hcanview/examples/main.cpp

/**
 * @file main.cpp
 * @brief USB2CAN框架示例程序
 */

#include "../include/api/Usb2Can.h"
#include <iostream>
#include <iomanip>
#include <thread>
#include <chrono>

/**
 * @brief 打印设备信息
 * @param info 设备信息
 */
void printDeviceInfo(const usb2can::device::Usb2CanDeviceInfo& info) {
    std::cout << "Device Information:" << std::endl;
    std::cout << "  Type: " << (info.type == usb2can::device::DeviceType::CAN ? "CAN" : "CANFD") << std::endl;
    std::cout << "  Vendor ID: 0x" << std::hex << std::setw(4) << std::setfill('0') << info.vendorId << std::endl;
    std::cout << "  Product ID: 0x" << std::hex << std::setw(4) << std::setfill('0') << info.productId << std::endl;
    std::cout << "  Manufacturer: " << info.manufacturer << std::endl;
    std::cout << "  Product Name: " << info.productName << std::endl;
    std::cout << "  Serial Number: " << info.serialNumber << std::endl;
    std::cout << "  Hardware Version: " << info.hwVersion << std::endl;
    std::cout << "  Firmware Version: " << info.fwVersion << std::endl;
    std::cout << "  Manufacture Date: " << info.manufactureDate << std::endl;
    std::cout << "  Device Path: " << info.devicePath << std::endl;
    std::cout << "  Clock Frequency: " << std::dec << info.clockFrequency << " Hz" << std::endl;
    std::cout << "  Device Index: " << info.deviceIndex << std::endl;
}

/**
 * @brief 打印CAN消息
 * @param message CAN消息
 */
void printCanMessage(const usb2can::can::CanMessage& message) {
    std::cout << "CAN Message:" << std::endl;
    std::cout << "  ID: 0x" << std::hex << std::setw(8) << std::setfill('0') << message.id << std::endl;
    std::cout << "  Timestamp: " << std::dec << message.timestamp << " us" << std::endl;
    std::cout << "  Frame Type: " << (message.frameType == usb2can::can::CanFrameType::STANDARD ? "Standard" : "Extended") << std::endl;
    std::cout << "  Data Length: " << static_cast<int>(message.dataLength) << std::endl;
    std::cout << "  Data: ";
    for (int i = 0; i < message.dataLength; ++i) {
        std::cout << std::hex << std::setw(2) << std::setfill('0') << static_cast<int>(message.data[i]) << " ";
    }
    std::cout << std::endl;
    std::cout << "  Extended: " << (message.isExtended ? "Yes" : "No") << std::endl;
    std::cout << "  Remote: " << (message.isRemote ? "Yes" : "No") << std::endl;
    std::cout << "  Bus Status: 0x" << std::hex << static_cast<int>(message.busStatus) << std::endl;
    std::cout << "  Error Status: 0x" << std::hex << static_cast<int>(message.errorStatus) << std::endl;
    std::cout << "  TX Error Counter: " << std::dec << static_cast<int>(message.txErrorCounter) << std::endl;
    std::cout << "  RX Error Counter: " << static_cast<int>(message.rxErrorCounter) << std::endl;
}

/**
 * @brief 热插拔回调函数
 */
void hotplugCallback() {
    std::cout << "Hotplug event detected!" << std::endl;
}

int main() {
    // 创建USB2CAN实例
    usb2can::Usb2Can usb2can;
    
    // 初始化框架
    if (!usb2can.initialize()) {
        std::cerr << "Failed to initialize USB2CAN framework" << std::endl;
        return 1;
    }
    
    // 注册热插拔回调
    if (!usb2can.registerHotplugCallback(hotplugCallback)) {
        std::cerr << "Failed to register hotplug callback" << std::endl;
    }
    
    // 扫描设备
    int deviceCount = usb2can.scanDevices();
    std::cout << "Found " << deviceCount << " USB2CAN devices" << std::endl;
    
    if (deviceCount == 0) {
        std::cout << "No USB2CAN devices found. Please connect a device and try again." << std::endl;
        return 0;
    }
    
