[#90]: Add Windows PEAK PCAN Support

Adds the windows PCAN libraries from the PCAN API.
Adds a new hardware plugin for PCAN on Windows. (The linux one is different and I will need to add it seperately).
Added readme for 3rd party drivers where we can put any important info related to them.
Made all examples support Windows if compiled with -DCAN_DRIVER=WindowsPCANBasic.
Fixed attempting to compile unit tests if BUILD_TESTING is enabled but socket CAN is not present.
Added a bunch of crazy CMake to detect the target architecture when compiling with MSVC because that functionality is totally broken in CMAKE. See https://gitlab.kitware.com/cmake/cmake/-/issues/15170

.gitignore

@@ -46,6 +46,7 @@ Makefile
 
 # build
 *build
+*out
 
 # Doxygen
 *docs

CMakeLists.txt

@@ -82,12 +82,14 @@ if(NOT TARGET GTest::gtest_main)
   add_library(GTest::gtest_main ALIAS GTest::Main)
 endif()
 
+if ("SocketCAN" IN_LIST CAN_DRIVER)
 add_executable(unit_tests test/address_claim_test.cpp test/test_CAN_glue.cpp test/identifier_tests.cpp test/dm_13_tests.cpp)
 target_link_libraries(unit_tests PRIVATE GTest::gtest_main ${PROJECT_NAME}::Isobus ${PROJECT_NAME}::HardwareIntegration ${PROJECT_NAME}::SystemTiming)
 
 include(GoogleTest)
 gtest_discover_tests(unit_tests name_tests identifier_tests)
 endif()
+endif()
 
 install( TARGETS Isobus SystemTiming HardwareIntegration
          EXPORT isobusTargets

cmake/isobusConfig.cmake.in

@@ -1,5 +1,7 @@
 # https://cliutils.gitlab.io/modern-cmake/chapters/install/installing.html
 include(CMakeFindDependencyMacro)
 
-# Add the targets file
-include("${CMAKE_CURRENT_LIST_DIR}/isobusTargets.cmake")
+if (NOT WIN32)
+	# Add the targets file
+	include("${CMAKE_CURRENT_LIST_DIR}/isobusTargets.cmake")
+endif()

doxyfile

@@ -857,7 +857,7 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.
 
-EXCLUDE                = "hardware_integration/README.md"
+EXCLUDE                = 
 
 # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
 # directories that are symbolic links (a Unix file system feature) are excluded
@@ -873,7 +873,7 @@ EXCLUDE_SYMLINKS       = NO
 # Note that the wildcards are matched against the file with absolute path, so to
 # exclude all test directories for example use the pattern */test/*
 
-EXCLUDE_PATTERNS       =
+EXCLUDE_PATTERNS       = */hardware_integration/*.md
 
 # The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
 # (namespaces, classes, functions, etc.) that should be excluded from the

examples/diagnostic_protocol/main.cpp

@@ -9,8 +9,15 @@
 #include <iterator>
 #include <memory>
 
-static std::shared_ptr<isobus::InternalControlFunction> TestInternalECU = nullptr;
+#ifdef WIN32
+#include "isobus/hardware_integration/pcan_basic_windows_plugin.hpp"
+static PCANBasicWindowsPlugin canDriver(PCAN_USBBUS1);
+#else
+#include "isobus/hardware_integration/socket_can_interface.hpp"
 static SocketCANInterface canDriver("can0");
+#endif
+
+static std::shared_ptr<isobus::InternalControlFunction> TestInternalECU = nullptr;
 
 using namespace std;
 

examples/nmea2000/main.cpp

@@ -9,8 +9,15 @@
 #include <iterator>
 #include <memory>
 
+#ifdef WIN32
+#include "isobus/hardware_integration/pcan_basic_windows_plugin.hpp"
+static PCANBasicWindowsPlugin canDriver(PCAN_USBBUS1);
+#else
+#include "isobus/hardware_integration/socket_can_interface.hpp"
+static SocketCANInterface canDriver("can0");
+#endif
+
 static std::shared_ptr<isobus::InternalControlFunction> TestInternalECU = nullptr;
-static SocketCANInterface canDriver("vcan0");
 
 using namespace std;
 

