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>
#include <vector>
 
#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__ << std::endl;
  std::cout << "datalen: " << static_cast<int>(datalen) << std::endl;
  std::cout << "fid: " << static_cast<int>(fid) << std::endl;
  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 << std::endl;
  } else {
    std::cout << "no data" << std::endl;
  }
}
 
void onLinMasterRx(uint64_t timestamp, uint8_t fid, uint8_t datalen,
                   uint8_t const *data, void *userContext) {
  (void)timestamp;
  (void)userContext;
  std::cout << __FUNCTION__ << std::endl;
  std::cout << "datalen: " << static_cast<int>(datalen) << std::endl;
  std::cout << "fid: " << static_cast<int>(fid) << std::endl;
  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 << std::endl;
}
 
void onLinMasterError(uint64_t timestamp, AGHAF_LIN_Error error,
                      void *userContext) {
  (void)timestamp;
  (void)userContext;
  std::cout << __FUNCTION__ << std::endl;
  std::cout << "error: " << static_cast<int>(error) << std::endl;
}
 
void onLinSlave1Tx(uint64_t timestamp, uint8_t fid, uint8_t datalen,
                   uint8_t const *data, void *userContext) {
  (void)timestamp;
  (void)userContext;
  std::cout << __FUNCTION__ << std::endl;
  std::cout << "datalen: " << static_cast<int>(datalen) << std::endl;
  std::cout << "fid: " << static_cast<int>(fid) << std::endl;
  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 << std::endl;
  } else {
    std::cout << "no data" << std::endl;
  }
}
 
void onLinSlave1Rx(uint64_t timestamp, uint8_t fid, uint8_t datalen,
                   uint8_t const *data, void *userContext) {
  (void)timestamp;
  (void)userContext;
  std::cout << __FUNCTION__ << std::endl;
  std::cout << "datalen: " << static_cast<int>(datalen) << std::endl;
  std::cout << "fid: " << static_cast<int>(fid) << std::endl;
  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 << std::endl;
}
 
void onLinSlave1Error(uint64_t timestamp, AGHAF_LIN_Error error,
                      void *userContext) {
  (void)timestamp;
  (void)userContext;
  std::cout << __FUNCTION__ << std::endl;
  std::cout << "error: " << static_cast<int>(error) << std::endl;
}
 
void onLinSlave2Tx(uint64_t timestamp, uint8_t fid, uint8_t datalen,
                   uint8_t const *data, void *userContext) {
  (void)timestamp;
  (void)userContext;
  std::cout << __FUNCTION__ << std::endl;
  std::cout << "datalen: " << static_cast<int>(datalen) << std::endl;
  std::cout << "fid: " << static_cast<int>(fid) << std::endl;
  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 << std::endl;
  } else {
    std::cout << "no data" << std::endl;
  }
}
 
void onLinSlave2Rx(uint64_t timestamp, uint8_t fid, uint8_t datalen,
                   uint8_t const *data, void *userContext) {
  (void)timestamp;
  (void)userContext;
  std::cout << __FUNCTION__ << std::endl;
  std::cout << "datalen: " << static_cast<int>(datalen) << std::endl;
  std::cout << "fid: " << static_cast<int>(fid) << std::endl;
  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 << std::endl;
}
 
void onLinSlave2Error(uint64_t timestamp, AGHAF_LIN_Error error,
                      void *userContext) {
  (void)timestamp;
  (void)userContext;
  std::cout << __FUNCTION__ << std::endl;
  std::cout << "error: " << static_cast<int>(error) << std::endl;
}
 
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);
 
    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);
      }
 
      AGHAF_closeDevice(deviceMaster);
      AGHAF_closeDevice(deviceSlave1);
      AGHAF_closeDevice(deviceSlave2);
    }
 
    AGHAF_freeDeviceList(devicesInfo);
  }
 
#ifdef _WIN32
  AGHAF_unloadLibrary();
#endif
  return 0;
}