LIN_EventTriggered/main.cpp

Event Triggered example

The event-triggered frame 0x10 is associatted with unconditional frames 0x11 from slave 1 and 0x12 from slave 2.
Schedule table contains event-triggered frame 0x10.
The collision resolving schedule table contains unconditionnal frames 0x11 and 0x12.

#include <array>
#include <iostream>
#include <string>
#include <thread>
 
#define AGHAF_DYNAMIC_LIBRARY_INIT
#include <aghaf.h>
 
#include <iomanip>
#include <iostream>
 
void onLinMasterTx(uint64_t timestamp, uint8_t fid, uint8_t datalen,
                   uint8_t const *data, void *userContext) {
  (void)timestamp;
  (void)userContext;
  std::cout << __FUNCTION__ << '\n';
  std::cout << "datalen: " << static_cast<int>(datalen) << '\n';
  std::cout << "fid: " << static_cast<int>(fid) << '\n';
  if (data != nullptr) {
    std::cout << "0x";
    for (uint8_t i = 0; i < datalen; ++i) {
      std::cout << std::hex << std::setw(2) << std::setfill('0')
                << static_cast<int>(data[i]);
    }
    std::cout << '\n';
  } else {
    std::cout << "no data" << '\n';
  }
}
 
void onLinMasterRx(uint64_t timestamp, uint8_t fid, uint8_t datalen,
                   uint8_t const *data, void *userContext) {
  (void)timestamp;
  (void)userContext;
  std::cout << __FUNCTION__ << '\n';
  std::cout << "datalen: " << static_cast<int>(datalen) << '\n';
  std::cout << "fid: " << static_cast<int>(fid) << '\n';
  std::cout << "0x";
  for (uint8_t i = 0; i < datalen; ++i) {
    std::cout << std::hex << std::setw(2) << std::setfill('0')
              << static_cast<int>(data[i]);
  }
  std::cout << '\n';
}
 
void onLinMasterError(uint64_t timestamp, AGHAF_LIN_Error error,
                      void *userContext) {
  (void)timestamp;
  (void)userContext;
  std::cout << __FUNCTION__ << '\n';
  std::cout << "error: " << static_cast<int>(error) << '\n';
}
 
void onLinSlave1Tx(uint64_t timestamp, uint8_t fid, uint8_t datalen,
                   uint8_t const *data, void *userContext) {
  (void)timestamp;
  (void)userContext;
  std::cout << __FUNCTION__ << '\n';
  std::cout << "datalen: " << static_cast<int>(datalen) << '\n';
  std::cout << "fid: " << static_cast<int>(fid) << '\n';
  if (data != nullptr) {
    std::cout << "0x";
    for (uint8_t i = 0; i < datalen; ++i) {
      std::cout << std::hex << std::setw(2) << std::setfill('0')
                << static_cast<int>(data[i]);
    }
    std::cout << '\n';
  } else {
    std::cout << "no data" << '\n';
  }
}
 
void onLinSlave1Rx(uint64_t timestamp, uint8_t fid, uint8_t datalen,
                   uint8_t const *data, void *userContext) {
  (void)timestamp;
  (void)userContext;
  std::cout << __FUNCTION__ << '\n';
  std::cout << "datalen: " << static_cast<int>(datalen) << '\n';
  std::cout << "fid: " << static_cast<int>(fid) << '\n';
  std::cout << "0x";
  for (uint8_t i = 0; i < datalen; ++i) {
    std::cout << std::hex << std::setw(2) << std::setfill('0')
              << static_cast<int>(data[i]);
  }
  std::cout << '\n';
}
 
void onLinSlave1Error(uint64_t timestamp, AGHAF_LIN_Error error,
                      void *userContext) {
  (void)timestamp;
  (void)userContext;
  std::cout << __FUNCTION__ << '\n';
  std::cout << "error: " << static_cast<int>(error) << '\n';
}
 
void onLinSlave2Tx(uint64_t timestamp, uint8_t fid, uint8_t datalen,
                   uint8_t const *data, void *userContext) {
  (void)timestamp;
  (void)userContext;
  std::cout << __FUNCTION__ << '\n';
  std::cout << "datalen: " << static_cast<int>(datalen) << '\n';
  std::cout << "fid: " << static_cast<int>(fid) << '\n';
  if (data != nullptr) {
    std::cout << "0x";
    for (uint8_t i = 0; i < datalen; ++i) {
      std::cout << std::hex << std::setw(2) << std::setfill('0')
                << static_cast<int>(data[i]);
    }
    std::cout << '\n';
  } else {
    std::cout << "no data" << '\n';
  }
}
 
void onLinSlave2Rx(uint64_t timestamp, uint8_t fid, uint8_t datalen,
                   uint8_t const *data, void *userContext) {
  (void)timestamp;
  (void)userContext;
  std::cout << __FUNCTION__ << '\n';
  std::cout << "datalen: " << static_cast<int>(datalen) << '\n';
  std::cout << "fid: " << static_cast<int>(fid) << '\n';
  std::cout << "0x";
  for (uint8_t i = 0; i < datalen; ++i) {
    std::cout << std::hex << std::setw(2) << std::setfill('0')
              << static_cast<int>(data[i]);
  }
  std::cout << '\n';
}
 
