nican 0.4.0

A Nican driver.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35

use nican_rs::{NiCan, NiCanFrame};
use rs_can::{CanDevice, CanFrame, CanId, ChannelConfig, DeviceBuilder};
use std::time::Duration;

#[tokio::main]
async fn main() -> anyhow::Result<()> {
    let channel = "CAN0".to_string();
    let mut builder = DeviceBuilder::new();
    builder.add_config(channel.clone(), ChannelConfig::new(500_000));
    let mut device = builder.build::<NiCan>()?;

    let data = vec![0x02, 0x10, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00];
    let mut count = 0;
    loop {
        let mut msg =
            NiCanFrame::new_can(CanId::try_from(0x7DF).unwrap(), data.as_slice()).unwrap();
        msg.set_channel(channel.clone());
        device.transmit(msg, None).await?;

        tokio::time::sleep(Duration::from_millis(5)).await;
        if let Ok(recv) = device.receive(channel.clone(), Some(10)).await {
            recv.into_iter().for_each(|msg| println!("{}", msg));
        }
        tokio::time::sleep(Duration::from_millis(100)).await;

        count += 1;
        if count > 10 {
            break;
        }
    }

    device.close(channel)?;

    Ok(())
}