examples/pgn_requests/main.cpp

@@ -9,10 +9,17 @@
 #include <iostream>
 #include <memory>
 
+#ifdef WIN32
+#include "isobus/hardware_integration/pcan_basic_windows_plugin.hpp"
+static PCANBasicWindowsPlugin canDriver(PCAN_USBBUS1);
+#else
+#include "isobus/hardware_integration/socket_can_interface.hpp"
+static SocketCANInterface canDriver("can0");
+#endif
+
 static std::shared_ptr<isobus::InternalControlFunction> TestInternalECU = nullptr;
 static std::uint32_t propARepetitionRate_ms = 0xFFFFFFFF;
 static isobus::ControlFunction *repetitionRateRequestor = nullptr;
-static SocketCANInterface canDriver("can0");
 
 using namespace std;
 

examples/transport_layer/main.cpp

@@ -11,6 +11,14 @@
 #include <iterator>
 #include <memory>
 
+#ifdef WIN32
+#include "isobus/hardware_integration/pcan_basic_windows_plugin.hpp"
+static PCANBasicWindowsPlugin canDriver(PCAN_USBBUS1);
+#else
+#include "isobus/hardware_integration/socket_can_interface.hpp"
+static SocketCANInterface canDriver("can0");
+#endif
+
 static std::shared_ptr<isobus::InternalControlFunction> TestInternalECU = nullptr;
 static isobus::PartneredControlFunction *TestPartner = nullptr;
 std::vector<isobus::NAMEFilter> vtNameFilters;
@@ -19,7 +27,6 @@ std::uint8_t *TPTestBuffer = nullptr;
 std::uint8_t *ETPTestBuffer = nullptr;
 constexpr std::uint16_t MAX_TP_SIZE_BYTES = 1785;
 constexpr std::uint32_t ETP_TEST_SIZE = 2048;
-static SocketCANInterface canDriver("vcan0");
 
 using namespace std;
 

examples/vt_version_3_object_pool/main.cpp

@@ -1,5 +1,4 @@
 #include "isobus/hardware_integration/can_hardware_interface.hpp"
-#include "isobus/hardware_integration/socket_can_interface.hpp"
 #include "isobus/isobus/can_general_parameter_group_numbers.hpp"
 #include "isobus/isobus/can_network_manager.hpp"
 #include "isobus/isobus/can_partnered_control_function.hpp"
@@ -8,6 +7,14 @@
 #include "isobus/utility/iop_file_interface.hpp"
 #include "objectPoolObjects.h"
 
+#ifdef WIN32
+#include "isobus/hardware_integration/pcan_basic_windows_plugin.hpp"
+static PCANBasicWindowsPlugin canDriver(PCAN_USBBUS1);
+#else
+#include "isobus/hardware_integration/socket_can_interface.hpp"
+static SocketCANInterface canDriver("can0");
+#endif
+
 #include <csignal>
 #include <iostream>
 #include <memory>
@@ -18,7 +25,6 @@ static std::shared_ptr<isobus::VirtualTerminalClient> TestVirtualTerminalClient
 std::vector<isobus::NAMEFilter> vtNameFilters;
 const isobus::NAMEFilter testFilter(isobus::NAME::NAMEParameters::FunctionCode, static_cast<std::uint8_t>(isobus::NAME::Function::VirtualTerminal));
 static std::vector<std::uint8_t> testPool;
-static SocketCANInterface canDriver("can0");
 
 using namespace std;
 

hardware_integration/CMakeLists.txt

@@ -8,22 +8,29 @@ set(HARDWARE_INTEGRATION_SRC_DIR "src")
 set(HARDWARE_INTEGRATION_INCLUDE_DIR "include/isobus/hardware_integration")
 
 if(NOT CAN_DRIVER)
-  message(AUTHOR_WARNING "No CAN driver specified, choosing Linux socket CAN by default. Use -DCAN_DRIVER=socketCAN to avoid this, or choose another driver and set it explicitly.")
-  set(CAN_DRIVER "socketCAN")
+    message(AUTHOR_WARNING "No CAN driver specified, choosing Linux socket CAN by default. Use -DCAN_DRIVER=\"SocketCAN\" to specify another driver. or -DCAN_DRIVER=\"SocketCAN;WindowsPCANBasic\" to specify multiple drivers.")
+	set(CAN_DRIVER "SocketCAN")
 endif()
 
