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requires you to set the 'VSCAN_API_DIR' environment variable to the API SDK directory that contains the `.h`, `.lib` files. Furthermore, you need to put `vs_can_api.dll` in the same directory as the executable.
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hardware_integration/include/isobus/hardware_integration/vscan_plugin.hpp
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| //================================================================================================ | ||
| /// @file vscan_plugin.hpp | ||
| /// | ||
| /// @brief An interface for using a VSCOM VSCAN driver. | ||
| /// @attention Use of the VSCAN driver is governed in part by their license, and requires you | ||
| /// to install their driver first, which in-turn requires you to agree to their terms and conditions. | ||
| /// @author Daan Steenbergen | ||
| /// | ||
| /// @copyright 2025 The Open-Agriculture Developers | ||
| //================================================================================================ | ||
| #ifndef VSCAN_PLUGIN_HPP | ||
| #define VSCAN_PLUGIN_HPP | ||
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| #include <string> | ||
| #include "vs_can_api.h" | ||
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| #include "isobus/hardware_integration/can_hardware_plugin.hpp" | ||
| #include "isobus/isobus/can_hardware_abstraction.hpp" | ||
| #include "isobus/isobus/can_message_frame.hpp" | ||
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| namespace isobus | ||
| { | ||
| /// @brief A CAN Driver for VSCOM VSCAN Devices | ||
| class VSCANPlugin : public CANHardwarePlugin | ||
| { | ||
| public: | ||
| /// @brief Constructor for the VSCOM VSCAN CAN driver | ||
| /// @param[in] channel The COM port or IP address of the VSCAN device to use. | ||
| /// @param[in] baudrate The baudrate to use for the CAN connection. | ||
| VSCANPlugin(std::string channel, void *baudrate = VSCAN_SPEED_250K); | ||
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| /// @brief The destructor for VSCANPlugin | ||
| virtual ~VSCANPlugin() = default; | ||
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| /// @brief Returns if the connection with the hardware is valid | ||
| /// @returns `true` if connected, `false` if not connected | ||
| bool get_is_valid() const override; | ||
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| /// @brief Closes the connection to the hardware | ||
| void close() override; | ||
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| /// @brief Connects to the hardware you specified in the constructor's channel argument | ||
| void open() override; | ||
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| /// @brief Returns a frame from the hardware (synchronous), or `false` if no frame can be read. | ||
| /// @param[in, out] canFrame The CAN frame that was read | ||
| /// @returns `true` if a CAN frame was read, otherwise `false` | ||
| bool read_frame(isobus::CANMessageFrame &canFrame) override; | ||
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| /// @brief Writes a frame to the bus (synchronous) | ||
| /// @param[in] canFrame The frame to write to the bus | ||
| /// @returns `true` if the frame was written, otherwise `false` | ||
| bool write_frame(const isobus::CANMessageFrame &canFrame) override; | ||
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| /// @brief Changes previously set configuration parameters. Only works if the device is not open. | ||
| /// @param[in] channel The COM port or IP address of the VSCAN device to use. | ||
| /// @param[in] baudrate The baudrate to use for the CAN connection. | ||
| /// @returns True if the configuration was changed, otherwise false (if the device is open false will be returned) | ||
| bool reconfigure(std::string channel, void *baudrate = VSCAN_SPEED_250K); | ||
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| private: | ||
| /// @brief Parses the error from the status code | ||
| /// @param[in] status The status code to parse | ||
| /// @returns The error message | ||
| std::string parse_error_from_status(VSCAN_STATUS status); | ||
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| std::string channel; ///< The COM port or IP address of the VSCAN device to use. | ||
| void *baudrate; ///< The baudrate to use for the CAN connection. | ||
| VSCAN_HANDLE handle; ///< The handle as defined in the NTCAN driver API | ||
| VSCAN_STATUS status = VSCAN_ERR_OK; ///< Stores the result of the call to begin CAN communication. Used for is_valid check later. | ||
| }; | ||
| } | ||
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| #endif // NTCAN_PLUGIN_HPP |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,161 @@ | ||
| //================================================================================================ | ||
| /// @file vscan_plugin.cpp | ||
| /// | ||
| /// @brief An interface for using a VSCOM VSCAN driver. | ||
| /// @attention Use of the VSCAN driver is governed in part by their license, and requires you | ||
| /// to install their driver first, which in-turn requires you to agree to their terms and conditions. | ||
| /// @author Daan Steenbergen | ||
| /// | ||
| /// @copyright 2025 The Open-Agriculture Developers | ||
| //================================================================================================ | ||
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| #include "isobus/hardware_integration/vscan_plugin.hpp" | ||
