsneo::Frame>(msg);
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if(frames[currentMessage]->data == frame->data) {
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currentMessage++;
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}
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}));
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// Read from original last frame until end of buffer
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icsneo::VSAExtractionSettings transmitSettings;
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{
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auto& filter = transmitSettings.filters.emplace_back();
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filter.readRange.first = origLastRecord->getTimestampICSClock();
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}
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std::cout << "info: reading transmitted random frames..." << std::endl;
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if(!rxDevice->readVSA(transmitSettings)) {
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std::cout << "error: unable to read VSA" << std::endl;
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resetScriptStatus(rxDevice, txDevice, rxInitialCoreminiStatus, txInitialCoreminiStatus);
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return -1;
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}
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std::cout << "info: " << currentMessage << " transmitted frames found" << std::endl;
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resetScriptStatus(rxDevice, txDevice, rxInitialCoreminiStatus, txInitialCoreminiStatus);
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if(currentMessage != FrameCountPerType * NumFrameTypes) {
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std::cout << "error: unable to find all transmitted frames" << std::endl;
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return -1;
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}
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return 0;
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}
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