void onLinSlave2Error(uint64_t timestamp, AGHAF_LIN_Error error,
                      void *userContext) {
  (void)timestamp;
  (void)userContext;
  std::cout << __FUNCTION__ << '\n';
  std::cout << "error: " << static_cast<int>(error) << '\n';
}
 
int main() {
#ifdef _WIN32
  AGHAF_loadLibrary(AGHAF_DEFAULT_FILENAME);
#endif
 
  AGHAF_DeviceInfo *devicesInfo = nullptr;
  uint32_t deviceInfoNumber = 0;
  AGHAF_getDeviceList(&devicesInfo, &deviceInfoNumber);
 
  if (deviceInfoNumber > 2) {
    int serialNumber1 = std::stoi(devicesInfo[0].serialNo);
    int serialNumber2 = std::stoi(devicesInfo[1].serialNo);
    int serialNumber3 = std::stoi(devicesInfo[2].serialNo);
 
    AGHAF_Device deviceMaster = nullptr;
    AGHAF_Device deviceSlave1 = nullptr;
    AGHAF_Device deviceSlave2 = nullptr;
 
    if (serialNumber1 > serialNumber2) {
      if (serialNumber1 > serialNumber3) {
        deviceMaster = AGHAF_getDeviceBySN(devicesInfo[0].productNo,
                                           devicesInfo[0].serialNo);
 
        deviceSlave1 = AGHAF_getDeviceBySN(devicesInfo[1].productNo,
                                           devicesInfo[1].serialNo);
        deviceSlave2 = AGHAF_getDeviceBySN(devicesInfo[2].productNo,
                                           devicesInfo[2].serialNo);
      } else {
        deviceMaster = AGHAF_getDeviceBySN(devicesInfo[2].productNo,
                                           devicesInfo[2].serialNo);
 
        deviceSlave1 = AGHAF_getDeviceBySN(devicesInfo[0].productNo,
                                           devicesInfo[0].serialNo);
        deviceSlave2 = AGHAF_getDeviceBySN(devicesInfo[1].productNo,
                                           devicesInfo[1].serialNo);
      }
    } else {
      if (serialNumber2 > serialNumber3) {
        deviceMaster = AGHAF_getDeviceBySN(devicesInfo[1].productNo,
                                           devicesInfo[1].serialNo);
 
        deviceSlave1 = AGHAF_getDeviceBySN(devicesInfo[0].productNo,
                                           devicesInfo[0].serialNo);
        deviceSlave2 = AGHAF_getDeviceBySN(devicesInfo[2].productNo,
                                           devicesInfo[2].serialNo);
      } else {
        deviceMaster = AGHAF_getDeviceBySN(devicesInfo[2].productNo,
                                           devicesInfo[2].serialNo);
 
        deviceSlave1 = AGHAF_getDeviceBySN(devicesInfo[0].productNo,
                                           devicesInfo[0].serialNo);
        deviceSlave2 = AGHAF_getDeviceBySN(devicesInfo[1].productNo,
                                           devicesInfo[1].serialNo);
      }
    }
 
    AGHAF_openDevice(deviceMaster);
    AGHAF_openDevice(deviceSlave1);
    AGHAF_openDevice(deviceSlave2);
 
    uint8_t linCount1 = AGHAF_LIN_getCount(deviceMaster);
    uint8_t linCount2 = AGHAF_LIN_getCount(deviceSlave1);
    uint8_t linCount3 = AGHAF_LIN_getCount(deviceSlave2);
 
    if (linCount1 > 0 && linCount2 > 0 && linCount3 > 0) {
      AGHAF_LIN linMaster = AGHAF_LIN_get(deviceMaster, 0);
      AGHAF_LIN_setOnMessageRxCallback(linMaster, &onLinMasterRx, nullptr);
      AGHAF_LIN_setOnMessageTxCallback(linMaster, &onLinMasterTx, nullptr);
      AGHAF_LIN_setOnErrorCallback(linMaster, &onLinMasterError, nullptr);
      AGHAF_LIN_setParam(linMaster, AGHAF_LIN_PARAM_BAUDRATE, 19200);
      AGHAF_LIN_setParam(linMaster, AGHAF_LIN_PARAM_MODE,
                         AGHAF_LIN_MODE_MASTER);
 
      AGHAF_LIN linSlave1 = AGHAF_LIN_get(deviceSlave1, 0);
      AGHAF_LIN_setOnMessageRxCallback(linSlave1, &onLinSlave1Rx, nullptr);
      AGHAF_LIN_setOnMessageTxCallback(linSlave1, &onLinSlave1Tx, nullptr);
      AGHAF_LIN_setOnErrorCallback(linSlave1, &onLinSlave1Error, nullptr);
      AGHAF_LIN_setParam(linSlave1, AGHAF_LIN_PARAM_BAUDRATE, 19200);
      AGHAF_LIN_setParam(linSlave1, AGHAF_LIN_PARAM_MODE, AGHAF_LIN_MODE_SLAVE);
 
