62 lines
2.0 KiB
Java
62 lines
2.0 KiB
Java
package com.rusefi.io.can;
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import peak.can.basic.*;
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import static peak.can.basic.TPCANMessageType.PCAN_MESSAGE_STANDARD;
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public class PCanHelper {
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public static final TPCANHandle CHANNEL = TPCANHandle.PCAN_USBBUS1;
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// @NotNull
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public static PCANBasic createPCAN() {
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PCANBasic can = new PCANBasic();
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can.initializeAPI();
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return can;
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}
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public static TPCANStatus init(PCANBasic can) {
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return can.Initialize(CHANNEL, TPCANBaudrate.PCAN_BAUD_500K, TPCANType.PCAN_TYPE_NONE, 0, (short) 0);
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}
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public static TPCANStatus send(PCANBasic can, int id, byte[] payLoad) {
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//log.info(String.format("Sending id=%x %s", id, HexBinary.printByteArray(payLoad)));
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TPCANMsg msg = new TPCANMsg(id, PCAN_MESSAGE_STANDARD.getValue(),
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(byte) payLoad.length, payLoad);
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return can.Write(CHANNEL, msg);
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}
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public static PCANBasic createAndInit() {
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PCANBasic pcan = createPCAN();
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TPCANStatus initStatus = init(pcan);
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if (initStatus != TPCANStatus.PCAN_ERROR_OK) {
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System.out.println("createAndInit: *** ERROR *** TPCANStatus " + initStatus);
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System.exit(-1);
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}
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return pcan;
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}
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public static CanSender create() {
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PCANBasic pcan = createAndInit();
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return (id, payload) -> {
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TPCANStatus status = send(pcan, id, payload);
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if (status == TPCANStatus.PCAN_ERROR_XMTFULL || status == TPCANStatus.PCAN_ERROR_QXMTFULL) {
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try {
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Thread.sleep(10);
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} catch (InterruptedException e) {
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throw new RuntimeException(e);
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}
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// System.out.println(String.format("Let's retry ID=%x", packet.getId()) + " OK=" + okCounter);
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status = send(pcan, id, payload);
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}
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boolean isHappy = status == TPCANStatus.PCAN_ERROR_OK;
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if (!isHappy) {
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System.out.println("Error sending " + status);
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}
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return isHappy;
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};
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}
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}
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