Can_FD/main.cpp

#include <iostream>
#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
 
  if (AGHAF_getDeviceCount() > 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);
 
    if (AGHAF_openDevice(device) == AGHAF_STATUS_OK) {
      if (AGHAF_CAN_getBusCount(device) > 0) {
        AGHAF_CAN_Bus can = AGHAF_CAN_getBus(device, 0);
 
        AGHAF_CAN_registerCallback(can, &canBus_callback, nullptr);
 
        // BUS CAN FD -------------------------------
        AGHAF_CAN_Bus_deactivate(can);
        AGHAF_CAN_Bus_setParam(can, CAN_PARAM_LISTEN_ONLY, AGHAF_FALSE);
        AGHAF_CAN_Bus_setParam(can, CAN_PARAM_MODE, AGHAF_CAN_MODE_FD);
        AGHAF_CAN_Bus_setParam(can, CAN_PARAM_BAUDRATE, 1000000);
        AGHAF_CAN_Bus_setParam(can, CAN_PARAM_BAUDRATE_FD, 5000000);
        AGHAF_CAN_Bus_setParam(can, CAN_PARAM_TERMINATION, 120);
        AGHAF_CAN_Bus_activate(can);
        // --------------------------------------------
 
        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(can, frameToSend);
        AGHAF_CAN_Frame_delete(frameToSend);
 
        AGHAF_CAN_Bus_deactivate(can);
 
        AGHAF_CAN_deregisterCallback(can, &canBus_callback);
      } else {
        std::cerr << "no CAN on this device" << '\n';
      }
 
      AGHAF_closeDevice(device);
    } else {
      std::cout << "device is used by another application" << '\n';
    }
  } else {
    std::cerr << "no exxotest device connected" << '\n';
  }
 
#ifdef _WIN32
  AGHAF_unloadLibrary();
#endif
  return 0;
}