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feat(hardware): revised ntcan plugin
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hardware_integration/include/isobus/hardware_integration/ntcan_plugin.hpp
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| //================================================================================================ | ||
| /// @file ntcan_plugin.hpp | ||
| /// | ||
| /// @brief An interface for using a ESD NTCAN driver. | ||
| /// @attention Use of the NTCAN driver is governed in part by their license, and requires you | ||
| /// to install their driver first, which in-turn requires you to agree to their terms and conditions. | ||
| /// @author Alex "Y_Less" Cole | ||
| /// @author Daan Steenbergen | ||
| /// | ||
| /// @copyright 2024 The Open-Agriculture Developers | ||
| //================================================================================================ | ||
| #ifndef NTCAN_PLUGIN_HPP | ||
| #define NTCAN_PLUGIN_HPP | ||
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| #include <string> | ||
| #include "ntcan.h" | ||
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| #include "isobus/hardware_integration/can_hardware_plugin.hpp" | ||
| #include "isobus/isobus/can_hardware_abstraction.hpp" | ||
| #include "isobus/isobus/can_message_frame.hpp" | ||
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| namespace isobus | ||
| { | ||
| /// @brief A CAN Driver for ESD NTCAN Devices | ||
| class NTCANPlugin : public CANHardwarePlugin | ||
| { | ||
| public: | ||
| /// @brief Constructor for the ESD NTCAN CAN driver | ||
| /// @param[in] channel The logical net number assigned to the physical CAN port to use. | ||
| /// @param[in] baudrate The baudrate to use for the CAN connection. | ||
| explicit NTCANPlugin(int channel, int baudrate = NTCAN_BAUD_250); | ||
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| /// @brief The destructor for NTCANPlugin | ||
| virtual ~NTCANPlugin() = default; | ||
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| /// @brief Returns if the connection with the hardware is valid | ||
| /// @returns `true` if connected, `false` if not connected | ||
| bool get_is_valid() const override; | ||
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| /// @brief Closes the connection to the hardware | ||
| void close() override; | ||
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| /// @brief Connects to the hardware you specified in the constructor's channel argument | ||
| void open() override; | ||
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| /// @brief Returns a frame from the hardware (synchronous), or `false` if no frame can be read. | ||
| /// @param[in, out] canFrame The CAN frame that was read | ||
| /// @returns `true` if a CAN frame was read, otherwise `false` | ||
| bool read_frame(isobus::CANMessageFrame &canFrame) override; | ||
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| /// @brief Writes a frame to the bus (synchronous) | ||
| /// @param[in] canFrame The frame to write to the bus | ||
| /// @returns `true` if the frame was written, otherwise `false` | ||
| bool write_frame(const isobus::CANMessageFrame &canFrame) override; | ||
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| /// @brief Changes previously set configuration parameters. Only works if the device is not open. | ||
| /// @param[in] channel The logical net number assigned to the physical CAN port to use. | ||
| /// @param[in] baudrate The baudrate to use for the CAN connection. | ||
| /// @returns True if the configuration was changed, otherwise false (if the device is open false will be returned) | ||
| bool reconfigure(int channel, int baudrate = NTCAN_BAUD_250); | ||
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| private: | ||
| int net; ///< The logical net number assigned to the physical CAN port to use. | ||
| int baudrate; ///< The baudrate to use for the CAN connection. | ||
| std::uint64_t timestampFreq; ///< The frequency of the timestamp | ||
| std::uint64_t timestampOffset; ///< The offset of the timestamps | ||
| NTCAN_HANDLE handle = NTCAN_NO_HANDLE; ///< The handle as defined in the NTCAN driver API | ||
| NTCAN_RESULT openResult = NTCAN_SUCCESS; ///< Stores the result of the call to begin CAN communication. Used for is_valid check later. | ||
| }; | ||
| } | ||
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| #endif // NTCAN_PLUGIN_HPP |
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| //================================================================================================ | ||
| /// @file ntcan_plugin.cpp | ||
| /// | ||
| /// @brief An interface for using a ESD NTCAN driver. | ||
| /// @attention Use of the NTCAN driver is governed in part by their license, and requires you | ||
| /// to install their driver first, which in-turn requires you to agree to their terms and conditions. | ||
| /// @author Alex "Y_Less" Cole | ||
| /// @author Daan Steenbergen | ||
| /// | ||
| /// @copyright 2024 The Open-Agriculture Developers | ||
| //================================================================================================ | ||
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| #include "isobus/hardware_integration/ntcan_plugin.hpp" | ||
| #include "isobus/isobus/can_stack_logger.hpp" | ||
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| #include <chrono> | ||
| #include <thread> | ||
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| namespace isobus | ||
| { | ||
| NTCANPlugin::NTCANPlugin(int channel, int baudrate) : | ||
