failed approach

test/testtasks/P60DockTestTask.cpp

@@ -0,0 +1,88 @@
+/*
+ * P60DockTestTask.cpp
+ *
+ *  Created on: 18.11.2020
+ *      Author: jakob
+ */
+
+#include <gs/csp/drivers/can/can.h>
+#include "P60DockTestTask.h"
+
+P60DockTestTask::P60DockTestTask(object_id_t objectId_):
+SystemObject(objectId_){
+	/* Init buffer system with 10 packets of maximum 320 bytes each */
+//	csp_buffer_init(10, 320);
+
+	uint8_t device = 0;
+	uint8_t csp_addr = 4; /* Current address of p60 dock */
+	uint8_t mtu = 320; /* Packets larger than the set mtu will be discarded */
+	char name[5] = "can0";
+
+	/* Init the CAN interface */
+	gs_error_t result = gs_csp_can_init(device, csp_addr, mtu, name, csp_if);
+	if(result != GS_OK){
+		sif::error << "gs_csp_can_init failed with error code: " << result
+				<< std::endl;
+	}
+}
+
+
+ReturnValue_t P60DockTestTask::performOperation(uint8_t operationCode) {
+
+	char data[5] = "test";
+	int timeout_ms = 1000;
+	/* Send a csp packet to the can interface */
+	g_error_t result = csp_can_tx_frame(csp_if, canExtMsgId, (uint8*) data, sizeof(data),
+			timeout_ms);
+	if(result != GS_OK){
+		sif::error << "csp_can_tx_frame failed with error code " << result
+				<< std::endl;
+	}
+}
+
+
+ReturnValue_t P60DockTestTask::sendPacket(void){
+
+	/* Get packet buffer for data */
+	csp_packet_t *packet = csp_buffer_get(data_size);
+	if (packet == NULL) {
+		/* Could not get buffer element */
+		sif::error("Failed to get buffer element\\n");
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	/* Connect to host HOST, port PORT with regular UDP-like protocol and
+	 * 1000 ms timeout */
+	csp_conn_t *conn = csp_connect(CSP_PRIO_NORM, HOST, PORT, 1000, CSP_O_NONE);
+
+	if (conn == NULL) {
+		/* Connect failed */
+		sif::error("Connection failed\\n");
+		/* Remember to free packet buffer */
+		csp_buffer_free(packet);
+	return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	/* Copy message to packet */
+	char *msg = "HELLO";
+	strcpy(packet->data, msg);
+	/* Set packet length */
+	packet->length = strlen(msg);
+
+	/* Send packet */
+	if (!csp_send(conn, packet, 1000)) {
+		/* Send failed */
+		sif::error("Send failed\\n");
+		csp_buffer_free(packet);
+	}
+	/* Close connection */
+	csp_close(conn);
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+P60DockTestTask::~P60DockTestTask() {
+	// TODO Auto-generated destructor stub
+}
+

test/testtasks/P60DockTestTask.h

@@ -0,0 +1,35 @@
+/*
+ * P60DockTestTask.h
+ *
+ *  Created on: 18.11.2020
+ *      Author: jakob
+ */
+
+#ifndef TEST_TESTTASKS_P60DOCKTESTTASK_H_
+#define TEST_TESTTASKS_P60DOCKTESTTASK_H_
+
+extern "C" {
+#include <csp/csp.h>
+#include <csp/interfaces/csp_if_can.h>
+}
+
+
+class P60DockTestTask: public ExecutableObjectIF {
+public:
+	P60DockTestTask();
+	virtual ~P60DockTestTask();
+
+	virtual ReturnValue_t performOperation(uint8_t operationCode = 0);
+
+private:
+	/* Interface struct for csp protocol stack */
+	csp_iface_t csp_if;
+	uint32_t canExtMsgId = 4;
+	/* CAN configuration struct for SocketCAN interface "can0" */
+	struct csp_can_config can_conf = {.ifc = "can0"};
+
+	ReturnValue_t sendPacket(void);
+
+};
+
+#endif /* TEST_TESTTASKS_P60DOCKTESTTASK_H_ */