-if(CAN_DRIVER AND CAN_DRIVER MATCHES "socketCAN") 
-	set(HARDWARE_INTEGRATION_SRC 
-	  "can_hardware_interface.cpp"
-	  "socket_can_interface.cpp"
-	)
-
-	# Set the include files
-	set(HARDWARE_INTEGRATION_INCLUDE
-	  "can_hardware_interface.hpp"
-	  "can_hardware_plugin.hpp"
-	  "socket_can_interface.hpp"
-	)
+# Set the source files
+set(HARDWARE_INTEGRATION_SRC 
+  "can_hardware_interface.cpp"
+)
+
+# Set the include files
+set(HARDWARE_INTEGRATION_INCLUDE
+  "can_hardware_interface.hpp"
+  "can_hardware_plugin.hpp"
+)
+
+# Add the source/include files based on the CAN driver chosen
+if ("SocketCAN" IN_LIST CAN_DRIVER)
+	list(APPEND HARDWARE_INTEGRATION_SRC "socket_can_interface.cpp")
+	list(APPEND HARDWARE_INTEGRATION_INCLUDE "socket_can_interface.hpp")
+endif()
+if ("WindowsPCANBasic" IN_LIST CAN_DRIVER)
+	list(APPEND HARDWARE_INTEGRATION_SRC "pcan_basic_windows_plugin.cpp")
+	list(APPEND HARDWARE_INTEGRATION_INCLUDE "pcan_basic_windows_plugin.hpp")
 endif()
 
 # Prepend the source directory path to all the source files
@@ -37,6 +44,42 @@ add_library(HardwareIntegration ${HARDWARE_INTEGRATION_SRC} ${HARDWARE_INTEGRATI
 add_library(${PROJECT_NAME}::HardwareIntegration ALIAS HardwareIntegration)
 target_link_libraries(HardwareIntegration PRIVATE ${PROJECT_NAME}::SystemTiming ${PROJECT_NAME}::Isobus)
 
+if ("WindowsPCANBasic" IN_LIST CAN_DRIVER)
+	if(MSVC)
+		# See https://gitlab.kitware.com/cmake/cmake/-/issues/15170
+		set(CMAKE_SYSTEM_PROCESSOR ${MSVC_CXX_ARCHITECTURE_ID})
+	endif()
+
+	message(STATUS "Target Arch: ${CMAKE_SYSTEM_PROCESSOR}")
+	if(CMAKE_SYSTEM_PROCESSOR STREQUAL "AMD64")
+		message(STATUS "Detected AMD64, linking to PCAN x64 Library")
+			target_link_libraries(HardwareIntegration PRIVATE ${CMAKE_CURRENT_LIST_DIR}/lib/Windows/PCANBasic_x64.lib)
+			add_custom_command(
+			OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/lib/Windows/PCANBasic_x64.lib
+			COMMAND ${CMAKE_COMMAND} -E copy
+					${CMAKE_CURRENT_LIST_DIR}/lib/Windows/PCANBasic_x64.lib
+					${CMAKE_CURRENT_BINARY_DIR}/PCANBasic_x64.lib)
+	elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL "ARM64")
+		message(STATUS "Detected ARM64, linking to PCAN ARM64 Library")
+		target_link_libraries(HardwareIntegration PRIVATE ${CMAKE_CURRENT_LIST_DIR}/lib/Windows/PCANBasic_ARM64.lib)
+		add_custom_command(
+			OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/lib/Windows/PCANBasic_ARM64.lib
+			COMMAND ${CMAKE_COMMAND} -E copy
+					${CMAKE_CURRENT_LIST_DIR}/lib/Windows/PCANBasic_ARM64.lib
+					${CMAKE_CURRENT_BINARY_DIR}/PCANBasic_ARM64.lib)
+	elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64" OR CMAKE_SYSTEM_PROCESSOR STREQUAL "X86")
+		message(STATUS "Detected x86, linking to PCAN x86 Library")
+		target_link_libraries(HardwareIntegration PRIVATE ${CMAKE_CURRENT_LIST_DIR}/lib/Windows/PCANBasic_x86.lib)
+		add_custom_command(
+			OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/lib/Windows/PCANBasic_x86.lib
+			COMMAND ${CMAKE_COMMAND} -E copy
+					${CMAKE_CURRENT_LIST_DIR}/lib/Windows/PCANBasic_x86.lib
+					${CMAKE_CURRENT_BINARY_DIR}/PCANBasic_x86.lib)
+	else()
+		message(FATAL_ERROR "Windows PCAN Selected but no supported processor arch was detected. Only x64, x86, and ARM64 are supported by PEAK's drivers.")
+	endif()
+endif()
+
 # Specify the include directory to be exported for other moduels to use. The 
 # PUBLIC keyword here allows other libraries or exectuables to link to this
 # library and use its functionality.