ecu api added

include/ecu_api/ComAPI.h

@@ -0,0 +1,41 @@
+/*
+  HOW TO INCLUDE ANOTHER CONNECTION:
+    1. Add a ConnectionType and make the IssueCommand call your methods
+    2. Generate a WriteXY Method
+        2.1 The Parameters can include: commandType, the Command, index, args, response
+        2.2 If The Write was successfull set response to "+"
+    3. Generate a ReadXY Method
+        3.1 The Parameters can include: commandType, command, index, response, isplusminus
+        3.2 If the Read was successfull return the result in response
+*/
+#ifndef __ComAPI__
+#define __ComAPI__
+#include "Mapping.h"
+#include <string>
+#include <terminal_session/connection.h>
+#include <timer_session/connection.h>
+
+typedef struct can_frame can_frame_t;
+
+class ComAPI
+{
+private:
+    Mapping SeriellToCan;
+    int handle;
+    int ConnectionType;
+    char *IntegerToChar(int in);
+    Terminal::Connection terminal;
+    Timer::Connection timer;
+
+    int WriteSerial(std::string str);
+    int ReadAll(std::string &str);
+    int ReadSerial(std::string &str, std::string command, bool isplusminuss);
+public:
+    /********************** Functions ****************************/
+    int IssueCommand(std::string commandType, int command, int index, std::string args, std::string &response, bool isplusminus = false);
+    int IssueCommand(std::string commandType, int command, std::string &response, bool isplusminus = false);
+    /********************** Constructor **************************/
+    ComAPI(int ConnectionType);
+};
+
+#endif

