//样例只是提供一个简单的调用so库的方法供参考，程序接收，与发送函数设置在两个线程中，并且线程没有同步。
//现实中客户编程中，发送与接收函数不能同时调用（不支持多线程），如果在多线程中，一定需要互锁。需要客户自行完善代码。

#include <stdio.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <pthread.h>
#include "controlcan.h"

#include <ctime>
#include <cstdlib>
#include "unistd.h"

VCI_BOARD_INFO pInfo; //用来获取设备信息。
int count = 0;		  //数据列表中，用来存储列表序号。
VCI_BOARD_INFO pInfo1[50];
int num = 0;
void *receive_func(void *param) //接收线程。
{
	int reclen = 0;
	VCI_CAN_OBJ rec[3000]; //接收缓存，设为3000为佳。
	int i, j;

	int *run = (int *)param; //线程启动，退出控制。
	int ind = 0;

	while ((*run) & 0x0f)
	{
		if ((reclen = VCI_Receive(VCI_USBCAN2, 0, ind, rec, 3000, 100)) > 0) //调用接收函数，如果有数据，进行数据处理显示。
		{
			for (j = 0; j < reclen; j++)
			{
				printf("Index:%04d  ", count);
				count++;										  //序号递增
				printf("CAN%d RX ID:0x%08X", ind + 1, rec[j].ID); //ID
				if (rec[j].ExternFlag == 0)
					printf(" Standard "); //帧格式：标准帧
				if (rec[j].ExternFlag == 1)
					printf(" Extend   "); //帧格式：扩展帧
				if (rec[j].RemoteFlag == 0)
					printf(" Data   "); //帧类型：数据帧
				if (rec[j].RemoteFlag == 1)
					printf(" Remote ");				  //帧类型：远程帧
				printf("DLC:0x%02X", rec[j].DataLen); //帧长度
				printf(" data:0x");					  //数据
				for (i = 0; i < rec[j].DataLen; i++)
				{
					printf(" %02X", rec[j].Data[i]);
				}
				printf(" TimeStamp:0x%08X", rec[j].TimeStamp); //时间标识。
				printf("\n");
			}
		}
		ind = !ind; //变换通道号，以便下次读取另一通道，交替读取。
	}
	printf("run thread exit\n"); //退出接收线程
	pthread_exit(0);
}

main()
{
	printf(">>this is hello !\r\n"); //指示程序已运行

	num = VCI_FindUsbDevice2(pInfo1);

	printf(">>USBCAN DEVICE NUM:");
	printf("%d", num);
	printf(" PCS");
	printf("\n");

	for (int i = 0; i < num; i++)
	{
		printf("Device:");
		printf("%d", i);
		printf("\n");
		printf(">>Get VCI_ReadBoardInfo success!\n");

		printf(">>Serial_Num:%c", pInfo1[i].str_Serial_Num[0]);
		printf("%c", pInfo1[i].str_Serial_Num[1]);
		printf("%c", pInfo1[i].str_Serial_Num[2]);
		printf("%c", pInfo1[i].str_Serial_Num[3]);
		printf("%c", pInfo1[i].str_Serial_Num[4]);
		printf("%c", pInfo1[i].str_Serial_Num[5]);
		printf("%c", pInfo1[i].str_Serial_Num[6]);
		printf("%c", pInfo1[i].str_Serial_Num[7]);
		printf("%c", pInfo1[i].str_Serial_Num[8]);
		printf("%c", pInfo1[i].str_Serial_Num[9]);
		printf("%c", pInfo1[i].str_Serial_Num[10]);
		printf("%c", pInfo1[i].str_Serial_Num[11]);
		printf("%c", pInfo1[i].str_Serial_Num[12]);
		printf("%c", pInfo1[i].str_Serial_Num[13]);
		printf("%c", pInfo1[i].str_Serial_Num[14]);
		printf("%c", pInfo1[i].str_Serial_Num[15]);
		printf("%c", pInfo1[i].str_Serial_Num[16]);
		printf("%c", pInfo1[i].str_Serial_Num[17]);
		printf("%c", pInfo1[i].str_Serial_Num[18]);
		printf("%c", pInfo1[i].str_Serial_Num[19]);
		printf("\n");