    // 打印所有设备信息
    for (int i = 0; i < deviceCount; ++i) {
        usb2can::device::Usb2CanDeviceInfo info;
        if (usb2can.readDeviceInfo(i, info)) {
            std::cout << "\nDevice " << i << ":" << std::endl;
            printDeviceInfo(info);
        }
    }
    
    // 打开第一个设备
    if (!usb2can.openDevice(0)) {
        std::cerr << "Failed to open device 0" << std::endl;
        return 1;
    }
    
    std::cout << "\nDevice 0 opened successfully" << std::endl;
    
    // 获取设备类型
    int deviceType = usb2can.getDeviceType(0);
    std::cout << "Device type: " << (deviceType == 0 ? "CAN" : "CANFD") << std::endl;
    
    // 获取设备主频
    uint32_t clockFreq = usb2can.getDeviceClockFrequency(0);
    std::cout << "Device clock frequency: " << clockFreq << " Hz" << std::endl;
    
    // 初始化CAN
    usb2can::can::CanConfig canConfig;
    canConfig.baudrate = 500000; // 500kbps
    canConfig.mode = usb2can::can::CanMode::NORMAL;
    
    if (!usb2can.initCan(0, canConfig)) {
        std::cerr << "Failed to initialize CAN" << std::endl;
        usb2can.closeDevice(0);
        return 1;
    }
    
    std::cout << "CAN initialized successfully" << std::endl;
    
    // 设置过滤器
    if (!usb2can.setFilter(0, 0, 0, 0, 0, true)) {
        std::cerr << "Failed to set filter" << std::endl;
    }
    
    // 创建并发送CAN消息
    usb2can::can::CanMessage txMsg;
    txMsg.id = 0x123;
    txMsg.frameType = usb2can::can::CanFrameType::STANDARD;
    txMsg.isExtended = false;
    txMsg.isRemote = false;
    txMsg.dataLength = 8;
    const char* testData = "USB2CAN";
    txMsg.setData(reinterpret_cast<const uint8_t*>(testData), 7);
    
    std::cout << "\nSending CAN message:" << std::endl;
    printCanMessage(txMsg);
    
    if (!usb2can.transmit(0, txMsg)) {
        std::cerr << "Failed to transmit CAN message" << std::endl;
    } else {
        std::cout << "CAN message transmitted successfully" << std::endl;
    }
    
    // 接收CAN消息
    std::cout << "\nWaiting for CAN messages..." << std::endl;
    
    for (int i = 0; i < 5; ++i) {
        usb2can::can::CanMessage rxMsg;
        if (usb2can.receive(0, rxMsg, 1000)) {
            std::cout << "\nReceived CAN message:" << std::endl;
            printCanMessage(rxMsg);
        } else {
            std::cout << ".";
            std::cout.flush();
        }
        std::this_thread::sleep_for(std::chrono::milliseconds(200));
    }
    
    std::cout << std::endl;
    
    // 获取设备状态
    usb2can::can::CanStatus status;
    if (usb2can.getStatus(0, status)) {
        std::cout << "\nDevice Status:" << std::endl;
        std::cout << "  Bus Status: 0x" << std::hex << static_cast<int>(status.busStatus) << std::endl;
        std::cout << "  Error Status: 0x" << std::hex << static_cast<int>(status.errorStatus) << std::endl;
        std::cout << "  TX Error Counter: " << std::dec << static_cast<int>(status.txErrorCounter) << std::endl;
        std::cout << "  RX Error Counter: " << static_cast<int>(status.rxErrorCounter) << std::endl;
        std::cout << "  Timestamp: " << status.timestamp << " us" << std::endl;
    }
    
    // 关闭设备
    usb2can.closeDevice(0);
    std::cout << "\nDevice closed" << std::endl;
    
    // 注销热插拔回调
    usb2can.unregisterHotplugCallback();
    
    return 0;
}