pcan_basic_windows_plugin.cpp

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//================================================================================================
//================================================================================================
 
#include "isobus/hardware_integration/pcan_basic_windows_plugin.hpp"
#include "isobus/isobus/can_stack_logger.hpp"
 
#include <thread>
 
namespace isobus
{
    PCANBasicWindowsPlugin::PCANBasicWindowsPlugin(WORD channel) :
      handle(channel),
      openResult(PCAN_ERROR_OK)
    {
    }
 
    PCANBasicWindowsPlugin::~PCANBasicWindowsPlugin()
    {
    }
 
    bool PCANBasicWindowsPlugin::get_is_valid() const
    {
        return (PCAN_ERROR_OK == openResult);
    }
 
    void PCANBasicWindowsPlugin::close()
    {
        CAN_Uninitialize(handle);
    }
 
    void PCANBasicWindowsPlugin::open()
    {
        openResult = CAN_Initialize(handle, PCAN_BAUD_250K);
 
        if (PCAN_ERROR_OK != openResult)
        {
            LOG_CRITICAL("[PCAN]: Error trying to connect to PCAN probe");
        }
    }
 
    bool PCANBasicWindowsPlugin::read_frame(isobus::CANMessageFrame &canFrame)
    {
        TPCANStatus result;
        TPCANMsg CANMsg;
        TPCANTimestamp CANTimeStamp;
        bool retVal = false;
 
        result = CAN_Read(handle, &CANMsg, &CANTimeStamp);
 
        if (PCAN_ERROR_OK == result)
        {
            canFrame.dataLength = CANMsg.LEN;
            memcpy(canFrame.data, CANMsg.DATA, CANMsg.LEN);
            canFrame.identifier = CANMsg.ID;
            canFrame.isExtendedFrame = (PCAN_MESSAGE_EXTENDED == CANMsg.MSGTYPE);
            canFrame.timestamp_us = (CANTimeStamp.millis * 1000) + CANTimeStamp.micros;
            retVal = true;
        }
        else
        {
            std::this_thread::sleep_for(std::chrono::milliseconds(1));
        }
        return retVal;
    }
 
    bool PCANBasicWindowsPlugin::write_frame(const isobus::CANMessageFrame &canFrame)
    {
        TPCANStatus result;
        TPCANMsg msgCanMessage;
 
        msgCanMessage.ID = canFrame.identifier;
        msgCanMessage.LEN = canFrame.dataLength;
        msgCanMessage.MSGTYPE = canFrame.isExtendedFrame ? PCAN_MESSAGE_EXTENDED : PCAN_MESSAGE_STANDARD;
        memcpy(msgCanMessage.DATA, canFrame.data, canFrame.dataLength);
 
        result = CAN_Write(handle, &msgCanMessage);
 
        return (PCAN_ERROR_OK == result);
    }
}