		printf(">>hw_Type:%c", pInfo1[i].str_hw_Type[0]);
		printf("%c", pInfo1[i].str_hw_Type[1]);
		printf("%c", pInfo1[i].str_hw_Type[2]);
		printf("%c", pInfo1[i].str_hw_Type[3]);
		printf("%c", pInfo1[i].str_hw_Type[4]);
		printf("%c", pInfo1[i].str_hw_Type[5]);
		printf("%c", pInfo1[i].str_hw_Type[6]);
		printf("%c", pInfo1[i].str_hw_Type[7]);
		printf("%c", pInfo1[i].str_hw_Type[8]);
		printf("%c", pInfo1[i].str_hw_Type[9]);
		printf("\n");

		printf(">>Firmware Version:V");
		printf("%x", (pInfo1[i].fw_Version & 0xF00) >> 8);
		printf(".");
		printf("%x", (pInfo1[i].fw_Version & 0xF0) >> 4);
		printf("%x", pInfo1[i].fw_Version & 0xF);
		printf("\n");
	}
	printf(">>\n");
	printf(">>\n");
	printf(">>\n");
	if (VCI_OpenDevice(VCI_USBCAN2, 0, 0) == 1) //打开设备
	{
		printf(">>open deivce success!\n"); //打开设备成功
	}
	else
	{
		printf(">>open deivce error!\n");
		exit(1);
	}
	if (VCI_ReadBoardInfo(VCI_USBCAN2, 0, &pInfo) == 1) //读取设备序列号、版本等信息。
	{
		printf(">>Get VCI_ReadBoardInfo success!\n");

		//printf(" %08X", pInfo.hw_Version);printf("\n");
		//printf(" %08X", pInfo.fw_Version);printf("\n");
		//printf(" %08X", pInfo.dr_Version);printf("\n");
		//printf(" %08X", pInfo.in_Version);printf("\n");
		//printf(" %08X", pInfo.irq_Num);printf("\n");
		//printf(" %08X", pInfo.can_Num);printf("\n");
		printf(">>Serial_Num:%c", pInfo.str_Serial_Num[0]);
		printf("%c", pInfo.str_Serial_Num[1]);
		printf("%c", pInfo.str_Serial_Num[2]);
		printf("%c", pInfo.str_Serial_Num[3]);
		printf("%c", pInfo.str_Serial_Num[4]);
		printf("%c", pInfo.str_Serial_Num[5]);
		printf("%c", pInfo.str_Serial_Num[6]);
		printf("%c", pInfo.str_Serial_Num[7]);
		printf("%c", pInfo.str_Serial_Num[8]);
		printf("%c", pInfo.str_Serial_Num[9]);
		printf("%c", pInfo.str_Serial_Num[10]);
		printf("%c", pInfo.str_Serial_Num[11]);
		printf("%c", pInfo.str_Serial_Num[12]);
		printf("%c", pInfo.str_Serial_Num[13]);
		printf("%c", pInfo.str_Serial_Num[14]);
		printf("%c", pInfo.str_Serial_Num[15]);
		printf("%c", pInfo.str_Serial_Num[16]);
		printf("%c", pInfo.str_Serial_Num[17]);
		printf("%c", pInfo.str_Serial_Num[18]);
		printf("%c", pInfo.str_Serial_Num[19]);
		printf("\n");

		printf(">>hw_Type:%c", pInfo.str_hw_Type[0]);
		printf("%c", pInfo.str_hw_Type[1]);
		printf("%c", pInfo.str_hw_Type[2]);
		printf("%c", pInfo.str_hw_Type[3]);
		printf("%c", pInfo.str_hw_Type[4]);
		printf("%c", pInfo.str_hw_Type[5]);
		printf("%c", pInfo.str_hw_Type[6]);
		printf("%c", pInfo.str_hw_Type[7]);
		printf("%c", pInfo.str_hw_Type[8]);
		printf("%c", pInfo.str_hw_Type[9]);
		printf("\n");

		printf(">>Firmware Version:V");
		printf("%x", (pInfo.fw_Version & 0xF00) >> 8);
		printf(".");
		printf("%x", (pInfo.fw_Version & 0xF0) >> 4);
		printf("%x", pInfo.fw_Version & 0xF);
		printf("\n");
	}
	else
	{
		printf(">>Get VCI_ReadBoardInfo error!\n");
		exit(1);
	}