| net(channel), | ||
| baudrate(baudrate) | ||
| { | ||
| } | ||
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| bool NTCANPlugin::get_is_valid() const | ||
| { | ||
| return (NTCAN_SUCCESS == openResult) && (NTCAN_NO_HANDLE != handle); | ||
| } | ||
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| void NTCANPlugin::close() | ||
| { | ||
| canClose(handle); | ||
| handle = NTCAN_NO_HANDLE; | ||
| } | ||
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| void NTCANPlugin::open() | ||
| { | ||
| if (NTCAN_NO_HANDLE != handle) | ||
| { | ||
| isobus::CANStackLogger::error("[NTCAN]: Attempting to open a connection that is already open"); | ||
| } | ||
| std::uint32_t mode = 0; | ||
| std::int32_t txQueueSize = 8; | ||
| std::int32_t rxQueueSize = 8; | ||
| std::int32_t txTimeOut = 100; | ||
| std::int32_t rxTimeOut = 1000; | ||
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| openResult = canOpen(net, mode, txQueueSize, rxQueueSize, txTimeOut, rxTimeOut, &handle); | ||
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| if (NTCAN_SUCCESS != openResult) | ||
| { | ||
| isobus::CANStackLogger::error("[NTCAN]: Error trying to open the connection"); | ||
| return; | ||
| } | ||
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| CAN_IF_STATUS status{ 0 }; | ||
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| openResult = canSetBaudrate(handle, baudrate); | ||
| if (NTCAN_SUCCESS != openResult) | ||
| { | ||
| isobus::CANStackLogger::error("[NTCAN]: Error trying to set the baudrate"); | ||
| close(); | ||
| return; | ||
| } | ||
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| openResult = canStatus(handle, &status); | ||
| if (NTCAN_SUCCESS != openResult) | ||
| { | ||
| isobus::CANStackLogger::error("[NTCAN]: Error trying to get the status"); | ||
| close(); | ||
| return; | ||
| } | ||
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| if (NTCAN_FEATURE_TIMESTAMP == (status.features & NTCAN_FEATURE_TIMESTAMP)) | ||
| { | ||
| std::uint64_t timestamp = 0; | ||
| openResult = canIoctl(handle, NTCAN_IOCTL_GET_TIMESTAMP_FREQ, ×tampFreq); | ||
| if (NTCAN_SUCCESS == openResult) | ||
| { | ||
| openResult = canIoctl(handle, NTCAN_IOCTL_GET_TIMESTAMP, ×tamp); | ||
| } | ||
| if (NTCAN_SUCCESS == openResult) | ||
| { | ||
| auto now = std::chrono::system_clock::now(); | ||
| auto unix = now.time_since_epoch(); | ||
| long long millis = std::chrono::duration_cast<std::chrono::microseconds>(unix).count(); | ||
| timestampOffset = millis - timestamp; | ||
| } | ||
| } | ||
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| std::int32_t ids = (1 << 11); | ||
| openResult = canIdRegionAdd(handle, 0, &ids); | ||
| if (NTCAN_SUCCESS == openResult && ids != (1 << 11)) | ||
| { | ||
| openResult = NTCAN_INSUFFICIENT_RESOURCES; | ||
| isobus::CANStackLogger::error("[NTCAN]: Error trying to add the standard ID region"); | ||
| close(); | ||
| return; | ||
| } | ||
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| ids = (1 << 29); | ||
| openResult = canIdRegionAdd(handle, NTCAN_20B_BASE, &ids); | ||
| if (NTCAN_SUCCESS == openResult && ids != (1 << 29)) | ||
| { | ||
| openResult = NTCAN_INSUFFICIENT_RESOURCES; | ||
| isobus::CANStackLogger::error("[NTCAN]: Error trying to add the extended ID region"); | ||
| close(); | ||
| return; | ||
| } | ||
| } | ||
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| bool NTCANPlugin::read_frame(isobus::CANMessageFrame &canFrame) | ||
| { | ||
| NTCAN_RESULT result; | ||
| CMSG_T msgCanMessage{ 0 }; | ||
| bool retVal = false; | ||
| std::int32_t count = 1; | ||
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| result = canReadT(handle, &msgCanMessage, &count, nullptr); | ||
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| if (NTCAN_SUCCESS == result && 1 == count) | ||
| { | ||
| canFrame.dataLength = msgCanMessage.len; | ||
| memcpy(canFrame.data, msgCanMessage.data, msgCanMessage.len); | ||
| canFrame.identifier = (msgCanMessage.id & ((1 << 29) - 1)); | ||
| canFrame.isExtendedFrame = (NTCAN_20B_BASE == (msgCanMessage.id & NTCAN_20B_BASE)); | ||
| canFrame.timestamp_us = msgCanMessage.timestamp * 1000000 / timestampFreq + timestampOffset; | ||
| retVal = true; | ||
| } | ||
| else | ||
| { | ||
| std::this_thread::sleep_for(std::chrono::milliseconds(1)); | ||
| } | ||
| return retVal; | ||
| } | ||
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| bool NTCANPlugin::write_frame(const isobus::CANMessageFrame &canFrame) | ||
| { | ||
| NTCAN_RESULT result; | ||
| CMSG_T msgCanMessage{ 0 }; | ||
| std::int32_t count = 1; | ||
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| msgCanMessage.id = canFrame.isExtendedFrame ? (canFrame.identifier | NTCAN_20B_BASE) : canFrame.identifier; | ||
| msgCanMessage.len = canFrame.dataLength; | ||
| memcpy(msgCanMessage.data, canFrame.data, canFrame.dataLength); | ||
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| result = canWriteT(handle, &msgCanMessage, &count, nullptr); | ||
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| return (NTCAN_SUCCESS == result && 1 == count); | ||
| } | ||
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| bool NTCANPlugin::reconfigure(int channel, int baudrate) | ||
| { | ||
| bool retVal = false; | ||
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| if (!get_is_valid()) | ||
| { | ||
| net = channel; | ||
| this->baudrate = baudrate; | ||
| retVal = true; | ||
| } | ||
| return retVal; | ||
| } | ||
| } // namespace isobus |
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