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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,187 @@ | ||
| pub use pcan_basic::bus::UsbBus; | ||
| // NOTE: PcanError is undocumented in the Rust source - you should go to | ||
| // https://github.com/tsabelmann/pcan-basic-sys/blob/master/header/PCANBasic.h for error | ||
| // documentation. | ||
| // | ||
| // PcanError::XmtFull - controller transmit buffer full | ||
| // PcanError::Overrun - controller was read too late | ||
| // PcanError::BusLight - error counter reached the light limit | ||
| // PcanError::BusHeavy - error counter reached the heavy limit | ||
| // PcanError::BusPassive | ||
| // PcanError::BusOff | ||
| // PcanError::AnyBusErr | ||
| // PcanError::QrcvEmpty - receive queue empty | ||
| // PcanError::QOverrun - receive queue overrun | ||
| // PcanError::QxmtFull - transmit queue full | ||
| // PcanError::RegTest - controller hardware registers test failed | ||
| // PcanError::NoDriver - driver not loaded | ||
| // PcanError::HwInUse - Hardware already in use by a network | ||
| // PcanError::NetInUse - A client is already connected to the Net | ||
| // PcanError::IllHw - Hardware handle is invalid | ||
| // PcanError::IllNet - Net handle is invalid | ||
| // PcanError::IllClient - Client handle is invalid | ||
| // PcanError::Resource - Resource (FIFO, Client, timeout) cannot be created | ||
| // PcanError::IllParamType - Invalid parameter | ||
| // PcanError::IllParamVal - Invalid parameter value | ||
| // PcanError::Unknown | ||
| // PcanError::IllData - Invalid data, function, or action | ||
| // PcanError::IllMode - Driver object state is wrong for the attempted operation | ||
| // PcanError::Caution - An opperation was successfully carried out, but irregularities were found | ||
| // PcanError::Initialize - Channel not initialized | ||
| // PcanError::IllOperation - Invalid operation | ||
| pub use pcan_basic::error::PcanError; | ||
| use pcan_basic::socket::usb::UsbCanSocket; | ||
| use pcan_basic::socket::{Baudrate as PcanBaudrate, RecvCan, SendCan}; | ||
|
|
||
| use crate::driver::{ | ||
| Driver, DriverCloseError, DriverOpenError, DriverReadError, DriverWriteError, Frame, | ||
| }; | ||
| use crate::tracing; | ||
|
|
||
| #[derive(Debug, Clone, PartialEq, Eq)] | ||
| pub enum Baudrate { | ||
| Baud1M, | ||
| Baud800K, | ||
| Baud500K, | ||
| Baud250K, | ||
| Baud125K, | ||
| Baud100K, | ||
| Baud95K, | ||
| Baud83K, | ||
| Baud50K, | ||
| Baud47K, | ||
| Baud33K, | ||
| Baud20K, | ||
| Baud10K, | ||
| Baud5K, | ||
| } | ||
|
|
||
| // It's unfortunate that we have to duplicate pcan's baudrate enum, but it doesn't implement Clone | ||
| // or Debug, so we have to. | ||
| impl From<Baudrate> for PcanBaudrate { | ||
| fn from(b: Baudrate) -> PcanBaudrate { | ||
| match b { | ||
| Baudrate::Baud1M => PcanBaudrate::Baud1M, | ||
| Baudrate::Baud800K => PcanBaudrate::Baud800K, | ||
| Baudrate::Baud500K => PcanBaudrate::Baud500K, | ||
| Baudrate::Baud250K => PcanBaudrate::Baud250K, | ||
| Baudrate::Baud125K => PcanBaudrate::Baud125K, | ||
| Baudrate::Baud100K => PcanBaudrate::Baud100K, | ||
| Baudrate::Baud95K => PcanBaudrate::Baud95K, | ||
| Baudrate::Baud83K => PcanBaudrate::Baud83, | ||
| Baudrate::Baud50K => PcanBaudrate::Baud50K, | ||
| Baudrate::Baud47K => PcanBaudrate::Baud47K, | ||
| Baudrate::Baud33K => PcanBaudrate::Baud33K, | ||