	//初始化参数，严格参数二次开发函数库说明书。
	VCI_INIT_CONFIG config;
	config.AccCode = 0;
	config.AccMask = 0xFFFFFFFF;
	config.Filter = 1;	   //接收所有帧
	config.Timing0 = 0x03; /*波特率125 Kbps  0x03  0x1C*/
	config.Timing1 = 0x1C;
	config.Mode = 0; //正常模式

	if (VCI_InitCAN(VCI_USBCAN2, 0, 0, &config) != 1)
	{
		printf(">>Init CAN1 error\n");
		VCI_CloseDevice(VCI_USBCAN2, 0);
	}

	if (VCI_StartCAN(VCI_USBCAN2, 0, 0) != 1)
	{
		printf(">>Start CAN1 error\n");
		VCI_CloseDevice(VCI_USBCAN2, 0);
	}

	if (VCI_InitCAN(VCI_USBCAN2, 0, 1, &config) != 1)
	{
		printf(">>Init can2 error\n");
		VCI_CloseDevice(VCI_USBCAN2, 0);
	}
	if (VCI_StartCAN(VCI_USBCAN2, 0, 1) != 1)
	{
		printf(">>Start can2 error\n");
		VCI_CloseDevice(VCI_USBCAN2, 0);
	}
	//需要发送的帧，结构体设置
	VCI_CAN_OBJ send[1];
	send[0].ID = 0;
	send[0].SendType = 0;
	send[0].RemoteFlag = 0;
	send[0].ExternFlag = 1;
	send[0].DataLen = 8;

	int i = 0;
	for (i = 0; i < send[0].DataLen; i++)
	{
		send[0].Data[i] = i;
	}

	int m_run0 = 1;
	pthread_t threadid;
	int ret;
	ret = pthread_create(&threadid, NULL, receive_func, &m_run0);

	int times = 5;
	while (times--)
	{
		if (VCI_Transmit(VCI_USBCAN2, 0, 0, send, 1) == 1)
		{
			printf("Index:%04d  ", count);
			count++;
			printf("CAN1 TX ID:0x%08X", send[0].ID);
			if (send[0].ExternFlag == 0)
				printf(" Standard ");
			if (send[0].ExternFlag == 1)
				printf(" Extend   ");
			if (send[0].RemoteFlag == 0)
				printf(" Data   ");
			if (send[0].RemoteFlag == 1)
				printf(" Remote ");
			printf("DLC:0x%02X", send[0].DataLen);
			printf(" data:0x");

			for (i = 0; i < send[0].DataLen; i++)
			{
				printf(" %02X", send[0].Data[i]);
			}

			printf("\n");
			send[0].ID += 1;
		}
		else
		{
			break;
		}

		if (VCI_Transmit(VCI_USBCAN2, 0, 1, send, 1) == 1)
		{
			printf("Index:%04d  ", count);
			count++;
			printf("CAN2 TX ID:0x%08X", send[0].ID);
			if (send[0].ExternFlag == 0)
				printf(" Standard ");
			if (send[0].ExternFlag == 1)
				printf(" Extend   ");
			if (send[0].RemoteFlag == 0)
				printf(" Data   ");
			if (send[0].RemoteFlag == 1)
				printf(" Remote ");
			printf("DLC:0x%02X", send[0].DataLen);
			printf(" data:0x");
			for (i = 0; i < send[0].DataLen; i++)
			{
				printf(" %02X", send[0].Data[i]);
			}
			printf("\n");
			send[0].ID += 1;
		}
		else
			break;
	}
	usleep(10000000);				 //延时单位us，这里设置 10 000 000=10s    10s后关闭接收线程，并退出主程序。
	m_run0 = 0;						 //线程关闭指令。
	pthread_join(threadid, NULL);	 //等待线程关闭。
	usleep(100000);					 //延时100ms。
	VCI_ResetCAN(VCI_USBCAN2, 0, 0); //复位CAN1通道。
	usleep(100000);					 //延时100ms。
	VCI_ResetCAN(VCI_USBCAN2, 0, 1); //复位CAN2通道。
	usleep(100000);					 //延时100ms。
	VCI_CloseDevice(VCI_USBCAN2, 0); //关闭设备。
									 //除收发函数外，其它的函数调用前后，最好加个毫秒级的延时，即不影响程序的运行，又可以让USBCAN设备有充分的时间处理指令。
									 //goto ext;
}