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CANZLG.cpp
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CANZLG.cpp
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#include "CANZLG.h"
#include <cstring>
namespace ZCANBus {
CANZLG::CANZLG() : loopOn(false), opened(false) {}
CANZLG::~CANZLG() {}
CANStatus CANZLG::OpenChannel(int channel, CANRate baudRate, int type) {
void* argv[] = {&type};
return OpenChannel(channel, baudRate, 1, argv);
}
CANStatus CANZLG::OpenChannel(int channel, CANRate baudRate, int argc,
void* argv[]) {
can_index = channel;
device_index = 0;
device_type = 0;
if (argc > 1) {
device_index = *(UINT*)argv[1];
}
if (argc > 0) {
device_type = *(UINT*)argv[0];
}
if (STATUS_OK != VCI_OpenDevice(device_type, device_index, 0)) {
VCI_ERR_INFO errInfo;
if (STATUS_OK ==
VCI_ReadErrInfo(device_type, device_index, can_index, &errInfo)) {
if (ERR_DEVICEOPENED != errInfo.ErrCode) {
return errInfo.ErrCode;
}
} else {
return ERR_DEVICEOPEN;
}
}
VCI_INIT_CONFIG config;
config.AccCode = 0;
config.AccMask = 0xFFFFFFFF;
config.Reserved = 0;
config.Filter = 1;
config.Mode = 0;
switch (baudRate) {
case CANRate::CAN_RATE_10K:
config.Timing0 = 0x31;
config.Timing1 = 0x1C;
break;
case CANRate::CAN_RATE_20K:
config.Timing0 = 0x18;
config.Timing1 = 0x1C;
break;
case CANRate::CAN_RATE_40K:
config.Timing0 = 0x87;
config.Timing1 = 0xFF;
break;
case CANRate::CAN_RATE_50K:
config.Timing0 = 0x09;
config.Timing1 = 0x1C;
break;
case CANRate::CAN_RATE_80K:
config.Timing0 = 0x83;
config.Timing1 = 0xFF;
break;
case CANRate::CAN_RATE_100K:
config.Timing0 = 0x04;
config.Timing1 = 0x1C;
break;
case CANRate::CAN_RATE_125K:
config.Timing0 = 0x03;
config.Timing1 = 0x1C;
break;
case CANRate::CAN_RATE_250K:
config.Timing0 = 0x01;
config.Timing1 = 0x1C;
break;
case CANRate::CAN_RATE_400K:
config.Timing0 = 0x80;
config.Timing1 = 0xFA;
break;
case CANRate::CAN_RATE_500K:
config.Timing0 = 0x00;
config.Timing1 = 0x1C;
break;
case CANRate::CAN_RATE_666K:
config.Timing0 = 0x80;
config.Timing1 = 0xB6;
break;
case CANRate::CAN_RATE_800K:
config.Timing0 = 0x00;
config.Timing1 = 0x16;
break;
case CANRate::CAN_RATE_1M:
config.Timing0 = 0x00;
config.Timing1 = 0x14;
break;
default:
return ERR_DEVICEOPEN;
break;
}
if (STATUS_OK !=
VCI_InitCAN(device_type, device_index, can_index, &config)) {
VCI_ERR_INFO errInfo;
if (STATUS_OK ==
VCI_ReadErrInfo(device_type, device_index, can_index, &errInfo)) {
if (openedCount[{device_type, device_index}] == 0) {
VCI_CloseDevice(device_type, device_index);
}
return errInfo.ErrCode;
}
if (openedCount[{device_type, device_index}] == 0) {
VCI_CloseDevice(device_type, device_index);
}
return -1;
}
if (STATUS_OK != VCI_ResetCAN(device_type, device_index, can_index)) {
VCI_ERR_INFO errInfo;
if (STATUS_OK ==
VCI_ReadErrInfo(device_type, device_index, can_index, &errInfo)) {
if (openedCount[{device_type, device_index}] == 0) {
VCI_CloseDevice(device_type, device_index);
}
return errInfo.ErrCode;
}
