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https://git.rwth-aachen.de/acs/public/villas/node/
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can: inital code skeleton
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4 changed files with 368 additions and 0 deletions
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@ -154,6 +154,7 @@ cmake_dependent_option(WITH_NODE_ULDAQ "Build with uldaq node-type"
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cmake_dependent_option(WITH_NODE_WEBSOCKET "Build with websocket node-type" ON "WITH_WEB; LIBWEBSOCKETS_FOUND" OFF)
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cmake_dependent_option(WITH_NODE_ZEROMQ "Build with zeromq node-type" ON "LIBZMQ_FOUND" OFF)
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cmake_dependent_option(WITH_NODE_ETHERCAT "Build with ethercat node-type" ON "ETHERLAB_FOUND" OFF)
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cmake_dependent_option(WITH_NODE_CAN "Build with can node-type" ON "" OFF)
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cmake_dependent_option(WITH_NODE_EXAMPLE "Build with example node-type" ON "" OFF)
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cmake_dependent_option(WITH_NODE_FPGA "Build with fpga node-type" ON "WITH_FPGA" OFF)
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99
include/villas/nodes/can.hpp
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99
include/villas/nodes/can.hpp
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@ -0,0 +1,99 @@
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/** Node-type: CAN bus
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*
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* @file
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* @author Steffen Vogel <stvogel@eonerc.rwth-aachen.de>
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* @copyright 2014-2020, Institute for Automation of Complex Power Systems, EONERC
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* @license GNU General Public License (version 3)
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*
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* VILLASnode
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* any later version.
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*
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* This program 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
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*********************************************************************************/
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/**
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* @addtogroup can CAN bus Node Type
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* @ingroup node
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* @{
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*/
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#pragma once
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#include <villas/node/config.h>
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#include <villas/node.h>
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#include <villas/io.h>
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#include <villas/timing.h>
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struct can {
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/* Settings */
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int setting1;
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char *setting2;
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/* States */
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int state1;
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struct timespec start_time;
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};
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/** @see node_vtable::type_start */
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int can_type_start(villas::node::SuperNode *sn);
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/** @see node_type::type_stop */
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int can_type_stop();
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/** @see node_type::init */
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int can_init(struct node *n);
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/** @see node_type::destroy */
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int can_destroy(struct node *n);
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/** @see node_type::parse */
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int can_parse(struct node *n, json_t *cfg);
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/** @see node_type::print */
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char * can_print(struct node *n);
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/** @see node_type::check */
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int can_check();
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/** @see node_type::prepare */
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int can_prepare();
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/** @see node_type::start */
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int can_start(struct node *n);
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/** @see node_type::stop */
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int can_stop(struct node *n);
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/** @see node_type::pause */
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int can_pause(struct node *n);
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/** @see node_type::resume */
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int can_resume(struct node *n);
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/** @see node_type::write */
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int can_write(struct node *n, struct sample *smps[], unsigned cnt, unsigned *release);
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/** @see node_type::read */
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int can_read(struct node *n, struct sample *smps[], unsigned cnt, unsigned *release);
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/** @see node_type::reverse */
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int can_reverse(struct node *n);
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/** @see node_type::poll_fds */
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int can_poll_fds(struct node *n, int fds[]);
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/** @see node_type::netem_fds */
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int can_netem_fds(struct node *n, int fds[]);
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/** @} */
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@ -148,6 +148,11 @@ if(WITH_NODE_RTP)
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list(APPEND LIBRARIES PkgConfig::RE)
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endif()
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# Enable CAN node type
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if(WITH_NODE_CAN)
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list(APPEND NODE_SRC can.cpp)
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endif()
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# Enable Example node type
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if(WITH_NODE_EXAMPLE)
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list(APPEND NODE_SRC example.cpp)
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263
lib/nodes/can.cpp
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263
lib/nodes/can.cpp
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@ -0,0 +1,263 @@
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/** Node-type: CAN bus
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*
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* @author Steffen Vogel <stvogel@eonerc.rwth-aachen.de>
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* @copyright 2014-2020, Institute for Automation of Complex Power Systems, EONERC
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* @license GNU General Public License (version 3)
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*
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* VILLASnode
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* any later version.
