1 files changed, 166 insertions, 0 deletions
diff --git a/can_hal/src/can_hal_api.cpp b/can_hal/src/can_hal_api.cpp
new file mode 100644
index 00000000..86a0104d
--- /dev/null
+++ b/can_hal/src/can_hal_api.cpp
@@ -0,0 +1,166 @@
+/*
+ * @copyright Copyright (c) 2017-2020 TOYOTA MOTOR CORPORATION.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/*
+ * Information.
+ * This source code is a sample source code .
+ * Implementation of the function must be performed by the vendor.
+ */
+
+#include "can_hal_core.h"
+#include "can_hal_stm.h"
+#include <stdio.h>
+#include <pthread.h>
+#include <string.h>
+#include <assert.h>
+
+CANHAL_RET_API CanOpen(HANDLE h_app, CanHalType type) {
+  CANHAL_RET_API ret = CANHAL_RET_ERR_ERR;
+
+  if (!TypeIsValid(type)) {
+    return CANHAL_RET_ERR_PARAM;
+  }
+
+  if (!h_app) {
+    return CANHAL_RET_ERR_PARAM;
+  }
+
+  if (IsCanHalOpened(type)) {
+    return CANHAL_RET_NORMAL;
+  }
+
+  if (IsDeviceEnabled(type)) {
+    return CANHAL_RET_NORMAL;
+  }
+
+  ret = CanOpenCore(type);
+  if (CANHAL_RET_NORMAL != ret) {
+    return ret;
+  }
+
+  ret = CanHalCreateInternalThread(h_app, type);
+  if (CANHAL_RET_NORMAL != ret) {
+    CanCloseCore(type);
+    return ret;
+  }
+
+  SetDeviceStateEnable(type);
+  SetCanHalStateOpen(type);
+  InvokeStateCallback(type);
+  return ret;
+}
+
+CANHAL_RET_API CanClose(HANDLE h_app, CanHalType type) {
+  CANHAL_RET_API ret = CANHAL_RET_ERR_ERR;
+  if (!TypeIsValid(type)) {
+    return CANHAL_RET_ERR_PARAM;
+  }
+
+  if (!h_app) {
+    return CANHAL_RET_ERR_PARAM;
+  }
+
+  if (!IsCanHalOpened(type)) {
+    return CANHAL_RET_NORMAL;
+  }
+
+  if (IsDeviceEnabled(type)) {
+    ret = CanCloseCore(type);
+    if (CANHAL_RET_NORMAL != ret)
+      return ret;
+  }
+    
+  ret = CanHalDestroyInternalThread(h_app, type);
+  if (CANHAL_RET_NORMAL != ret)
+    return ret;
+
+  SetDeviceStateDisable(type);
+  SetCanHalStateClose(type);
+  InvokeErrorCallback(h_app, type);
+
+  return ret;
+}
+
+static CANHAL_RET_API CanSendCommonCheck(const void *message, 
+                                                        enum CanHalType type) {
+  if (!TypeIsValid(type)) {
+    return CANHAL_RET_ERR_PARAM;
+  }
+
+  if (!message) {
+    return CANHAL_RET_ERR_PARAM;
+  }
+
+  if (!IsCanHalOpened(type)) {
+    return CANHAL_RET_ERR_STATE;
+  }
+
+  if (!IsDeviceEnabled(type)) {
+    return CANHAL_RET_ERR_STATE;
+  }
+
+  return CANHAL_RET_NORMAL;
+}
+
+CANHAL_RET_API CanSend(HANDLE h_app,
+                             const CanMessage *message, enum CanHalType type) {
+  CANHAL_RET_API ret = CANHAL_RET_ERR_ERR;
+  void *_message = NULL;
+  ssize_t sz = 0;
+
+  ret = CanSendCommonCheck(message, type);
+  if (ret != CANHAL_RET_NORMAL)
+    return ret;
+
+  if (!h_app) {
+    return CANHAL_RET_ERR_PARAM;
+  }
+
+  if (CAN_NORMAL_MESSAGE_LEN < message->dlc) {
+    return CANHAL_RET_ERR_PARAM;
+  }
+
+  _message = CanHalPackMessage(h_app, (const void *)message,
+                               sizeof(CanMessage), &sz);
+  if (!_message)
+    return CANHAL_RET_ERR_ERR;
+
+  ret = CanHalInternalSend(type, _message, sz);
+  CanHalDestroyPackedMessage(_message);
+  return ret;
+}
+
+CANHAL_RET_API CanGetVersion(HANDLE h_app, std::string *p_version) {
+  CanHalType type = CAN_HAL_TYPE_CAN;
+  if (!h_app) {
+    return CANHAL_RET_ERR_PARAM;
+  }
+
+  if (!IsCanHalOpened(type)) {
+    return CANHAL_RET_ERR_STATE;
+  }
+
+  if (!IsDeviceEnabled(type)) {
+    return CANHAL_RET_ERR_STATE;
+  }
+
+  if (NULL == p_version) {
+    return CANHAL_RET_ERR_PARAM;
+  }
+
+  *p_version = "FFFF";
+  return CANHAL_RET_NORMAL;
+}