if (openedCount[{device_type, device_index}] == 0) {
VCI_CloseDevice(device_type, device_index);
}
return -1;
}
if (STATUS_OK != VCI_StartCAN(device_type, device_index, can_index)) {
VCI_ERR_INFO errInfo;
if (STATUS_OK ==
VCI_ReadErrInfo(device_type, device_index, can_index, &errInfo)) {
if (openedCount[{device_type, device_index}] == 0) {
VCI_CloseDevice(device_type, device_index);
}
return errInfo.ErrCode;
}
if (openedCount[{device_type, device_index}] == 0) {
VCI_CloseDevice(device_type, device_index);
}
return -1;
}
++openedCount[{device_type, device_index}];
opened = true;
return 0;
}
void CANZLG::ReadLoop(
std::function<void(const CANMessage* msg, CANStatus status)> callback,
uint64_t interval) {
th = new std::thread([&, callback, interval]() -> void {
loopOn = true;
CANMessage msg;
CANStatus stat;
VCI_CAN_OBJ data;
VCI_ERR_INFO errInfo;
while (loopOn) {
stat = VCI_Receive(device_type, device_index, can_index, &data, 1,
interval);
if (stat > 0) {
msg.timestamp = data.TimeStamp;
msg.length = data.DataLen;
msg.id = data.ID;
msg.type = (unsigned int)CANMSGType::STANDARD;
if (data.ExternFlag) {
msg.type |= (unsigned int)CANMSGType::EXTENDED;
}
if (data.RemoteFlag) {
msg.type |= (unsigned int)CANMSGType::RTR;
}
memcpy(msg.msg, data.Data, msg.length);
callback(&msg, 0);
} else if (stat < 0) {
if (STATUS_OK == VCI_ReadErrInfo(device_type, device_index,
can_index, &errInfo)) {
if (0 < errInfo.ErrCode) {
callback(&msg, errInfo.ErrCode);
}
}
}
}
});
}
void CANZLG::EndReadLoop() {
loopOn = false;
th->join();
delete th;
}
CANStatus CANZLG::ReadOnce(CANMessage& msg, uint64_t timeout) {
CANStatus stat;
VCI_CAN_OBJ data;
stat = VCI_Receive(device_type, device_index, can_index, &data, 1, timeout);
if (stat > 0) {
msg.timestamp = data.TimeStamp;
msg.length = data.DataLen;
msg.id = data.ID;
msg.type = (unsigned int)CANMSGType::STANDARD;
if (data.ExternFlag) {
msg.type |= (unsigned int)CANMSGType::EXTENDED;
}
if (data.RemoteFlag) {
msg.type |= (unsigned int)CANMSGType::RTR;
}
memcpy(msg.msg, data.Data, msg.length);
return 0;
} else if (stat < 0) {
VCI_ERR_INFO errInfo;
if (STATUS_OK ==
VCI_ReadErrInfo(device_type, device_index, can_index, &errInfo)) {
if (0 < errInfo.ErrCode) {
return errInfo.ErrCode;
}
}
}
return -1;
}
CANStatus CANZLG::Write(const CANMessage& msg) {
VCI_CAN_OBJ data;
data.SendType = 0;
data.ID = msg.id;
data.DataLen = msg.length;
if (msg.type & (unsigned int)CANMSGType::RTR) {
data.RemoteFlag = 1;
} else {
data.RemoteFlag = 0;
}
if (msg.type & (unsigned int)CANMSGType::EXTENDED) {
data.ExternFlag = 1;
} else {
data.ExternFlag = 0;
}
memcpy(data.Data, msg.msg, msg.length);
CANStatus stat =
VCI_Transmit(device_type, device_index, can_index, &data, 1);
if (stat > 0) {
return 0;
} else if (stat < 0) {
VCI_ERR_INFO errInfo;
if (STATUS_OK ==
VCI_ReadErrInfo(device_type, device_index, can_index, &errInfo)) {
if (0 < errInfo.ErrCode) {
return errInfo.ErrCode;
}
}
}
return -1;
};
