[HW]: Allow reconfiguring the TouCAN plugin at runtime

This will make this plugin easier to configure after construction such as in AgISOVirtualTerminal.
Open-Agriculture · Dec 21, 2023 · 88f0891 · 88f0891
1 parent 1112626
commit 88f0891
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Showing 2 changed files with 51 additions and 21 deletions.
diff --git a/hardware_integration/include/isobus/hardware_integration/toucan_vscp_canal.hpp b/hardware_integration/include/isobus/hardware_integration/toucan_vscp_canal.hpp
@@ -63,7 +63,20 @@ namespace isobus
 		/// @returns `true` if the frame was written, otherwise `false`
 		bool write_frame(const isobus::CANMessageFrame &canFrame) override;
 
+		/// @brief Changes previously set configuration parameters. Only works if the device is not open.
+		/// @param[in] deviceID The id to use for this device
+		/// @param[in] serialNumber The serial number of the CAN adapter to connect with
+		/// @param[in] baudRate The baud rate in thousands (250K baud would mean you need to pass in 250)
+		/// @returns True if the configuration was changed, otherwise false (if the device is open false will be returned)
+		bool reconfigure(std::int16_t deviceID, std::uint32_t serialNumber, std::uint16_t baudRate = 250);
+
 	private:
+		/// @brief Generates a device name string for the TouCAN device
+		/// @param[in] deviceID The id to use for this device
+		/// @param[in] serialNumber The serial number of the CAN adapter to connect with
+		/// @param[in] baudRate The baud rate in thousands (250K baud would mean you need to pass in 250)
+		void generate_device_name(std::int16_t deviceID, std::uint32_t serialNumber, std::uint16_t baudRate);
+
 		std::string name; ///< A configuration string that is used to connect to the hardware through the CANAL api
 		std::uint32_t handle = 0; ///< The handle that the driver returns to us for the open hardware
 		std::uint32_t openResult = CANAL_ERROR_NOT_OPEN; ///< Stores the result of the call to begin CAN communication. Used for is_valid check later.

diff --git a/hardware_integration/src/toucan_vscp_canal.cpp b/hardware_integration/src/toucan_vscp_canal.cpp
@@ -19,27 +19,7 @@ namespace isobus
 {
 	TouCANPlugin::TouCANPlugin(std::int16_t deviceID, std::uint32_t serialNumber, std::uint16_t baudRate)
 	{
-		std::string deviceConfigString;
-		std::string serialString;
-		constexpr std::uint32_t MAX_SERIAL_LENGTH = 999999999;
-		constexpr std::size_t SERIAL_NUMBER_CHARACTER_REQUIREMENT = 8;
-
-		if (serialNumber > MAX_SERIAL_LENGTH)
-		{
-			isobus::CANStackLogger::critical("[TouCAN]: Invalid serial number. Must be 8 digits max.");
-			serialNumber = 0;
-		}
-		serialString = isobus::to_string(serialNumber);
-
-		if (SERIAL_NUMBER_CHARACTER_REQUIREMENT > serialString.length())
-		{
-			serialString.insert(0, SERIAL_NUMBER_CHARACTER_REQUIREMENT - serialString.length(), '0');
-		}
-
-		deviceConfigString += isobus::to_string(deviceID) + ';';
-		deviceConfigString += serialString + ';';
-		deviceConfigString += isobus::to_string(baudRate) + ';';
-		name = deviceConfigString;
+		generate_device_name(deviceID, serialNumber, baudRate);
 	}
 
 	TouCANPlugin::TouCANPlugin(std::string deviceName) :
@@ -113,4 +93,41 @@ namespace isobus
 
 		return (CANAL_ERROR_SUCCESS == result);
 	}
+
+	bool TouCANPlugin::reconfigure(std::int16_t deviceID, std::uint32_t serialNumber, std::uint16_t baudRate)
+	{
+		bool retVal = false;
+
+		if (!get_is_valid())
+		{
+			generate_device_name(deviceID, serialNumber, baudRate);
+			retVal = true;
+		}
+		return retVal;
+	}
+
+	void TouCANPlugin::generate_device_name(std::int16_t deviceID, std::uint32_t serialNumber, std::uint16_t baudRate)
+	{
+		std::string deviceConfigString;
+		std::string serialString;
+		constexpr std::uint32_t MAX_SERIAL_LENGTH = 999999999;
+		constexpr std::size_t SERIAL_NUMBER_CHARACTER_REQUIREMENT = 8;
+
+		if (serialNumber > MAX_SERIAL_LENGTH)
+		{
+			isobus::CANStackLogger::critical("[TouCAN]: Invalid serial number. Must be 8 digits max.");
+			serialNumber = 0;
+		}
+		serialString = isobus::to_string(serialNumber);
+
+		if (SERIAL_NUMBER_CHARACTER_REQUIREMENT > serialString.length())
+		{
+			serialString.insert(0, SERIAL_NUMBER_CHARACTER_REQUIREMENT - serialString.length(), '0');
+		}
+
+		deviceConfigString += isobus::to_string(deviceID) + ';';
+		deviceConfigString += serialString + ';';
+		deviceConfigString += isobus::to_string(baudRate) + ';';
+		name = deviceConfigString;
+	}
 }