toucan_vscp_canal.cpp

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//================================================================================================
//================================================================================================
 
#include "isobus/hardware_integration/toucan_vscp_canal.hpp"
#include "isobus/isobus/can_stack_logger.hpp"
#include "isobus/utility/to_string.hpp"
 
#include <thread>
 
namespace isobus
{
    TouCANPlugin::TouCANPlugin(std::int16_t deviceID, std::uint32_t serialNumber, std::uint16_t baudRate)
    {
        generate_device_name(deviceID, serialNumber, baudRate);
    }
 
    TouCANPlugin::TouCANPlugin(std::string deviceName) :
      name(deviceName)
    {
    }
 
    TouCANPlugin::~TouCANPlugin()
    {
    }
 
    bool TouCANPlugin::get_is_valid() const
    {
        return (CANAL_ERROR_SUCCESS == openResult);
    }
 
    void TouCANPlugin::close()
    {
        CanalClose(handle);
        openResult = CANAL_ERROR_NOT_OPEN;
    }
 
    void TouCANPlugin::open()
    {
        long tempHandle = CanalOpen(name.c_str(), 0);
 
        if (0 != tempHandle)
        {
            handle = tempHandle;
            openResult = CANAL_ERROR_SUCCESS;
        }
        else
        {
            LOG_CRITICAL("[TouCAN]: Error trying to connect to TouCAN probe. Check your device ID and serial number.");
        }
    }
 
    bool TouCANPlugin::read_frame(isobus::CANMessageFrame &canFrame)
    {
        long result = CANAL_ERROR_GENERIC;
        structCanalMsg CANMsg = { 0 };
 
        result = CanalReceive(handle, &CANMsg);
 
        if (CANAL_ERROR_SUCCESS == result)
        {
            canFrame.dataLength = CANMsg.sizeData;
            memcpy(canFrame.data, CANMsg.data, sizeof(canFrame.data));
            canFrame.identifier = CANMsg.id;
            canFrame.isExtendedFrame = (0 != (CANAL_IDFLAG_EXTENDED & CANMsg.flags));
            canFrame.timestamp_us = CANMsg.timestamp;
        }
        else
        {
            std::this_thread::sleep_for(std::chrono::milliseconds(1));
        }
        return (CANAL_ERROR_SUCCESS == result);
    }
 
    bool TouCANPlugin::write_frame(const isobus::CANMessageFrame &canFrame)
    {
        std::uint32_t result = CANAL_ERROR_SUCCESS;
        structCanalMsg msgCanMessage;
 
        msgCanMessage.id = canFrame.identifier;
        msgCanMessage.sizeData = canFrame.dataLength;
        msgCanMessage.flags = canFrame.isExtendedFrame ? CANAL_IDFLAG_EXTENDED : CANAL_IDFLAG_STANDARD;
        memcpy(msgCanMessage.data, canFrame.data, canFrame.dataLength);
 
        result = CanalSend(handle, &msgCanMessage);
 
        return (CANAL_ERROR_SUCCESS == result);
    }
 
    bool TouCANPlugin::reconfigure(std::int16_t deviceID, std::uint32_t serialNumber, std::uint16_t baudRate)
    {
        bool retVal = false;
 
        if (!get_is_valid())
        {
            generate_device_name(deviceID, serialNumber, baudRate);
            retVal = true;
        }
        return retVal;
    }
 
    std::uint32_t TouCANPlugin::get_serial_number() const
    {
        return currentlyConfiguredSerialNumber;
    }
 
    void TouCANPlugin::generate_device_name(std::int16_t deviceID, std::uint32_t serialNumber, std::uint16_t baudRate)
    {
        std::string deviceConfigString;
        std::string serialString;
        constexpr std::uint32_t MAX_SERIAL_LENGTH = 999999999;
        constexpr std::size_t SERIAL_NUMBER_CHARACTER_REQUIREMENT = 8;
 
        if (serialNumber > MAX_SERIAL_LENGTH)
        {
            LOG_CRITICAL("[TouCAN]: Invalid serial number. Must be 8 digits max.");
            serialNumber = 0;
        }
        currentlyConfiguredSerialNumber = serialNumber;
        serialString = isobus::to_string(serialNumber);
 
        if (SERIAL_NUMBER_CHARACTER_REQUIREMENT > serialString.length())
        {
            serialString.insert(0, SERIAL_NUMBER_CHARACTER_REQUIREMENT - serialString.length(), '0');
        }
 
        deviceConfigString += isobus::to_string(deviceID) + ';';
        deviceConfigString += serialString + ';';
        deviceConfigString += isobus::to_string(baudRate) + ';';
        name = deviceConfigString;
    }
}