Initial commit: Complete USB2CAN cross-platform framework
Features: - Cross-platform support (Windows/Linux/macOS) - CAN and CANFD protocol support - USB communication (WinUSB/libusb) - Device management and configuration - Message transmission and reception - Filter configuration - CMake build system - Comprehensive examples and tests
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examples/main.cpp
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184
examples/main.cpp
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/**
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* @file main.cpp
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* @brief USB2CAN框架示例程序
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*/
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#include "../include/api/Usb2Can.h"
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#include <iostream>
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#include <iomanip>
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#include <thread>
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#include <chrono>
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/**
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* @brief 打印设备信息
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* @param info 设备信息
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*/
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void printDeviceInfo(const usb2can::device::Usb2CanDeviceInfo& info) {
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std::cout << "Device Information:" << std::endl;
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std::cout << " Type: " << (info.type == usb2can::device::DeviceType::CAN ? "CAN" : "CANFD") << std::endl;
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std::cout << " Vendor ID: 0x" << std::hex << std::setw(4) << std::setfill('0') << info.vendorId << std::endl;
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std::cout << " Product ID: 0x" << std::hex << std::setw(4) << std::setfill('0') << info.productId << std::endl;
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std::cout << " Manufacturer: " << info.manufacturer << std::endl;
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std::cout << " Product Name: " << info.productName << std::endl;
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std::cout << " Serial Number: " << info.serialNumber << std::endl;
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std::cout << " Hardware Version: " << info.hwVersion << std::endl;
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std::cout << " Firmware Version: " << info.fwVersion << std::endl;
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std::cout << " Manufacture Date: " << info.manufactureDate << std::endl;
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std::cout << " Device Path: " << info.devicePath << std::endl;
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std::cout << " Clock Frequency: " << std::dec << info.clockFrequency << " Hz" << std::endl;
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std::cout << " Device Index: " << info.deviceIndex << std::endl;
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}
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/**
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* @brief 打印CAN消息
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* @param message CAN消息
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*/
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void printCanMessage(const usb2can::can::CanMessage& message) {
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std::cout << "CAN Message:" << std::endl;
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std::cout << " ID: 0x" << std::hex << std::setw(8) << std::setfill('0') << message.id << std::endl;
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std::cout << " Timestamp: " << std::dec << message.timestamp << " us" << std::endl;
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std::cout << " Frame Type: " << (message.frameType == usb2can::can::CanFrameType::STANDARD ? "Standard" : "Extended") << std::endl;
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std::cout << " Data Length: " << static_cast<int>(message.dataLength) << std::endl;
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std::cout << " Data: ";
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for (int i = 0; i < message.dataLength; ++i) {
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std::cout << std::hex << std::setw(2) << std::setfill('0') << static_cast<int>(message.data[i]) << " ";
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}
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std::cout << std::endl;
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std::cout << " Extended: " << (message.isExtended ? "Yes" : "No") << std::endl;
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std::cout << " Remote: " << (message.isRemote ? "Yes" : "No") << std::endl;
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std::cout << " Bus Status: 0x" << std::hex << static_cast<int>(message.busStatus) << std::endl;
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std::cout << " Error Status: 0x" << std::hex << static_cast<int>(message.errorStatus) << std::endl;
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std::cout << " TX Error Counter: " << std::dec << static_cast<int>(message.txErrorCounter) << std::endl;
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std::cout << " RX Error Counter: " << static_cast<int>(message.rxErrorCounter) << std::endl;
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}
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/**
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* @brief 热插拔回调函数
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*/
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void hotplugCallback() {
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std::cout << "Hotplug event detected!" << std::endl;
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}
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int main() {
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// 创建USB2CAN实例
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usb2can::Usb2Can usb2can;
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// 初始化框架
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if (!usb2can.initialize()) {
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std::cerr << "Failed to initialize USB2CAN framework" << std::endl;
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return 1;
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}
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// 注册热插拔回调
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if (!usb2can.registerHotplugCallback(hotplugCallback)) {
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std::cerr << "Failed to register hotplug callback" << std::endl;
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}
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// 扫描设备
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int deviceCount = usb2can.scanDevices();
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std::cout << "Found " << deviceCount << " USB2CAN devices" << std::endl;