CANStatus CANZLG::Write(CANMessage* msg, int count) {
VCI_CAN_OBJ* data = new VCI_CAN_OBJ[count];
for (int i = 0; i < count; i++) {
data[i].SendType = 0;
data[i].ID = msg[i].id;
data[i].DataLen = msg[i].length;
if (msg[i].type & (unsigned int)CANMSGType::RTR) {
data[i].RemoteFlag = 1;
} else {
data[i].RemoteFlag = 0;
}
if (msg[i].type & (unsigned int)CANMSGType::EXTENDED) {
data[i].ExternFlag = 1;
} else {
data[i].ExternFlag = 0;
}
memcpy(data[i].Data, msg[i].msg, msg[i].length);
}
CANStatus stat =
VCI_Transmit(device_type, device_index, can_index, data, count);
delete[] data;
if (stat < 0) {
VCI_ERR_INFO errInfo;
if (STATUS_OK ==
VCI_ReadErrInfo(device_type, device_index, can_index, &errInfo)) {
if (0 < errInfo.ErrCode) {
return errInfo.ErrCode;
}
}
}
return stat - count;
}
CANStatus CANZLG::CloseChannel() {
if (loopOn) {
EndReadLoop();
}
auto status = VCI_ResetCAN(device_type, device_index, can_index);
if (opened) {
opened = false;
--openedCount[{device_type, device_index}];
}
if (openedCount[{device_type, device_index}] == 0) {
status &= VCI_CloseDevice(device_type, device_index);
}
if (STATUS_OK != status) {
return -1;
}
return 0;
}
CANStatus CANZLG::FlushQueue() {
if (STATUS_OK != VCI_ClearBuffer(device_type, device_index, can_index)) {
VCI_ERR_INFO errInfo;
if (STATUS_OK ==
VCI_ReadErrInfo(device_type, device_index, can_index, &errInfo)) {
if (0 < errInfo.ErrCode) {
return errInfo.ErrCode;
}
}
return -1;
} else {
return 0;
}
}
std::string CANZLG::GetErrorText(CANStatus& status) {
if (status == 0) {
return "OK";
} else if (status > 0) {
switch (status) {
case ERR_CAN_OVERFLOW:
return "CAN控制器内部FIFO溢出";
break;
case ERR_CAN_ERRALARM:
return "CAN控制器错误报警";
break;
case ERR_CAN_PASSIVE:
return "CAN控制器消极错误";
break;
case ERR_CAN_LOSE:
return "CAN控制器仲裁丢失";
break;
case ERR_CAN_BUSERR:
return "CAN控制器总线错误";
break;
return "CAN控制器内部BUFFER溢出";
break;
case ERR_DEVICEOPENED:
return "设备已经打开";
break;
case ERR_DEVICEOPEN:
return "打开设备错误";
break;
case ERR_DEVICENOTOPEN:
return "设备没有打开";
break;
case ERR_BUFFEROVERFLOW:
return "缓冲区溢出";
break;
case ERR_DEVICENOTEXIST:
return "此设备不存在";
break;
case ERR_LOADKERNELDLL:
return "装载动态库失败";
break;
case ERR_CMDFAILED:
return "执行命令失败错误码";
break;
case ERR_BUFFERCREATE:
return "内存不足";
break;
// case ERR_CANETE_PORTOPENED:
// return "端口已经被打开";
// break;
// case ERR_CANETE_INDEXUSED:
// return "设备索引号已经被占用";
// break;
// case ERR_REF_TYPE_ID:
// return "SetReference或GetReference传递的RefType不存在";
// break;
// case ERR_CREATE_SOCKET:
// return "创建Socket失败";
// break;
// case ERR_OPEN_CONNECT:
// return "打开Socket的连接时失败,可能设备连接已经存在";
// break;
// case ERR_NO_STARTUP:
// return "设备没启动";
// break;
// case ERR_NO_CONNECTED:
// return "设备无连接";
// break;
// case ERR_SEND_PARTIAL:
// return "只发送了部分的CAN帧";
// break;
// case ERR_SEND_TOO_FAST:
// return "数据发得太快,Socket缓冲区满了";
// break;
default:
return "未知错误" + std::to_string(status);
break;
}
} else {
return "未知错误" + std::to_string(status);
}
}
} // namespace ZCANBus