sys_tec_windows_plugin.cpp

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//================================================================================================
//================================================================================================
 
#include "isobus/hardware_integration/sys_tec_windows_plugin.hpp"
#include "isobus/isobus/can_stack_logger.hpp"
 
namespace isobus
{
    SysTecWindowsPlugin::SysTecWindowsPlugin(std::uint8_t channel, std::uint32_t baudrate) :
      baudrateConstant(baudrate),
      channelIndex(channel)
    {
        if (channel > USBCAN_CHANNEL_CH1)
        {
            LOG_CRITICAL("[SYSTEC]: Invalid channel");
        }
    }
 
    SysTecWindowsPlugin::SysTecWindowsPlugin(std::uint32_t serialNumber, std::uint32_t baudrate) :
      serialNumber(serialNumber),
      baudrateConstant(baudrate)
    {
    }
 
    SysTecWindowsPlugin::~SysTecWindowsPlugin()
    {
        close();
    }
 
    bool SysTecWindowsPlugin::get_is_valid() const
    {
        return (openResult && (USBCAN_INVALID_HANDLE != handle));
    }
 
    void SysTecWindowsPlugin::close()
    {
        if (get_is_valid())
        {
            openResult = false;
            UcanDeinitCan(handle);
            UcanDeinitHardware(handle);
            handle = USBCAN_INVALID_HANDLE;
        }
    }
 
    void SysTecWindowsPlugin::open()
    {
        if (!get_is_valid())
        {
            if (0 == serialNumber)
            {
                openResult = (USBCAN_SUCCESSFUL == UcanInitHardwareEx(&handle, channelIndex, NULL, this));
            }
            else
            {
                openResult = (USBCAN_SUCCESSFUL == UcanInitHardwareEx2(&handle, serialNumber, NULL, this));
            }
 
            if (openResult && (USBCAN_INVALID_HANDLE != handle))
            {
                tUcanInitCanParam initCANParameters = { 0 };
                tUcanChannelInfo channelInfo = { 0 };
                channelInfo.m_dwSize = sizeof(tUcanChannelInfo);
 
                initCANParameters.m_dwSize = sizeof(tUcanInitCanParam);
                initCANParameters.m_bMode = kUcanModeNormal;
                initCANParameters.m_bBTR0 = ((baudrateConstant >> 8) & 0xFF);
                initCANParameters.m_bBTR1 = (baudrateConstant & 0xFF);
                initCANParameters.m_bOCR = 0x1A;
                initCANParameters.m_dwAMR = USBCAN_AMR_ALL;
                initCANParameters.m_dwACR = USBCAN_ACR_ALL;
                initCANParameters.m_dwBaudrate = USBCAN_BAUDEX_USE_BTR01;
                initCANParameters.m_wNrOfRxBufferEntries = USBCAN_DEFAULT_BUFFER_ENTRIES;
                initCANParameters.m_wNrOfTxBufferEntries = USBCAN_DEFAULT_BUFFER_ENTRIES;
 
                openResult = (USBCAN_SUCCESSFUL == UcanInitCanEx2(this->handle, channelIndex, &initCANParameters));
 
                if (!openResult)
                {
                    LOG_CRITICAL("[SYSTEC]: Error trying to configure a SYS TEC probe channel");
                }
            }
            else
            {
                LOG_CRITICAL("[SYSTEC]: Error trying to connect to SYS TEC probe");
            }
        }
        else
        {
            LOG_WARNING("[SYSTEC]: CAN Adapter already initialized.");
        }
    }
 
    bool SysTecWindowsPlugin::read_frame(isobus::CANMessageFrame &canFrame)
    {
        bool retVal = false;
 
        if (get_is_valid())
        {
            tCanMsgStruct CANMessage = { 0 };
 
            retVal = (USBCAN_SUCCESSFUL == UcanReadCanMsgEx(handle, &channelIndex, &CANMessage, NULL));
 
            if (retVal)
            {
                canFrame.dataLength = CANMessage.m_bDLC;
                canFrame.identifier = CANMessage.m_dwID;
                canFrame.isExtendedFrame = (USBCAN_MSG_FF_EXT == CANMessage.m_bFF);
                canFrame.data[0] = CANMessage.m_bData[0];
                canFrame.data[1] = CANMessage.m_bData[1];
                canFrame.data[2] = CANMessage.m_bData[2];
                canFrame.data[3] = CANMessage.m_bData[3];
                canFrame.data[4] = CANMessage.m_bData[4];
                canFrame.data[5] = CANMessage.m_bData[5];
                canFrame.data[6] = CANMessage.m_bData[6];
                canFrame.data[7] = CANMessage.m_bData[7];
            }
            else
            {
                std::this_thread::sleep_for(std::chrono::milliseconds(1)); // This is long enough for 2 messages to be received at max bus load, which should be fine.
            }
        }
        return retVal;
    }
 
    bool SysTecWindowsPlugin::write_frame(const isobus::CANMessageFrame &canFrame)
    {
        bool retVal = false;
 
        if (get_is_valid())
        {
            tCanMsgStruct CANMessage;
 
            CANMessage.m_dwID = canFrame.identifier;
            CANMessage.m_bDLC = canFrame.dataLength;
            CANMessage.m_bFF = USBCAN_MSG_FF_EXT;
            CANMessage.m_bData[0] = canFrame.data[0];
            CANMessage.m_bData[1] = canFrame.data[1];
            CANMessage.m_bData[2] = canFrame.data[2];
            CANMessage.m_bData[3] = canFrame.data[3];
            CANMessage.m_bData[4] = canFrame.data[4];
            CANMessage.m_bData[5] = canFrame.data[5];
            CANMessage.m_bData[6] = canFrame.data[6];
            CANMessage.m_bData[7] = canFrame.data[7];
 
            retVal = (USBCAN_SUCCESSFUL == UcanWriteCanMsgEx(handle, channelIndex, &CANMessage, nullptr));
        }
        return retVal;
    }
}