      AGHAF_LIN linSlave2 = AGHAF_LIN_get(deviceSlave2, 0);
      AGHAF_LIN_setOnMessageRxCallback(linSlave2, &onLinSlave2Rx, nullptr);
      AGHAF_LIN_setOnMessageTxCallback(linSlave2, &onLinSlave2Tx, nullptr);
      AGHAF_LIN_setOnErrorCallback(linSlave2, &onLinSlave2Error, nullptr);
      AGHAF_LIN_setParam(linSlave2, AGHAF_LIN_PARAM_BAUDRATE, 19200);
      AGHAF_LIN_setParam(linSlave2, AGHAF_LIN_PARAM_MODE, AGHAF_LIN_MODE_SLAVE);
 
      std::array<uint8_t, 1> event1 = {0x12};
      std::array<uint8_t, 2> frame1 = {0x00, 0x85};
 
      std::array<uint8_t, 1> event2 = {0x11};
      std::array<uint8_t, 2> frame2 = {0x00, 0xF0};
 
      AGHAF_LIN_SCHEDULE_addEventTriggered(linMaster, 0, 2, 0x10, 1);
      AGHAF_LIN_SCHEDULE_addUnconditional(linMaster, 1, 0x12, 2);
      AGHAF_LIN_SCHEDULE_addUnconditional(linMaster, 1, 0x11, 2);
      AGHAF_LIN_SCHEDULE_configure(linMaster, 0, AGHAF_LIN_SCHEDULE_KIND_LOOP);
      AGHAF_LIN_SCHEDULE_configure(linMaster, 1, AGHAF_LIN_SCHEDULE_KIND_ONCE);
 
      AGHAF_LIN_configureFrame(linMaster, 0x10, AGHAF_LIN_FRAME_KIND_SUBSCRIBE,
                               0, static_cast<uint8_t>(frame2.size()), nullptr);
      AGHAF_LIN_configureFrame(linMaster, 0x11, AGHAF_LIN_FRAME_KIND_SUBSCRIBE,
                               0, static_cast<uint8_t>(frame2.size()), nullptr);
      AGHAF_LIN_configureFrame(linMaster, 0x12, AGHAF_LIN_FRAME_KIND_SUBSCRIBE,
                               0, static_cast<uint8_t>(frame1.size()), nullptr);
 
      AGHAF_LIN_configureFrame(linSlave1, 0x10, AGHAF_LIN_FRAME_KIND_PUBLISH,
                               AGHAF_LIN_PUBLISH_EVT_TRIG,
                               static_cast<uint8_t>(event2.size()),
                               event2.data());
      AGHAF_LIN_configureFrame(linSlave1, 0x11, AGHAF_LIN_FRAME_KIND_PUBLISH,
                               AGHAF_LIN_PUBLISH_AUTO_PID,
                               static_cast<uint8_t>(frame2.size()),
                               frame2.data());
 
      AGHAF_LIN_configureFrame(linSlave2, 0x10, AGHAF_LIN_FRAME_KIND_PUBLISH,
                               AGHAF_LIN_PUBLISH_EVT_TRIG,
                               static_cast<uint8_t>(event1.size()),
                               event1.data());
      AGHAF_LIN_configureFrame(linSlave2, 0x12, AGHAF_LIN_FRAME_KIND_PUBLISH,
                               AGHAF_LIN_PUBLISH_AUTO_PID,
                               static_cast<uint8_t>(frame1.size()),
                               frame1.data());
 
      AGHAF_LIN_activate(linMaster);
      AGHAF_LIN_activate(linSlave1);
      AGHAF_LIN_activate(linSlave2);
      AGHAF_LIN_SCHEDULE_start(linMaster, 0);
      std::this_thread::sleep_for(std::chrono::milliseconds(100));
      frame1[1] = 0xC0;
      AGHAF_LIN_updateFrame(linSlave2, 0x12,
                            static_cast<uint8_t>(frame1.size()), frame1.data());
      std::this_thread::sleep_for(std::chrono::milliseconds(100));
      AGHAF_LIN_SCHEDULE_stop(linMaster);
      AGHAF_LIN_deactivate(linSlave2);
      AGHAF_LIN_deactivate(linSlave1);
      AGHAF_LIN_deactivate(linMaster);
    } else {
      std::cerr << "one or more devices do not have any LIN" << '\n';
    }
 
    AGHAF_closeDevice(deviceMaster);
    AGHAF_closeDevice(deviceSlave1);
    AGHAF_closeDevice(deviceSlave2);
  } else {
    std::cerr << "3 exxotest devices are required" << '\n';
  }
 
  AGHAF_freeDeviceList(devicesInfo);
 
#ifdef _WIN32
  AGHAF_unloadLibrary();
#endif
  return 0;
}