| Baudrate::Baud20K => PcanBaudrate::Baud20K, | ||
| Baudrate::Baud10K => PcanBaudrate::Baud10K, | ||
| Baudrate::Baud5K => PcanBaudrate::Baud5K, | ||
| } | ||
| } | ||
| } | ||
|
|
||
| impl From<PcanError> for DriverOpenError { | ||
| fn from(e: PcanError) -> DriverOpenError { | ||
| DriverOpenError::PeakError(e) | ||
| } | ||
| } | ||
| impl From<PcanError> for DriverReadError { | ||
| fn from(e: PcanError) -> DriverReadError { | ||
| match e { | ||
| PcanError::QrcvEmpty => DriverReadError::NoFrameReady, | ||
| _ => DriverReadError::PeakError(e), | ||
| } | ||
| } | ||
| } | ||
| impl From<PcanError> for DriverWriteError { | ||
| fn from(e: PcanError) -> DriverWriteError { | ||
| match e { | ||
| PcanError::QxmtFull | PcanError::XmtFull | PcanError::Overrun => { | ||
| DriverWriteError::NotReady | ||
| } | ||
| _ => DriverWriteError::PeakError(e), | ||
| } | ||
| } | ||
| } | ||
|
|
||
| pub struct PeakDriver { | ||
| sock: Option<UsbCanSocket>, | ||
| bus: UsbBus, | ||
| baud: Baudrate, | ||
| } | ||
|
|
||
| impl PeakDriver { | ||
| pub fn new(bus: UsbBus, baud: Baudrate) -> Self { | ||
| Self { | ||
| sock: None, | ||
| bus, | ||
| baud, | ||
| } | ||
| } | ||
| } | ||
|
|
||
| impl Driver for PeakDriver { | ||
| fn is_valid(&self) -> bool { | ||
| self.sock.is_some() | ||
| } | ||
| fn open(&mut self) -> Result<(), DriverOpenError> { | ||
| // pcan's Baudrate type doesn't implement Clone, so you can't pass it to open() behind the | ||
| // &mut self mutable reference. | ||
| match UsbCanSocket::open(self.bus, self.baud.clone().into()) { | ||
| Ok(sock) => { | ||
| tracing::info!("Opened {:?} @ {:?}", self.bus, self.baud); | ||
| self.sock = Some(sock); | ||
| Ok(()) | ||
| } | ||
| Err(e) => { | ||
| let e = e.into(); | ||
| tracing::error!("Failed to open {:?} @ {:?}: {e:?}", self.bus, self.baud); | ||
| Err(e) | ||
| } | ||
| } | ||
| } | ||
| fn close(&mut self) -> Result<(), DriverCloseError> { | ||
| self.sock = None; | ||
| Ok(()) | ||
| } | ||
|
|
||
| fn read_nonblocking(&mut self, _frame: &mut Frame) -> Result<(), DriverReadError> { | ||
| let Some(sock) = self.sock.as_mut() else { | ||
| tracing::warn!("Tried to read from closed interface {:?}", self.bus); | ||
| return Err(DriverReadError::DriverClosed); | ||
| }; | ||
|
|
||
| match sock.recv() { | ||
| Ok((_frame, _timestamp)) => { | ||
| tracing::trace!("Received {_frame:?} @ {_timestamp:?}"); | ||
| Ok(()) | ||
| } | ||
| Err(PcanError::QrcvEmpty) => Err(DriverReadError::NoFrameReady), | ||
| Err(e) => { | ||
| tracing::error!("Error receiving frame: {e:?}"); | ||
| Err(e.into()) | ||
| } | ||
| } | ||
| } | ||
|
|
||
| fn write_nonblocking(&mut self, _frame: &Frame) -> Result<(), DriverWriteError> { | ||
| let Some(sock) = self.sock.as_mut() else { | ||
| tracing::warn!("Tried to write to closed interface {:?}", self.bus); | ||
| return Err(DriverWriteError::DriverClosed); | ||
| }; | ||
|
|
||
| let pcan_frame = pcan_basic::socket::CanFrame::default(); | ||
| match sock.send(pcan_frame) { | ||
| Ok(_) => { | ||
| tracing::trace!("Wrote frame: {_frame:?}"); | ||
| Ok(()) | ||
| } | ||
| Err(e @ (PcanError::QxmtFull | PcanError::XmtFull | PcanError::Overrun)) => { | ||
| Err(e.into()) | ||
| } | ||
| Err(e) => { | ||
| tracing::error!("Error: {e:?} writing frame: {_frame:?}"); | ||
| Err(e.into()) | ||
| } | ||
| } | ||
| } | ||
| } |