336 lines
12 KiB
Java
336 lines
12 KiB
Java
/* SPDX-License-Identifier: LGPL-2.1-only */
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/*
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* $Id: PCANBasic.java 12274 2021-08-30 12:20:04Z Fabrice $
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* @LastChange $Date: 2021-08-30 14:20:04 +0200 (Mon, 30 Aug 2021) $
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*
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* PCANBasic JAVA Interface.
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*
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* Copyright (C) 2001-2021 PEAK System-Technik GmbH <www.peak-system.com>
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* PCAN is a registered Trademark of PEAK-System Germany GmbH
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*
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* Author: Jonathan Urban/Uwe Wilhelm/Fabrice Vergnaud
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* Contact: <linux@peak-system.com>
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* Maintainer: Fabrice Vergnaud <f.vergnaud@peak-system.com>
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*/
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package peak.can.basic;
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/**
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* This is the main class for using the PCANBasic API with your java
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* applications. Steps to use this api:<br><br>
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* <pre>
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* 1. Create a new PCANBasic object:<br>
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* example: <br>
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* can = new PCANBasic();
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*
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* 2. Call the initializeAPI method<br>
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* example: <br>
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* can.initializeAPI();<br>
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*
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* 3. Call the Initialize method passing the TPCANHandle parameter which you want use, TPCANBaudrate and other parameters for Non-PNP devices <br>
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* example: <br>
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* can.initialize(TPCANHandle.PCAN_USBBUS1, TPCANBaudrate.PCAN_BAUD_1M);<br>
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*
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* 4. Call the read or write method passing the TPCANHandle parameter which is initialized and you want use<br>
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* example:
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* TPCANMsg msg = new TPCANMsg();;
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* can.Read(TPCANHandle.PCAN_USBBUS1, msg, null);
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* can.Write(TPCANHandle.PCAN_USBBUS1, msg);
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* (do not forget to check if msg is null after calling the Read method)<br>
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*
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* 5. At the end call the Uninitialize method
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* example:
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* can.Uninitialize(TPCANHandle.PCAN_USBBUS1);
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* </pre>
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* <br>
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* A minimalistic program that writes every can message that it receives
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* (ping-pong)<br>
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* looks like this:<br>
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* <pre>
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*import peak.can.basic.*;
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*
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*public class MinimalisticProgram
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*{
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* public static void main(String[] args)
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* {
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* PCANBasic can = null;
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* TPCANMsg msg = null;
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* TPCANStatus status = null;
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* can = new PCANBasic();
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* if(!can.initializeAPI())
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* {
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* System.out.println("Unable to initialize the API");
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* System.exit(0);
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* }
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* status = can.Initialize(TPCANHandle.PCAN_PCIBUS1, TPCANBaudrate.PCAN_BAUD_1M, TPCANType.PCAN_TYPE_NONE, 0, (short) 0);
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* msg = new TPCANMsg();
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* while(true)
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* {
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* while(can.Read(TPCANHandle.PCAN_PCIBUS1, msg, null) == TPCANStatus.PCAN_ERROR_OK)
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* {
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* status = can.Write(TPCANHandle.PCAN_PCIBUS1, msg);
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* if(status != TPCANStatus.PCAN_ERROR_OK)
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* {
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* System.out.println("Unable to write the CAN message");
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* System.exit(0);
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* }
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* }
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* }
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* }
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*}
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* </pre>
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*/
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public class PCANBasic {
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/**
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* Initializes a PCAN Channel
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*
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* @param Channel The handle of a PCAN Channel
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* @param Btr0Btr1 The speed for the communication (BTR0BTR1 code)
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* @param HwType NON PLUG'n'PLAY: The type of hardware and operation mode
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* @param IOPort NON PLUG'n'PLAY: The I/O address for the parallel port
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* @param Interrupt NON PLUG'n'PLAY: Interrupt number of the parallel port
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* @return a TPCANStatus error code
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*/
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public native TPCANStatus Initialize(
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TPCANHandle Channel,
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TPCANBaudrate Btr0Btr1,
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TPCANType HwType,
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int IOPort,
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short Interrupt);
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/**
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* Initializes a FD capable PCAN Channel
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*
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* <p>
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* See PCAN_BR_* values Bitrate string must follow the following
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* construction rules: - parameters and values must be separated by '=' -
