LIN_Sporadic/main.cpp

Sporadic example

Schedule table contains only one sporadic frame.
The sporadic frame is associatted with unconditional frames 0x22, 0x23 and 0x24.

#include <vector>
#include <iostream>
#include <thread>
#include <array>
 
#define AGHAF_DYNAMIC_LIBRARY_INIT
#include <aghaf.h>
 
#include <iostream>
#include <iomanip>
 
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 onLinSlaveTx(
        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 onLinSlaveRx(
        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 onLinSlaveError(
        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 > 1) {
            AGHAF_Device deviceMaster = AGHAF_getDeviceBySN(
                        devicesInfo[0].productNo,
                    devicesInfo[0].serialNo);
 
            AGHAF_Device deviceSlave = AGHAF_getDeviceBySN(
                        devicesInfo[1].productNo,
                    devicesInfo[1].serialNo);
 
            AGHAF_openDevice(deviceMaster);
            AGHAF_openDevice(deviceSlave);
 
            uint8_t linCount1 = AGHAF_LIN_getCount(deviceMaster);
            uint8_t linCount2 = AGHAF_LIN_getCount(deviceSlave);
 
            if (linCount1 > 0 && linCount2 > 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 linSlave = AGHAF_LIN_get(deviceSlave, 0);
                AGHAF_LIN_setOnMessageRxCallback(linSlave, &onLinSlaveRx, nullptr);
                AGHAF_LIN_setOnMessageTxCallback(linSlave, &onLinSlaveTx, nullptr);
                AGHAF_LIN_setOnErrorCallback(linSlave, &onLinSlaveError, nullptr);
                AGHAF_LIN_setParam(linSlave,
                                   AGHAF_LIN_PARAM_BAUDRATE,
                                   19200);
                AGHAF_LIN_setParam(linSlave,
                                   AGHAF_LIN_PARAM_MODE,
                                   AGHAF_LIN_MODE_SLAVE);
 
                std::array<uint8_t, 3> spos = { 0x22, 0x23, 0x24 };
                std::array<uint8_t, 4> spoFrame22 = { 0x00, 0x01, 0x02, 0x03 };
                std::array<uint8_t, 5> spoFrame23 = { 0x00, 0x01, 0x02, 0x03, 0x04 };
                std::array<uint8_t, 6> spoFrame24 = { 0x00, 0x01, 0x02, 0x03, 0x05, 0x06 };
                AGHAF_LIN_SCHEDULE_addSporadic(linMaster, 0, 2, static_cast<uint8_t>(spos.size()), spos.data());
                AGHAF_LIN_SCHEDULE_configure(linMaster, 0, AGHAF_LIN_SCHEDULE_KIND_LOOP);
 
                AGHAF_LIN_configureFrame(
                            linMaster,
                            0x22,
                            AGHAF_LIN_FRAME_KIND_PUBLISH,
                            0,
                            static_cast<uint8_t>(spoFrame22.size()),
                            spoFrame22.data());
 
                AGHAF_LIN_configureFrame(
                            linSlave,
                            0x22,
                            AGHAF_LIN_FRAME_KIND_SUBSCRIBE,
                            0,
                            static_cast<uint8_t>(spoFrame22.size()),
                            nullptr);
 
                AGHAF_LIN_configureFrame(
                            linMaster,
                            0x23,
                            AGHAF_LIN_FRAME_KIND_PUBLISH,
                            0,
                            static_cast<uint8_t>(spoFrame23.size()),
                            spoFrame23.data());
 
                AGHAF_LIN_configureFrame(
                            linSlave,
                            0x23,
                            AGHAF_LIN_FRAME_KIND_SUBSCRIBE,
                            0,
                            static_cast<uint8_t>(spoFrame23.size()),
                            nullptr);
 
                AGHAF_LIN_configureFrame(
                            linMaster,
                            0x24,
                            AGHAF_LIN_FRAME_KIND_PUBLISH,
                            0,
                            static_cast<uint8_t>(spoFrame24.size()),
                            spoFrame24.data());
 
                AGHAF_LIN_configureFrame(
                            linSlave,
                            0x24,
                            AGHAF_LIN_FRAME_KIND_SUBSCRIBE,
                            0,
                            static_cast<uint8_t>(spoFrame24.size()),
                            nullptr);
 
                AGHAF_LIN_activate(linMaster);
                AGHAF_LIN_activate(linSlave);
                AGHAF_LIN_SCHEDULE_start(linMaster, 0);
                std::this_thread::sleep_for(std::chrono::milliseconds(100));
                spoFrame22[0] = 0x0A;
                AGHAF_LIN_updateFrame(linMaster, 0x22, static_cast<uint8_t>(spoFrame22.size()), spoFrame22.data());
                std::this_thread::sleep_for(std::chrono::milliseconds(100));
                spoFrame23[1] = 0x0B;
                AGHAF_LIN_updateFrame(linMaster, 0x23, static_cast<uint8_t>(spoFrame23.size()), spoFrame23.data());
                std::this_thread::sleep_for(std::chrono::milliseconds(100));
                spoFrame24[2] = 0x0C;
                AGHAF_LIN_updateFrame(linMaster, 0x24, static_cast<uint8_t>(spoFrame24.size()), spoFrame24.data());
                std::this_thread::sleep_for(std::chrono::milliseconds(100));
                spoFrame22[3] = 0x0D;
                spoFrame23[3] = 0x0D;
                spoFrame24[3] = 0x0D;
                AGHAF_LIN_updateFrame(linMaster, 0x24, static_cast<uint8_t>(spoFrame24.size()), spoFrame24.data());
                std::this_thread::sleep_for(std::chrono::milliseconds(100));
                AGHAF_LIN_updateFrame(linMaster, 0x22, static_cast<uint8_t>(spoFrame22.size()), spoFrame22.data());
                AGHAF_LIN_updateFrame(linMaster, 0x23, static_cast<uint8_t>(spoFrame23.size()), spoFrame23.data());
                std::this_thread::sleep_for(std::chrono::milliseconds(100));
                AGHAF_LIN_SCHEDULE_stop(linMaster);
                AGHAF_LIN_deactivate(linMaster);
                AGHAF_LIN_deactivate(linSlave);
            }
 
            AGHAF_closeDevice(deviceMaster);
            AGHAF_closeDevice(deviceSlave);
        }
 
        AGHAF_freeDeviceList(devicesInfo);
    }
 
#ifdef _WIN32
    AGHAF_unloadLibrary();
#endif
    return 0;
}