Can_FD/main.cpp

#include <vector>
 
#define AGHAF_DYNAMIC_LIBRARY_INIT
#include <aghaf.h>
 
 
void canBus_callback(AGHAF_CAN_Event event, void *userContext)
{
    (void) userContext;
 
    AGHAF_EventInfo info;
    AGHAF_Status status = AGHAF_Event_getInfo(event, &info);
    if (status == AGHAF_STATUS_OK) {
        switch (info.type) {
        case AGHAF_TypeNoEvent:
        case AGHAF_TypeDeviceEvent:
        case AGHAF_TypeEthernetEvent:
        case AGHAF_TypeDoCanEvent:
            break;
        case AGHAF_TypeCanEvent: {
            AGHAF_CAN_EventType eventType = AGHAF_CAN_typeEvent(info);
            switch (eventType) {
            case AGHAF_CAN_EVENT_UNKNOW:
            case AGHAF_CAN_EVENT_MSGTX:
            case AGHAF_CAN_EVENT_ERROR:
            case AGHAF_CAN_EVENT_BUSCHANGE:
            case AGHAF_CAN_EVENT_BUSLOAD:
                break;
            case AGHAF_CAN_EVENT_MSGRX: {
                AGHAF_CAN_Frame frame = AGHAF_CAN_Event_frame(event);
                AGHAF_CAN_Identifier id;
                AGHAF_CAN_Frame_id(frame, &id);
                int64_t size = AGHAF_CAN_Frame_dataSize(frame);
                auto *data = new uint8_t[size];
                AGHAF_CAN_Frame_data(frame, data, size);
                delete [] data;
            }
                break;
            }
        }
            break;
        }
    }
}
 
int main()
{
#ifdef _WIN32
    AGHAF_loadLibrary(AGHAF_DEFAULT_FILENAME);
#endif
 
    uint32_t count = AGHAF_getDeviceCount();
    if (count > 0) {
        AGHAF_DeviceInfo *devicesInfo = nullptr;
        uint32_t deviceInfoNumber = 0;
        AGHAF_getDeviceList(&devicesInfo, &deviceInfoNumber);
 
        AGHAF_Device device = AGHAF_getDeviceBySN(
                    devicesInfo[0].productNo,
                devicesInfo[0].serialNo);
 
        AGHAF_freeDeviceList(devicesInfo);
 
        AGHAF_openDevice(device);
        AGHAF_CAN_Bus canBus = AGHAF_CAN_getBus(device, 0);
 
        AGHAF_CAN_registerCallback(canBus,
                                   &canBus_callback,
                                   nullptr);
 
        // BUS CAN FD -------------------------------
        AGHAF_CAN_Bus_deactivate(canBus);
        AGHAF_CAN_Bus_setParam(canBus,
                               CAN_PARAM_LISTEN_ONLY,
                               AGHAF_FALSE);
        AGHAF_CAN_Bus_setParam(canBus,
                               CAN_PARAM_MODE,
                               AGHAF_CAN_MODE_FD);
        AGHAF_CAN_Bus_setParam(canBus,
                               CAN_PARAM_BAUDRATE,
                               1000000);
        AGHAF_CAN_Bus_setParam(canBus,
                               CAN_PARAM_BAUDRATE_FD,
                               5000000);
        AGHAF_CAN_Bus_setParam(canBus,
                               CAN_PARAM_TERMINATION,
                               120);
        AGHAF_CAN_Bus_activate(canBus);
        // --------------------------------------------
 
        std::vector<uint8_t> dataToSend;
        dataToSend.push_back(0x01);
        AGHAF_CAN_Identifier identifier;
        identifier.type = AGHAF_CAN_IdStd;
        identifier.id.std = 0x100;
        AGHAF_CAN_Frame frameToSend = AGHAF_CAN_Frame_new();
        AGHAF_CAN_Frame_setFDF(frameToSend, AGHAF_TRUE, AGHAF_FALSE, AGHAF_TRUE);
        AGHAF_CAN_Frame_setId(frameToSend, &identifier);
        AGHAF_CAN_Frame_setData(frameToSend,
                                dataToSend.data(),
                                static_cast<uint32_t>(
                                    dataToSend.size()));
        AGHAF_CAN_sendFrame(canBus, frameToSend);
        AGHAF_CAN_Frame_delete(frameToSend);
 
        AGHAF_CAN_Bus_deactivate(canBus);
 
        AGHAF_CAN_deregisterCallback(canBus, &canBus_callback);
 
        AGHAF_closeDevice(device);
    }
 
#ifdef _WIN32
    AGHAF_unloadLibrary();
#endif
    return 0;
}