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2 Commits
1e9efdfa6d
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5707eabaa9
Author | SHA1 | Date |
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rusefillc | 5707eabaa9 | |
rusefillc | e05d02475f |
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@ -7,8 +7,10 @@ apply from: 'dependencies.gradle'
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group 'org.rusefi'
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group 'org.rusefi'
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version '0.11-SNAPSHOT'
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version '0.11-SNAPSHOT'
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repositories {
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allprojects {
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mavenCentral()
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repositories {
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mavenCentral()
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}
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}
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}
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dependencies {
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dependencies {
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@ -0,0 +1 @@
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javaCanVersion=3.2.4
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@ -6,4 +6,6 @@ plugins {
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dependencies {
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dependencies {
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api rootProject
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api rootProject
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api project(':peak-can-basic')
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api project(':peak-can-basic')
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api group: 'tel.schich', name: 'javacan-core', version: "$javaCanVersion"
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api group: 'tel.schich', name: 'javacan-core', version: "$javaCanVersion", classifier: 'x86_64'
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}
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}
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@ -0,0 +1,5 @@
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package com.rusefi.io.can;
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public interface CanSender {
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void send(int id, byte[] payload);
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}
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@ -9,7 +9,7 @@ public class PCanHelper {
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public static final TPCANHandle CHANNEL = TPCANHandle.PCAN_USBBUS1;
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public static final TPCANHandle CHANNEL = TPCANHandle.PCAN_USBBUS1;
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// @NotNull
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// @NotNull
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public static PCANBasic create() {
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public static PCANBasic createPCAN() {
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PCANBasic can = new PCANBasic();
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PCANBasic can = new PCANBasic();
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can.initializeAPI();
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can.initializeAPI();
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return can;
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return can;
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@ -27,7 +27,7 @@ public class PCanHelper {
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}
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}
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public static PCANBasic createAndInit() {
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public static PCANBasic createAndInit() {
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PCANBasic pcan = create();
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PCANBasic pcan = createPCAN();
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TPCANStatus initStatus = init(pcan);
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TPCANStatus initStatus = init(pcan);
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if (initStatus != TPCANStatus.PCAN_ERROR_OK) {
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if (initStatus != TPCANStatus.PCAN_ERROR_OK) {
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System.out.println("TPCANStatus " + initStatus);
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System.out.println("TPCANStatus " + initStatus);
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@ -35,4 +35,14 @@ public class PCanHelper {
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}
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}
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return pcan;
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return pcan;
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}
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}
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public static CanSender create() {
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PCANBasic pcan = createAndInit();
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return new CanSender() {
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@Override
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public void send(int id, byte[] payload) {
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PCanHelper.send(pcan, id, payload);
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}
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};
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}
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}
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}
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@ -0,0 +1,49 @@
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package com.rusefi.io.can;
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import com.sun.istack.internal.NotNull;
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import tel.schich.javacan.CanChannels;
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import tel.schich.javacan.CanFrame;
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import tel.schich.javacan.NetworkDevice;
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import tel.schich.javacan.RawCanChannel;
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import java.io.IOException;
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import static tel.schich.javacan.CanFrame.FD_NO_FLAGS;
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import static tel.schich.javacan.CanSocketOptions.RECV_OWN_MSGS;
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public class SocketCANHelper {
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@NotNull
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public static RawCanChannel createSocket() {
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final RawCanChannel socket;
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try {
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NetworkDevice canInterface = NetworkDevice.lookup(System.getProperty("CAN_DEVICE_NAME", "can0"));
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socket = CanChannels.newRawChannel();
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socket.bind(canInterface);
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socket.configureBlocking(true); // we want reader thread to wait for messages
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socket.setOption(RECV_OWN_MSGS, false);
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} catch (IOException e) {
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throw new IllegalStateException("Error looking up", e);
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}
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return socket;
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}
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public static void send(int id, byte[] payload, RawCanChannel channel) {
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CanFrame packet = CanFrame.create(id, FD_NO_FLAGS, payload);
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try {
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channel.write(packet);
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} catch (IOException e) {
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throw new IllegalStateException(e);
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}
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}
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public static CanSender create() {
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RawCanChannel canChannel = createSocket();
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return new CanSender() {
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@Override
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public void send(int id, byte[] payload) {
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SocketCANHelper.send(id, payload, canChannel);
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}
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};
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}
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}
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