zlgcan_rs/
lib.rs

1mod constants;
2pub use constants::*;
3pub mod driver;
4mod native;
5pub use native::*;
6
7use crate::{
8    can::{CanMessage, ZCanFrameType},
9    device::{DeriveInfo, ZCanDeviceType},
10    driver::{ZCan, ZDevice, ZDriver},
11};
12use rs_can::{CanDevice, CanError, CanFrame, CanResult, CanType, DeviceBuilder};
13
14unsafe impl Send for ZDriver {}
15unsafe impl Sync for ZDriver {}
16
17#[async_trait::async_trait]
18impl CanDevice for ZDriver {
19    type Channel = u8;
20    type Frame = CanMessage;
21
22    #[inline]
23    fn opened_channels(&self) -> Vec<Self::Channel> {
24        match &self.handler {
25            Some(v) => v.can_channels().keys().map(|v| v.clone()).collect(),
26            None => vec![],
27        }
28    }
29
30    async fn transmit(&self, msg: Self::Frame, _: Option<u32>) -> CanResult<(), CanError> {
31        let channel = msg.channel();
32        let _ = match msg.can_type() {
33            CanType::Can => self.transmit_can(channel, vec![msg]),
34            CanType::CanFd => self.transmit_canfd(channel, vec![msg]),
35            CanType::CanXl => Err(CanError::NotSupportedError),
36        }?;
37
38        Ok(())
39    }
40
41    async fn receive(
42        &self,
43        channel: Self::Channel,
44        timeout: Option<u32>,
45    ) -> CanResult<Vec<Self::Frame>, CanError> {
46        let mut results: Vec<CanMessage> = Vec::new();
47
48        let count_can = self.get_can_num(channel, ZCanFrameType::CAN)?;
49        if count_can > 0 {
50            rsutil::trace!("RUST-CAN - received CAN: {}", count_can);
51            let mut frames = self.receive_can(channel, count_can, timeout)?;
52            results.append(&mut frames);
53        }
54
55        if self.device_type().canfd_support() {
56            let count_fd = self.get_can_num(channel, ZCanFrameType::CANFD)?;
57            if count_fd > 0 {
58                rsutil::trace!("RUST-CAN - received CANFD: {}", count_fd);
59                let mut frames = self.receive_canfd(channel, count_fd, timeout)?;
60                results.append(&mut frames);
61            }
62        }
63
64        Ok(results)
65    }
66
67    #[inline]
68    fn shutdown(&mut self) {
69        self.close()
70    }
71}
72
73impl TryFrom<DeviceBuilder<u8>> for ZDriver {
74    type Error = CanError;
75
76    fn try_from(builder: DeviceBuilder<u8>) -> Result<Self, Self::Error> {
77        let libpath = builder
78            .get_other::<String>(LIBPATH)?
79            .ok_or(CanError::other_error(format!("`{}` not found", LIBPATH)))?;
80        let dev_type =
81            builder
82                .get_other::<ZCanDeviceType>(DEVICE_TYPE)?
83                .ok_or(CanError::other_error(format!(
84                    "`{}` not found",
85                    DEVICE_TYPE
86                )))?;
87        let dev_idx = builder
88            .get_other::<u32>(DEVICE_INDEX)?
89            .ok_or(CanError::other_error(format!(
90                "`{}` not found",
91                DEVICE_INDEX
92            )))?;
93        let derive = builder.get_other::<DeriveInfo>(DERIVE_INFO)?;
94
95        let mut device = Self::new(libpath, dev_type, dev_idx, derive)?;
96        device.open()?;
97
98        builder
99            .channel_configs()
100            .iter()
101            .try_for_each(|(&chl, cfg)| device.init_can_chl(chl, cfg))?;
102
103        Ok(device)
104    }
105}
zlgcan_rs/lib.rs

zlgcan_rs/
lib.rs