| #include "isobus/isobus/can_stack_logger.hpp" | ||
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| #include <chrono> | ||
| #include <thread> | ||
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| namespace isobus | ||
| { | ||
| VSCANPlugin::VSCANPlugin(std::string channel, void *baudrate) : | ||
| channel(channel), | ||
| baudrate(baudrate) | ||
| { | ||
| } | ||
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| bool VSCANPlugin::get_is_valid() const | ||
| { | ||
| return (VSCAN_ERR_OK == status) && (handle > 0); | ||
| } | ||
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| void VSCANPlugin::close() | ||
| { | ||
| VSCAN_Close(handle); | ||
| handle = 0; | ||
| } | ||
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| void VSCANPlugin::open() | ||
| { | ||
| if (get_is_valid()) | ||
| { | ||
| LOG_ERROR("[VSCAN]: Attempting to open a connection that is already open"); | ||
| return; | ||
| } | ||
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| VSCAN_API_VERSION version; | ||
| status = VSCAN_Ioctl(0, VSCAN_IOCTL_GET_API_VERSION, &version); | ||
| if (status != VSCAN_ERR_OK) | ||
| { | ||
| LOG_ERROR("[VSCAN] Failed to get API version: %s, trying to continue anyway", parse_error_from_status(status).c_str()); | ||
| } | ||
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| LOG_DEBUG("[VSCAN] API Version %d.%d.%d", version.Major, version.Minor, version.SubMinor); | ||
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| // We create a buffer to guarantee the content to be non-const | ||
| std::vector<char> channelBuffer(channel.begin(), channel.end()); | ||
| channelBuffer.push_back('\0'); | ||
| handle = VSCAN_Open(channelBuffer.data(), VSCAN_MODE_NORMAL); | ||
| if (handle <= 0) | ||
| { | ||
| LOG_ERROR("[VSCAN]: Error trying to open the connection: %s", parse_error_from_status(handle).c_str()); | ||
| return; | ||
| } | ||
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| status = VSCAN_Ioctl(handle, VSCAN_IOCTL_SET_SPEED, baudrate); | ||
| if (VSCAN_ERR_OK != status) | ||
| { | ||
| LOG_ERROR("[VSCAN]: Error trying to set the baudrate: %s", parse_error_from_status(status).c_str()); | ||
| close(); | ||
| return; | ||
| } | ||
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| status = VSCAN_Ioctl(handle, VSCAN_IOCTL_SET_BLOCKING_READ, VSCAN_IOCTL_ON); | ||
| if (VSCAN_ERR_OK != status) | ||
| { | ||
| LOG_ERROR("[VSCAN]: Error trying to set blocking read mode: %s", parse_error_from_status(status).c_str()); | ||
| close(); | ||
| return; | ||
| } | ||
| } | ||
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| bool VSCANPlugin::read_frame(CANMessageFrame &canFrame) | ||
| { | ||
| VSCAN_MSG message; | ||
| DWORD rv; | ||
| bool retVal = false; | ||
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| status = VSCAN_Read(handle, &message, 1, &rv); | ||
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| if (VSCAN_ERR_OK == status && rv) | ||
| { | ||
| canFrame.dataLength = message.Size; | ||
| memcpy(canFrame.data, message.Data, message.Size); | ||
| canFrame.identifier = message.Id; | ||
| canFrame.isExtendedFrame = (message.Flags & VSCAN_FLAGS_EXTENDED); | ||
| retVal = true; | ||
| } | ||
| else | ||
| { | ||
| LOG_ERROR("[VSCAN]: Error trying to read a frame: %s, closing connection", parse_error_from_status(status).c_str()); | ||
| close(); | ||
| } | ||
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| return retVal; | ||
| } | ||
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| bool VSCANPlugin::write_frame(const CANMessageFrame &canFrame) | ||
| { | ||
| VSCAN_MSG message; | ||
| DWORD rv; | ||
| bool retVal = false; | ||
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| message.Id = canFrame.identifier; | ||
| message.Size = canFrame.dataLength; | ||
| memcpy(message.Data, canFrame.data, message.Size); | ||
| message.Flags = canFrame.isExtendedFrame ? VSCAN_FLAGS_EXTENDED : VSCAN_FLAGS_STANDARD; | ||
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| status = VSCAN_Write(handle, &message, 1, &rv); | ||
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| if (VSCAN_ERR_OK == status && rv) | ||
| { | ||
| status = VSCAN_Flush(handle); | ||
| if (VSCAN_ERR_OK == status) | ||
| { | ||
| retVal = true; | ||
| } | ||
| else | ||
| { | ||
| LOG_ERROR("[VSCAN]: Error trying to flush the write buffer: %s, closing connection", parse_error_from_status(status).c_str()); | ||
| close(); | ||
| } | ||
| } | ||
| else | ||
| { | ||
| LOG_ERROR("[VSCAN]: Error trying to write a frame: %s, closing connection", parse_error_from_status(status).c_str()); | ||
| close(); | ||
| } | ||
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| return retVal; | ||
| } | ||
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| bool VSCANPlugin::reconfigure(std::string channel, void *baudrate) | ||
| { | ||
| bool retVal = false; | ||
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| if (!get_is_valid()) | ||
| { | ||
| this->channel = channel; | ||
| this->baudrate = baudrate; | ||
| retVal = true; | ||
| } | ||
| return retVal; | ||
| } | ||
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| std::string VSCANPlugin::parse_error_from_status(VSCAN_STATUS status) | ||
| { | ||
| char errorBuffer[256] = { 0 }; | ||
| VSCAN_GetErrorString(status, errorBuffer, sizeof(errorBuffer)); | ||
| return std::string(errorBuffer); | ||
| } | ||
| } | ||
| // namespace isobus |
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