include/ecu_api/Constants.h

@@ -0,0 +1,284 @@
+#ifndef __Constants__
+#define __Constants__
+
+/******************** SetCommand Device ********************/
+#define _G 0
+
+#define _M 1
+#define _P 2
+#define _S 3
+#define _C 4
+#define _CB 5
+
+#define _AC 7
+#define _DC 8
+
+#define _DS 9
+#define _D1 10
+#define _D0 11
+
+#define _H 13
+#define _EX 14
+#define _MG 15
+#define _MS 16
+
+#define _PR 17
+#define _PX 18
+#define _PRX 19
+#define _AX 20
+#define _DX 21
+#define _SX 22
+#define _B 23
+#define _CS 24
+
+#define _RC 26
+
+#define _EES 27
+#define _BND 28
+
+
+/******************** SetCommand Alias ********************/
+#define _GO 0
+
+#define _MOTCMD 1
+#define _MOTPOS 2
+#define _MOTVEL 3
+#define _SENCNTR 4
+#define _SBLCNTR 5
+#define _VAR 6
+
+#define _ACCEL 7
+#define _DECEL 8
+
+#define _DOUT 9
+#define _DSET 10
+#define _DRES 11
+
+#define _HOME 13
+#define _ESTOP 14
+#define _MGO 15
+#define _MSTOP 16
+
+#define _MPOSREL 17
+#define _NXTPOS 18
+#define _NXTPOSR 19
+#define _NXTACC 20
+#define _NXTDEC 21
+#define _NXTVEL 22
+#define _BOOL 23
+
+
+#define _CANSEND 24
+
+#define _RCOUT 26
+
+#define _EESAV 27
+#define _BIND 28
+
+
+/******************** GetValue Device ********************/
+#define _A 0
+
+#define _M 1
+#define _P 2
+#define _S 3
+#define _C 4
+#define _CB 5
+#define _VAR 6
+#define _SR 7
+#define _CR 8
+//#define _CBR 9
+#define _BS 10
+#define _BSR 11
+#define _BA 12
+#define _V 13
+#define _D 14
+#define _DI 15
+#define _AI 16
+#define _PI 17
+#define _T 18
+#define _F 19
+#define _FS 20
+#define _FF 21
+//#define _B 22
+#define _DO 23
+#define _E 24
+
+#define _CIS 25
+#define _CIA 26
+#define _CIP 27
+
+#define _TM 28
+
+#define _LK 29
+
+#define _K 33
+#define _DR 34
+
+#define _AIC 35
+#define _PIC 36
+
+#define _MA 38
+
+#define _MGD 40
+#define _MGT 41
+#define _MGM 42
+#define _MGS 43
+
+/******************** GetValue Alias ********************/
+#define _MOTAMPS 0
+
+#define _MOTCMD 1
+#define _MOTPWR 2
+#define _ABSPEED 3
+#define _ABCNTR 4
+#define _BLCNTR 5
+#define _VAR 6
+
+#define _RELSPEED 7
+#define _RELCNTR 8
+#define _BLRCNTR 9
+#define _BLSPEED 10
+#define _BLRSPEED 11
+#define _BATAMPS 12
+#define _VOLTS 13
+#define _DIGIN 14
+#define _DIN 15
+#define _ANAIN 16
+#define _PLSIN 17
+#define _TEMP 18
+#define _FEEDBK 19
+#define _STFLAG 20
+#define _FLTFLAG 21
+#define _DIGOUT 23
+#define _LPERR 24
+
+#define _CMDSER 25
+#define _CMDANA 26
+#define _CMDPLS 27
+
+#define _TIME 28
+
+#define _LOCKED 29
+#define _FID 30
+#define _TRN 31
+
+#define _SPEKTRUM 33
+#define _DREACHED 34
+
+#define _ANAINC 35
+#define _PLSINC 36
+
+#define _MEMS 38
+
+#define _CAN 39
+
+#define _MGDET 40
+#define _MGTRACK 41
+#define _MGMRKR 42
+#define _MGSTATUS 43
+
+
+/******************** SetConfig/GetConfig Alias ********************/
+#define _EE 0
+
+#define _BKD 1
+#define _OVL 2
+#define _UVL 3
+#define _THLD 4
+#define _MXMD 5
+#define _PWMF 6
+
+#define _CPRI 7
+#define _RWD 8
+#define _ECHOF 9
+#define _RSBR 10
+#define _ACS 11
+#define _AMS 12
+#define _CLIN 13
+#define _DFC 14
+
+#define _DINA 15
+#define _DINL 16
+#define _DOA 17
+#define _DOL 18
+
+#define _AMOD 19
+#define _AMIN 20
+#define _AMAX 21
+#define _ACTR 22
+#define _ADB 23
+#define _ALIN 24
+#define _AINA 25
+#define _AMINA 26
+#define _AMAXA 27
+#define _APOL 28
+
+#define _PMOD 29
+#define _PMIN 30
+#define _PMAX 31
+#define _PCTR 32
+#define _PDB 33
+#define _PLIN 34
+#define _PINA 35
+#define _PMINA 36
+#define _PMAXA 37
+#define _PPOL 38
+
+#define _MMOD 39
+#define _MXPF 40
+#define _MXPR 41
+#define _ALIM 42
+#define _ATRIG 43
+#define _ATGA 44
+#define _ATGD 45
+#define _KP 46
+#define _KI 47
+#define _KD 48
+#define _PIDM 49
+#define _ICAP 50
+#define _MAC 51
+#define _MDEC 52
+#define _MVEL 53
+#define _MXRPM 54
+#define _MXTRN 55
+#define _CLERD 56
+
+#define _BPOL 57
+#define _BLSTD 58
+#define _BLFB 59
+#define _BHOME 60
+#define _BLL 61
+#define _BHL 62
+#define _BLLA 63
+#define _BHLA 64
+
+#define _SXC 65
+#define _SXM 66
+
+#define _TELS 70
+#define _BRUN 71
+#define _EMOD 72
+#define _EPPR 73
+#define _ELL 74
+#define _EHL 75
+#define _ELLA 76
+#define _EHLA 77
+#define _EHOME 78
+
+#define _SKUSE 79
+#define _SKMIN 80
+#define _SKMAX 81
+#define _SKCTR 82
+#define _SKDB 83
+#define _SKLIN 84
+
+#define _CEN 85
+#define _CNOD 86
+#define _CBR 87
+#define _CHB 88
+#define _CAS 89
+#define _CLSN 90
+#define _CSRT 91
+
+#endif