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macOS Library for PCAN-USB Interfaces: Blocking Read Example
//
// macOS Library for PCAN-USB Interfaces
// Example: receive CAN messages (Blockng read)
//
// To compile type `clang++ pcbusb_recv.cpp -l PCBUSB -o pcbusb_recv'
// libPCBUSB.dylib is expected to be in the library search path.
//
// Note: Press Ctrl+C to terminate the program.
//
#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <signal.h>
#include <errno.h>
#include <sys/time.h>
#include "PCBUSB.h"
#define PCAN_CHANNEL PCAN_USBBUS1
#define PCAN_BAUDRATE PCAN_BAUD_250K
static volatile int running = 1;
static void sigterm(int signo)
{
//printf("got signal %d\n", signo);
running = 0;
}
int main(int argc, char *argv[])
{
int fdes;
fd_set rdfs;
TPCANMsg message;
TPCANStatus status;
if ((signal(SIGTERM, sigterm) == SIG_ERR) ||
(signal(SIGINT, sigterm) == SIG_ERR)) {
perror("Error");
return errno;
}
status = CAN_Initialize(PCAN_CHANNEL, PCAN_BAUDRATE, 0, 0, 0);
printf("Initialize CAN: 0x%x\n", status);
if (status != PCAN_ERROR_OK) goto leave;
// get a file descriptor for blocking read via `select'
status = CAN_GetValue(PCAN_CHANNEL, PCAN_RECEIVE_EVENT, &fdes, sizeof(int));
if (status != PCAN_ERROR_OK) goto leave;
// see `man select' for details on I/O descriptor sets
FD_ZERO(&rdfs);
FD_SET(fdes, &rdfs);
while (running) {
status = CAN_Read(PCAN_CHANNEL, &message, NULL);
if (status == PCAN_ERROR_OK) {
if (!(message.MSGTYPE & PCAN_MESSAGE_STATUS))
printf(" - R ID:%4x LEN:%1x DATA:%02x %02x %02x %02x %02x %02x %02x %02x\n",
(int) message.ID, (int) message.LEN, (int) message.DATA[0],
(int) message.DATA[1], (int) message.DATA[2],
(int) message.DATA[3], (int) message.DATA[4],
(int) message.DATA[5], (int) message.DATA[6],
(int) message.DATA[7]);
} else if (status == PCAN_ERROR_QRCVEMPTY) {
// block until at least one CAN message has been received
if (select(fdes+1, &rdfs, NULL, NULL, NULL) < 0)
perror("Error");
} else {
printf("Error 0x%x\n", status);
break;
}
}
leave:
CAN_Uninitialize(PCAN_NONEBUS);
return 0;
}
//
// macOS Library for PCAN-USB Interfaces
// Example: send CAN messages
//
// To compile type `clang++ pcbusb_send.cpp -l PCBUSB -o pcbusb_send'
// libPCBUSB.dylib is expected to be in the library search path.
//
// Note: Press Ctrl+C to terminate the program.
//
#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <signal.h>
#include <errno.h>
#include <string.h>
#include "PCBUSB.h"
#define PCAN_CHANNEL PCAN_USBBUS2
#define PCAN_BAUDRATE PCAN_BAUD_250K
static volatile int running = 1;
static void sigterm(int signo)
{
//printf("got signal %d\n", signo);
running = 0;
}
int main(int argc, char *argv[])
{
TPCANMsg message;
TPCANStatus status;
unsigned long frames = 0;
if ((signal(SIGTERM, sigterm) == SIG_ERR) ||
(signal(SIGINT, sigterm) == SIG_ERR)) {
perror("+++ Error");
return errno;
}
status = CAN_Initialize(PCAN_CHANNEL, PCAN_BAUDRATE, 0, 0, 0);
printf("Initialize CAN: 0x%x\n", status);
if (status != PCAN_ERROR_OK) goto leave;
message.ID = 0x100;
message.LEN = 8;
message.MSGTYPE = PCAN_MESSAGE_STANDARD;
memset(message.DATA, 0x00, message.LEN);
while (running) {
if ((status = CAN_Write(PCAN_CHANNEL, &message)) == PCAN_ERROR_OK) {
frames++;
// if ((frames % 2048) == 0)
// printf(" - T Message %lu\n", frames);
message.DATA[0] = (BYTE)((frames & 0x000000FFU) >> 0);
message.DATA[1] = (BYTE)((frames & 0x0000FF00U) >> 8);
message.DATA[2] = (BYTE)((frames & 0x00FF0000U) >> 16);
message.DATA[3] = (BYTE)((frames & 0xFF000000U) >> 24);
}
}
leave:
status = CAN_Uninitialize(PCAN_NONEBUS);
return 0;
}
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