214 lines
8.4 KiB
C
214 lines
8.4 KiB
C
#include <icsneo/icsneo.h>
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#include <stdio.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 icsneo_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, icsneo_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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icsneo_error_t res = icsneo_error_code(error, error_str, &error_length);
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if (res != icsneo_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 icsneo_device_t structure representing the device.
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* @param messages An array of pointers to icsneo_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 icsneo_error_t value indicating success or failure of the message processing.
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*/
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int process_messages(icsneo_device_t* device, icsneo_message_t** messages, uint32_t messages_count);
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void print_device_events(icsneo_device_t* device, const char* device_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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icsneo_device_t* devices[255] = {0};
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uint32_t devices_count = 255;
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icsneo_error_t res = icsneo_find(devices, &devices_count, NULL);
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if (res != icsneo_error_success) {
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return print_error_code("Failed to find devices", res);
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};
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printf("Found %u devices\n", devices_count);
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// Loop over each device
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for (uint32_t i = 0; i < devices_count; i++) {
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icsneo_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 = icsneo_device_describe(device, description, &description_length);
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if (res != icsneo_error_success) {
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print_device_events(device, description);
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return print_error_code("Failed to get device description", res);
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};
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// Get timestamp resolution of the device
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uint32_t timestamp_resolution = 0;
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res = icsneo_get_timestamp_resolution(device, ×tamp_resolution);
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if (res != icsneo_error_success) {
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print_device_events(device, description);
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return print_error_code("Failed to get timestamp resolution", res);
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}
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printf("%s timestamp resolution: %uns\n", description, timestamp_resolution);
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// Get/Set open options
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icsneo_open_options_t options = icsneo_open_options_none;
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res = icsneo_get_open_options(device, &options);
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if (res != icsneo_error_success) {
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print_device_events(device, description);
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return print_error_code("Failed to get open options", res);
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}
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// Disable Syncing RTC
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//options &= ~icsneo_open_options_sync_rtc;
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res = icsneo_set_open_options(device, options);
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if (res != icsneo_error_success) {
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print_device_events(device, description);
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return print_error_code("Failed to set open options", res);
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}
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// Open the device
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printf("Opening device: %s...\n", description);
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res = icsneo_open(device);
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if (res != icsneo_error_success) {
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print_device_events(device, description);
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return print_error_code("Failed to open device", 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("Waiting 1 second for messages...\n");
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sleep_ms(1000);
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// Get the messages
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icsneo_message_t* messages[20000] = {0};
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uint32_t message_count = 20000;
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printf("Getting messages from device with timeout of 3000ms on %s...\n", description);
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res = icsneo_get_messages(device, messages, &message_count, 3000);
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if (res != icsneo_error_success) {
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print_device_events(device, description);
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return print_error_code("Failed 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 != icsneo_error_success) {
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print_device_events(device, description);
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return print_error_code("Failed to process messages", res);
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}
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// Finally, close the device.
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printf("Closing device: %s...\n", description);
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res = icsneo_close(device);
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if (res != icsneo_error_success) {
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print_device_events(device, description);
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return print_error_code("Failed 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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return 0;
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}
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void print_device_events(icsneo_device_t* device, const char* device_description) {
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// Get device events
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icsneo_event_t* events[1024] = {0};
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uint32_t events_count = 1024;
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icsneo_error_t res = icsneo_device_get_events(device, events, &events_count);
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if (res != icsneo_error_success) {
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(void)print_error_code("Failed 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 = icsneo_event_get_description(events[i], event_description, &event_description_length);
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if (res != icsneo_error_success) {
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print_error_code("Failed 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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icsneo_event_t* global_events[1024] = {0};
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uint32_t global_events_count = 1024;
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res = icsneo_get_events(global_events, &global_events_count);
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if (res != icsneo_error_success) {
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(void)print_error_code("Failed 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 = icsneo_event_get_description(global_events[i], event_description, &event_description_length);
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if (res != icsneo_error_success) {
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print_error_code("Failed 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("%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(icsneo_device_t* device, icsneo_message_t** messages, uint32_t messages_count) {
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printf("Received %u messages\n", messages_count);
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// Print the type and bus type of each message
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for (uint32_t i = 0; i < messages_count; i++) {
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icsneo_message_t* message = messages[i];
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icsneo_msg_type_t msg_type = 0;
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icsneo_error_t res = icsneo_message_get_type(device, message, &msg_type);
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if (res != icsneo_error_success) {
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return print_error_code("Failed to get message type", res);
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}
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icsneo_msg_bus_type_t bus_type = 0;
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res = icsneo_message_get_bus_type(device, message, &bus_type);
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if (res != icsneo_error_success) {
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return print_error_code("Failed to get message bus type", res);
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}
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printf("%d Message type: %u bus type: %u\n", i, msg_type, bus_type);
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}
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return icsneo_error_success;
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}
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