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* Couples of Parameter/value must be separated by ',' - Following Parameter
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* must be filled out: f_clock, data_brp, data_sjw, data_tseg1, data_tseg2,
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* nom_brp, nom_sjw, nom_tseg1, nom_tseg2. - Following Parameters are
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* optional (not used yet): data_ssp_offset, nom_samp
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* </p>
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* <p>
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* Example: f_clock_mhz=80, nom_brp=1, nom_tset1=63, nom_tseg2=16,
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* nom_sjw=7, data_brp=4, data_tset1=12, data_tseg2=7, data_sjw=1
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* </p>
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*
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* @param Channel The handle of a FD capable PCAN Channel
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* @param BitrateFD The speed for the communication (FD Bitrate string)
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* @return A TPCANStatus error code
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*/
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public native TPCANStatus InitializeFD(
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TPCANHandle Channel,
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TPCANBitrateFD BitrateFD);
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/**
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* Uninitializes one or all PCAN Channels initialized by CAN_Initialize
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* Giving the TPCANHandle value "PCAN_NONEBUS", uninitialize all initialized
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* channels
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*
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* @param Channel The handle of a PCAN Channel
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* @return A TPCANStatus error code
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*/
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public native TPCANStatus Uninitialize(TPCANHandle Channel);
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/**
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* Resets the receive and transmit queues of the PCAN Channel A reset of the
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* CAN controller is not performed.
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*
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* @param Channel The handle of a PCAN Channel
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* @return A TPCANStatus error code
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*/
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public native TPCANStatus Reset(
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TPCANHandle Channel);
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/**
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* Gets the current status of a PCAN Channel
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*
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* @param Channel The handle of a PCAN Channel
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* @return A TPCANStatus error code
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*/
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public native TPCANStatus GetStatus(
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TPCANHandle Channel);
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/**
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* Transmits a CAN message
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*
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* @param Channel The handle of a PCAN Channel
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* @param MessageBuffer A TPCANMsg buffer with the message to be read
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* @param TimestampBuffer A TPCANTimestamp structure buffer to get the
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* reception time of the message. If this value is not desired, this
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* parameter should be passed as NULL
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* @return A TPCANStatus error code
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*/
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public native TPCANStatus Read(
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TPCANHandle Channel,
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TPCANMsg MessageBuffer,
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TPCANTimestamp TimestampBuffer);
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/**
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* Reads a CAN message from the receive queue of a FD capable PCAN Channel
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*
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* @param Channel The handle of a FD capable PCAN Channel
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* @param MessageBuffer A TPCANMsgFD structure buffer to store the CAN
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* message
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* @param TimestampBuffer A TPCANTimestampFD buffer to get the reception
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* time of the message
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* @return A TPCANStatus error code
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*/
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public native TPCANStatus ReadFD(
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TPCANHandle Channel,
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TPCANMsgFD MessageBuffer,
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TPCANTimestampFD TimestampBuffer);
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/**
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* Transmits a CAN message
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*
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* @param Channel The handle of a PCAN Channel
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* @param MessageBuffer A TPCANMsg buffer with the message to be sent
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* @return A TPCANStatus error code
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*/
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public native TPCANStatus Write(
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TPCANHandle Channel,
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TPCANMsg MessageBuffer);
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/**
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* Transmits a CAN message over a FD capable PCAN Channel
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*
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* @param Channel The handle of a FD capable PCAN Channel
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* @param MessageBuffer A TPCANMsgFD buffer with the message to be sent
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* @return A TPCANStatus error code
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*/
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public native TPCANStatus WriteFD(
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TPCANHandle Channel,
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TPCANMsgFD MessageBuffer);
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/**
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* Configures the reception filter. The message filter will be expanded with
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* every call to this function. If it is desired to reset the filter, please
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* use the CAN_SetParameter function
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*
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* @param Channel The handle of a PCAN Channel
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* @param FromID The lowest CAN ID to be received
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* @param ToID The highest CAN ID to be received