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if (deviceCount == 0) {
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std::cout << "No USB2CAN devices found. Please connect a device and try again." << std::endl;
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return 0;
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}
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// 打印所有设备信息
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for (int i = 0; i < deviceCount; ++i) {
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usb2can::device::Usb2CanDeviceInfo info;
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if (usb2can.readDeviceInfo(i, info)) {
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std::cout << "\nDevice " << i << ":" << std::endl;
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printDeviceInfo(info);
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}
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}
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// 打开第一个设备
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if (!usb2can.openDevice(0)) {
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std::cerr << "Failed to open device 0" << std::endl;
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return 1;
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}
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std::cout << "\nDevice 0 opened successfully" << std::endl;
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// 获取设备类型
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int deviceType = usb2can.getDeviceType(0);
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std::cout << "Device type: " << (deviceType == 0 ? "CAN" : "CANFD") << std::endl;
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// 获取设备主频
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uint32_t clockFreq = usb2can.getDeviceClockFrequency(0);
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std::cout << "Device clock frequency: " << clockFreq << " Hz" << std::endl;
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// 初始化CAN
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usb2can::can::CanConfig canConfig;
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canConfig.baudrate = 500000; // 500kbps
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canConfig.mode = usb2can::can::CanMode::NORMAL;
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if (!usb2can.initCan(0, canConfig)) {
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std::cerr << "Failed to initialize CAN" << std::endl;
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usb2can.closeDevice(0);
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return 1;
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}
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std::cout << "CAN initialized successfully" << std::endl;
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// 设置过滤器
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if (!usb2can.setFilter(0, 0, 0, 0, 0, true)) {
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std::cerr << "Failed to set filter" << std::endl;
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}
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// 创建并发送CAN消息
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usb2can::can::CanMessage txMsg;
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txMsg.id = 0x123;
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txMsg.frameType = usb2can::can::CanFrameType::STANDARD;
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txMsg.isExtended = false;
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txMsg.isRemote = false;
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txMsg.dataLength = 8;
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const char* testData = "USB2CAN";
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txMsg.setData(reinterpret_cast<const uint8_t*>(testData), 7);
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std::cout << "\nSending CAN message:" << std::endl;
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printCanMessage(txMsg);
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if (!usb2can.transmit(0, txMsg)) {
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std::cerr << "Failed to transmit CAN message" << std::endl;
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} else {
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std::cout << "CAN message transmitted successfully" << std::endl;
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}
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// 接收CAN消息
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std::cout << "\nWaiting for CAN messages..." << std::endl;
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for (int i = 0; i < 5; ++i) {
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usb2can::can::CanMessage rxMsg;
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if (usb2can.receive(0, rxMsg, 1000)) {
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std::cout << "\nReceived CAN message:" << std::endl;
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printCanMessage(rxMsg);
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} else {
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std::cout << ".";
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std::cout.flush();
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}
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std::this_thread::sleep_for(std::chrono::milliseconds(200));
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}
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std::cout << std::endl;
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// 获取设备状态
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usb2can::can::CanStatus status;
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if (usb2can.getStatus(0, status)) {
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std::cout << "\nDevice Status:" << std::endl;
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std::cout << " Bus Status: 0x" << std::hex << static_cast<int>(status.busStatus) << std::endl;
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std::cout << " Error Status: 0x" << std::hex << static_cast<int>(status.errorStatus) << std::endl;
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std::cout << " TX Error Counter: " << std::dec << static_cast<int>(status.txErrorCounter) << std::endl;
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std::cout << " RX Error Counter: " << static_cast<int>(status.rxErrorCounter) << std::endl;
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std::cout << " Timestamp: " << status.timestamp << " us" << std::endl;
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}
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// 关闭设备
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usb2can.closeDevice(0);
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std::cout << "\nDevice closed" << std::endl;
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// 注销热插拔回调
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usb2can.unregisterHotplugCallback();
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return 0;
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}
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