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*
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* This program 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
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*********************************************************************************/
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#include <villas/nodes/can.hpp>
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#include <villas/utils.hpp>
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#include <villas/sample.h>
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#include <villas/plugin.h>
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#include <villas/super_node.hpp>
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/* Forward declartions */
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static struct plugin p;
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using namespace villas::node;
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using namespace villas::utils;
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int can_type_start(villas::node::SuperNode *sn)
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{
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/* TODO: Add implementation here */
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return 0;
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}
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int can_type_stop()
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{
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/* TODO: Add implementation here */
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return 0;
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}
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int can_init(struct node *n)
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{
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struct can *c = (struct can *) n->_vd;
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/* TODO: Add implementation here. The following is just an can */
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c->setting1 = 0;
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c->setting2 = nullptr;
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return 0;
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}
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int can_destroy(struct node *n)
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{
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struct can *c = (struct can *) n->_vd;
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/* TODO: Add implementation here. The following is just an can */
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if (c->setting2)
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free(c->setting2);
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return 0;
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}
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int can_parse(struct node *n, json_t *cfg)
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{
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int ret;
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struct can *c = (struct can *) n->_vd;
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json_error_t err;
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/* TODO: Add implementation here. The following is just an can */
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ret = json_unpack_ex(cfg, &err, 0, "{ s?: i, s?: s }",
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"setting1", &c->setting1,
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"setting2", &c->setting2
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);
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if (ret)
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jerror(&err, "Failed to parse configuration of node %s", node_name(n));
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return 0;
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}
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char * can_print(struct node *n)
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{
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struct can *c = (struct can *) n->_vd;
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/* TODO: Add implementation here. The following is just an can */
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return strf("setting1=%d, setting2=%s", c->setting1, c->setting2);
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}
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int can_check(struct node *n)
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{
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struct can *c = (struct can *) n->_vd;
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/* TODO: Add implementation here. The following is just an can */
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if (c->setting1 > 100 || c->setting1 < 0)
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return -1;
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if (!c->setting2 || strlen(c->setting2) > 10)
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return -1;
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return 0;
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}
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int can_prepare(struct node *n)
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{
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struct can *c = (struct can *) n->_vd;
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/* TODO: Add implementation here. The following is just an can */
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c->state1 = c->setting1;
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if (strcmp(c->setting2, "double") == 0)
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c->state1 *= 2;
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return 0;
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}
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int can_start(struct node *n)
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{
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struct can *c = (struct can *) n->_vd;
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/* TODO: Add implementation here. The following is just an can */
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c->start_time = time_now();
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return 0;
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}
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int can_stop(struct node *n)
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{
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//struct can *c = (struct can *) n->_vd;
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/* TODO: Add implementation here. */
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return 0;
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}
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int can_pause(struct node *n)
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{
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//struct can *c = (struct can *) n->_vd;
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/* TODO: Add implementation here. */
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return 0;
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}
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int can_resume(struct node *n)
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{
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//struct can *c = (struct can *) n->_vd;
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/* TODO: Add implementation here. */
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return 0;
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}
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int can_read(struct node *n, struct sample *smps[], unsigned cnt, unsigned *release)
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{
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int read;
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struct can *c = (struct can *) n->_vd;
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struct timespec now;
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/* TODO: Add implementation here. The following is just an can */
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assert(cnt >= 1 && smps[0]->capacity >= 1);
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now = time_now();
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smps[0]->data[0].f = time_delta(&now, &c->start_time);
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read = 1; /* The number of samples read */
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return read;
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}
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int can_write(struct node *n, struct sample *smps[], unsigned cnt, unsigned *release)
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{
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int written;
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//struct can *c = (struct can *) n->_vd;
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/* TODO: Add implementation here. */
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written = 0; /* The number of samples written */
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return written;
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}
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int can_reverse(struct node *n)
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{
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//struct can *c = (struct can *) n->_vd;
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/* TODO: Add implementation here. */
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return 0;
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}
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int can_poll_fds(struct node *n, int fds[])
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{
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//struct can *c = (struct can *) n->_vd;
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/* TODO: Add implementation here. */
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return 0; /* The number of file descriptors which have been set in fds */
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}
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int can_netem_fds(struct node *n, int fds[])
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{
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//struct can *c = (struct can *) n->_vd;
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/* TODO: Add implementation here. */
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return 0; /* The number of file descriptors which have been set in fds */
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}
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__attribute__((constructor(110)))
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static void register_plugin() {
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if (plugins.state == State::DESTROYED)
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vlist_init(&plugins);
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p.name = "can";
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p.description = "CAN bus for Xilinx MPSoC boards";
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p.type = PluginType::NODE;
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p.node.instances.state = State::DESTROYED;
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p.node.vectorize = 0;
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p.node.size = sizeof(struct can);
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p.node.type.start = can_type_start;
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p.node.type.stop = can_type_stop;
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p.node.init = can_init;
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p.node.destroy = can_destroy;
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p.node.prepare = can_prepare;
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p.node.parse = can_parse;
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p.node.print = can_print;
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p.node.check = can_check;
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p.node.start = can_start;
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p.node.stop = can_stop;
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p.node.pause = can_pause;
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p.node.resume = can_resume;
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p.node.read = can_read;
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p.node.write = can_write;
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p.node.reverse = can_reverse;
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p.node.poll_fds = can_poll_fds;
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p.node.netem_fds = can_netem_fds;
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vlist_init(&p.node.instances);
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vlist_push(&plugins, &p);
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}
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__attribute__((destructor(110)))
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static void deregister_plugin() {
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if (plugins.state != State::DESTROYED)
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vlist_remove_all(&plugins, &p);
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}
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