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//! # CANAerospace{Lite}
//!
//! CANAerospace Lite is a lightweight can bus protocol implementation for aerospace vehicles. It comes with built-in bxCAN support
//! which makes integration with bxCAN devices easy.
//!
//! [CANAerospaceLite] is the struct that you need to use to have CANAerospace functionality. Please take a look at the usage
//! example in documentation.
#![no_std]
// #![feature(doc_cfg)]
use heapless::{binary_heap::Min, BinaryHeap};
use crate::message::{CANAerospaceFrame, CANAerospaceMessage};
use crate::types::{
DataType, HardwareRevision, IDSConfiguration, IDSHeaderConfiguration, IDSResponse,
ServiceCodeEnum, SoftwareRevision,
};
use crate::{driver::CANAerospaceDriver, types::MessageType};
pub mod driver;
#[cfg(not(tarpaulin_include))]
#[cfg(feature = "ids-standard")]
pub mod id_distribution;
pub mod message;
mod tests;
pub mod types;
#[cfg(not(tarpaulin_include))]
#[cfg(feature = "bxcan-support")]
// #[cfg(any(feature = "bxcan-support", doc))]
// #[doc(cfg(feature = "bxcan-support"))]
pub mod bxcan;
#[cfg(not(tarpaulin_include))]
#[cfg(feature = "ids-standard")]
pub use id_distribution as ids;
pub const IDS_CONF_STANDARD: IDSConfiguration = IDSConfiguration(0);
pub const IDS_MSG_HEADER_STANDARD: IDSHeaderConfiguration = 0;
/// Main struct of the library. All logic is implemented around this struct.
///
/// Must be initialized with `node_id`, `driver` which is a [CANAerospaceDriver]
///
/// # Example
///```rust
/// # use can_aerospace_lite::{CANAerospaceLite, driver::CANAerospaceDriver, message::{CANAerospaceFrame, RawMessage}, types::{DataType, HardwareRevision, MessageType, ServiceCodeEnum, SoftwareRevision}};
/// # static mut COUNT: u32 = 0;
/// struct CANDriver;
///
/// impl CANAerospaceDriver for CANDriver {
/// fn send_frame(&mut self, frame: CANAerospaceFrame) {
/// assert_eq!(frame.message_type.id(), MessageType::NSH(129).id());
/// }
/// // implementation of send/recv frame...
/// # fn recv_frame(&mut self) -> Option<CANAerospaceFrame> {
/// # unsafe {
/// # return match COUNT {
/// # 1 => Some(CANAerospaceFrame {
/// # message_type: MessageType::NSH(128),
/// # message: RawMessage::from([10, DataType::ULONG(0).type_id(), 2, 3, 0xBA, 0xBA, 0xDE, 0xDE]),
/// # }),
/// # 0 => Some(CANAerospaceFrame {
/// # message_type: MessageType::NOD(300),
/// # message: RawMessage::from([0, DataType::BSHORT2(0,0).type_id(), 2, 3, 0xDE, 0xDE, 0xDE, 0xDE]),
/// # }),
/// # 2 => Some(CANAerospaceFrame {
/// # message_type: MessageType::UDH(200),
/// # message: RawMessage::from([0, DataType::BSHORT2(0,0).type_id(), 2, 3, 0xA, 0xB, 0xC, 0xD]),
/// # }),
/// # 3 => Some(CANAerospaceFrame {
/// # message_type: MessageType::NSH(128),
/// # message: RawMessage::from([10, DataType::NODATA.type_id(), 0, 3, 0xFB, 0xFB, 0xDE, 0xDE]),
/// # }),
/// # _ => None
/// # }
/// # }
/// # }
/// }
///
/// let mut can_aerospace: CANAerospaceLite<CANDriver> = CANAerospaceLite::new(10, CANDriver{});
///
/// can_aerospace.set_hw_revision(HardwareRevision(0x02));
/// can_aerospace.set_sw_revision(SoftwareRevision(0x01));
///
/// can_aerospace.notify_receive_event(); // Notify function must be called when a can message is recieved/wanted to be received.
///
/// let mut message = can_aerospace.read_message().unwrap();
/// // According to our driver we should receive NOD message
/// assert_eq!(message.message_type.id(), MessageType::NOD(300).id());
///
/// # unsafe { COUNT += 1; }
/// # can_aerospace.notify_receive_event();
/// # unsafe { COUNT += 1; }
/// # can_aerospace.notify_receive_event();
/// # unsafe { COUNT += 1; }
/// # can_aerospace.notify_receive_event();
/// # can_aerospace.notify_receive_event();
/// message = can_aerospace.read_message().unwrap();
/// assert_eq!(message.message_type.id(), MessageType::NSH(128).id());
///
/// message = can_aerospace.read_message().unwrap();
/// assert_eq!(message.message_type.id(), MessageType::UDH(200).id());
///```
///
#[derive(Debug)]
pub struct CANAerospaceLite<D>
where
D: CANAerospaceDriver,
{
pub node_id: u8,
identification: IDSResponse,
nod_count: u8,
driver: D,
pub(crate) rx_queue: BinaryHeap<CANAerospaceFrame, Min, 10>,
}
impl<D> CANAerospaceLite<D>
where
D: CANAerospaceDriver,
{
/// Creates new instance of [CANAerospaceLite].