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* @param Mode Message type, Standard (11-bit identifier) or Extended
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* (29-bit identifier)
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* @return A TPCANStatus error code
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*/
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public native TPCANStatus FilterMessages(
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TPCANHandle Channel,
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int FromID,
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int ToID,
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TPCANMode Mode);
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/**
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* Retrieves a PCAN Channel value Parameters can be present or not according
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* with the kind of Hardware (PCAN Channel) being used. If a parameter is
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* not available, a PCAN_ERROR_ILLPARAMTYPE error will be returned
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*
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* @param Channel The handle of a PCAN Channel
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* @param Parameter The TPCANParameter parameter to get
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* @param Buffer Buffer for the parameter value
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* @param BufferLength Size in bytes of the buffer
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* @return A TPCANStatus error code
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*/
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public native TPCANStatus GetValue(
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TPCANHandle Channel,
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TPCANParameter Parameter,
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Object Buffer,
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int BufferLength);
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/**
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* Configures or sets a PCAN Channel value Parameters can be present or not
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* according with the kind of Hardware (PCAN Channel) being used. If a
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* parameter is not available, a PCAN_ERROR_ILLPARAMTYPE error will be
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* returned
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*
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* @param Channel The handle of a PCAN Channel
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* @param Parameter The TPCANParameter parameter to get
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* @param Buffer Buffer for the parameter value
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* @param BufferLength Size in bytes of the buffer
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* @return A TPCANStatus error code
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*/
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public native TPCANStatus SetValue(
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TPCANHandle Channel,
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TPCANParameter Parameter,
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Object Buffer,
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int BufferLength);
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/**
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* Returns a descriptive text of a given TPCANStatus error code, in any
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* desired language The current languages available for translation are:
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* Neutral (0x00), German (0x07), English (0x09), Spanish (0x0A), Italian
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* (0x10) and French (0x0C)
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*
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* @param Error A TPCANStatus error code
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* @param Language Indicates a 'Primary language ID'
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* @param Buffer Buffer for a null terminated char array
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* @return A TPCANStatus error code
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*/
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public native TPCANStatus GetErrorText(
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TPCANStatus Error,
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short Language,
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StringBuffer Buffer);
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/**
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* Finds a PCAN-Basic channel that matches with the given parameters
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*
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* @param Parameters A comma separated string contained pairs of parameter-name/value to be matched within a PCAN-Basic channel
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* @param FoundChannel Buffer for returning the PCAN-Basic channel
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* @param Buffer Buffer for a null terminated char array
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* @return A TPCANStatus error code
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*/
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public native TPCANStatus LookUpChannel(
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StringBuffer Parameters,
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MutableTPCANHandle FoundChannel);
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/**
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* Sets the handle of the Receive-Event for the Channel. static method
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* peak.can.basic.RcvEventDispatcher.dispatchRcvEvent is used to notify each
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* Receive-Event
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*
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* @param Channel The handle of a PCAN Channel
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* @return A TPCANStatus error code
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*/
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public native TPCANStatus SetRcvEvent(TPCANHandle Channel);
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/**
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* Resets the handle of the Receive-Event for the Channel.
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*
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* @param Channel The handle of a PCAN Channel
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* @return A TPCANStatus error code
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*/
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public native TPCANStatus ResetRcvEvent(TPCANHandle Channel);
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/**
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* Initializes the PCANBasic API
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*
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* @return a boolean to indicate if API is successfully loaded
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*/
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public native boolean initializeAPI();
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static {
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try {
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System.loadLibrary("pcanbasic_jni");
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} catch (UnsatisfiedLinkError e) {
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System.out.println(e.getMessage());
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System.loadLibrary("PCANBasic_JNI");
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}
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}
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}
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