/// ```
/// # use can_aerospace_lite::{CANAerospaceLite, driver::CANAerospaceDriver, message::{CANAerospaceFrame, RawMessage}, types::{DataType, HardwareRevision, MessageType, SoftwareRevision}};
/// struct CANDriver;
/// impl CANAerospaceDriver for CANDriver {
/// # fn send_frame(&mut self, frame: CANAerospaceFrame) { todo!(); }
/// # fn recv_frame(&mut self) -> Option<CANAerospaceFrame> { todo!(); }
/// }
/// let can_aerospace = CANAerospaceLite::new(0xFB, CANDriver{});
/// assert_eq!(can_aerospace.node_id, 0xFB);
/// ```
pub fn new(node_id: u8, driver: D) -> Self {
Self {
node_id,
identification: IDSResponse {
hw_rev: HardwareRevision(0),
sw_rev: SoftwareRevision(0),
configuration: IDS_CONF_STANDARD,
header: IDS_MSG_HEADER_STANDARD,
},
nod_count: 0,
driver,
rx_queue: BinaryHeap::new(),
}
}
/// Sets hardware revision information for response of [ServiceCodeEnum::IDS] service request.
/// # Example
/// ```ignore
/// can_aerospace.set_hw_revision(HardwareRevision(0x01));
/// ```
pub fn set_hw_revision(&mut self, rev: HardwareRevision) {
self.identification.hw_rev = rev;
}
/// Sets software revision information for response of [ServiceCodeEnum::IDS] service request.
/// # Example
/// ```ignore
/// can_aerospace.set_sw_revision(SoftwareRevision(0x01));
/// ```
pub fn set_sw_revision(&mut self, rev: SoftwareRevision) {
self.identification.sw_rev = rev;
}
/// Sets configuration information for response of [ServiceCodeEnum::IDS] service request.
/// # Example
/// ```ignore
/// can_aerospace.set_ids_configuration(IDS_CONF_STANDARD);
/// ```
pub fn set_ids_configuration(&mut self, conf: IDSConfiguration) {
self.identification.configuration = conf;
}
/// Sets message header information for response of [ServiceCodeEnum::IDS] service request.
/// # Example
/// ```ignore
/// can_aerospace.set_message_header_conf(IDS_MSG_HEADER_STANDARD);
/// ```
pub fn set_message_header_conf(&mut self, conf: IDSHeaderConfiguration) {
self.identification.header = conf;
}
/// Sends a CAN message using driver.
/// # Example
/// ```ignore
/// let m = CANAerospaceMessage {
/// message_type: MessageType::NOD(300),
/// node_id: can_aerospace.node_id, // personal id for NOD messages
/// service_code: ServiceCodeEnum::UNKNOWN,
/// message_code: 0,
/// data: DataType::ULONG(0xDEAD_BEEF),
/// };
/// can_aerospace.send_message(m);
/// ```
pub fn send_message(&mut self, message: CANAerospaceMessage) {
// TODO: overwrite node id of the messages according to message type
self.driver.send_frame(CANAerospaceFrame::from(message));
}
/// Reads a CAN message using driver.
/// Be aware that it will return None if there is no message
/// # Example
/// ```ignore
/// if let Some(m) = can_aerospace.read_message() {
/// // do stuff
/// }
/// ```
pub fn read_message(&mut self) -> Option<CANAerospaceMessage> {
self.rx_queue.pop().map(CANAerospaceMessage::from)
}
/// Notifies CANAerospace regarding the arrival of new CAN frame.
/// This function must be called each time when a new message comes.
pub fn notify_receive_event(&mut self) {
if let Some(frame) = self.driver.recv_frame() {
match frame.message_type {
types::MessageType::NSH(id) | types::MessageType::NSL(id) => {
if id % 2 == 0 {
// Event ids are requests
self.handle_service_request(frame);
} else {
self.rx_queue.push(frame).unwrap_or(());
}
}
types::MessageType::INVALID => { /* do nothing */ }
_ => {
self.rx_queue.push(frame).unwrap_or(());
}
};
}
}
/// Handles all the service requests and filters them according to `node_id`
fn handle_service_request(&mut self, frame: CANAerospaceFrame) {
if frame.message.node_id == self.node_id || frame.message.node_id == 0 {
match ServiceCodeEnum::from(frame.message.service_code) {
ServiceCodeEnum::IDS => {
let response_message_type = match frame.message_type {
MessageType::NSH(id) => MessageType::NSH(id + 1),
MessageType::NSL(id) => MessageType::NSL(id + 1),
_ => frame.message_type,
};
let message = CANAerospaceMessage {
message_type: response_message_type,
node_id: self.node_id,
service_code: ServiceCodeEnum::IDS,
message_code: frame.message.message_code,
data: DataType::UCHAR4(
self.identification.hw_rev.0,
self.identification.sw_rev.0,
self.identification.configuration.0,
self.identification.header,
),
};
self.send_message(message);
}
_ => {
self.rx_queue.push(frame).unwrap_or(());
}
};
}
}
}