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[Examples]: Add example app for choosing different (or multiple) VT object pools at runtime based on the VT server version
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‎CMakeLists.txt‎

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@@ -69,6 +69,7 @@ if(BUILD_EXAMPLES)
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add_subdirectory("examples/virtual_terminal/version3_object_pool")
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add_subdirectory("examples/virtual_terminal/aux_functions")
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add_subdirectory("examples/virtual_terminal/aux_inputs")
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add_subdirectory("examples/virtual_terminal/multiple_object_pools")
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add_subdirectory("examples/task_controller_client")
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add_subdirectory("examples/task_controller_server")
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add_subdirectory("examples/guidance")

‎examples/virtual_terminal/multiple_object_pools/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.16)
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project(vt_client_multiple_object_pools_example)
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if(NOT BUILD_EXAMPLES)
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find_package(isobus REQUIRED)
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endif()
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find_package(Threads REQUIRED)
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add_executable(VTClientMultiplePoolsExampleTarget main.cpp console_logger.cpp
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objectPoolObjects.h)
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target_compile_features(VTClientMultiplePoolsExampleTarget PUBLIC cxx_std_11)
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set_target_properties(VTClientMultiplePoolsExampleTarget
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PROPERTIES CXX_EXTENSIONS OFF)
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target_link_libraries(
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VTClientMultiplePoolsExampleTarget
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PRIVATE isobus::Isobus isobus::HardwareIntegration Threads::Threads
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isobus::Utility)
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add_custom_command(
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TARGET VTClientMultiplePoolsExampleTarget
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POST_BUILD
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COMMENT "Copying object pools to build directory"
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COMMAND
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${CMAKE_COMMAND} -E copy
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${CMAKE_CURRENT_SOURCE_DIR}/../version3_object_pool/VT3TestPool.iop
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$<TARGET_FILE_DIR:VTClientMultiplePoolsExampleTarget>/VT3TestPool.iop
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COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/window_masks.iop
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$<TARGET_FILE_DIR:VTClientMultiplePoolsExampleTarget>/window_masks.iop
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)

‎examples/virtual_terminal/multiple_object_pools/console_logger.cpp‎

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#include "isobus/isobus/can_stack_logger.hpp"
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#include <iostream>
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// A log sink for the CAN stack
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class CustomLogger : public isobus::CANStackLogger
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{
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public:
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void sink_CAN_stack_log(CANStackLogger::LoggingLevel level, const std::string &text) override
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{
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switch (level)
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{
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case LoggingLevel::Debug:
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{
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std::cout << "["
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<< "\033[1;36m"
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<< "Debug"
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<< "\033[0m"
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<< "]";
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}
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break;
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case LoggingLevel::Info:
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{
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std::cout << "["
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<< "\033[1;32m"
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<< "Info"
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<< "\033[0m"
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<< "]";
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}
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break;
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case LoggingLevel::Warning:
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{
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std::cout << "["
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<< "\033[1;33m"
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<< "Warn"
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<< "\033[0m"
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<< "]";
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}
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break;
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case LoggingLevel::Error:
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{
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std::cout << "["
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<< "\033[1;31m"
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<< "Error"
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<< "\033[0m"
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<< "]";
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}
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break;
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case LoggingLevel::Critical:
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{
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std::cout << "["
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<< "\033[1;35m"
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<< "Critical"
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<< "\033[0m"
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<< "]";
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}
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break;
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}
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std::cout << text << std::endl; // Write the text to stdout
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}
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};
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static CustomLogger logger;

‎examples/virtual_terminal/multiple_object_pools/main.cpp‎

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#include "isobus/hardware_integration/available_can_drivers.hpp"
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#include "isobus/hardware_integration/can_hardware_interface.hpp"
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#include "isobus/isobus/can_network_manager.hpp"
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#include "isobus/isobus/can_partnered_control_function.hpp"
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#include "isobus/isobus/can_stack_logger.hpp"
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#include "isobus/isobus/isobus_virtual_terminal_client.hpp"
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#include "isobus/isobus/isobus_virtual_terminal_client_update_helper.hpp"
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#include "isobus/utility/iop_file_interface.hpp"
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#include "console_logger.cpp"
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#include "objectPoolObjects.h"
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#include <atomic>
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#include <csignal>
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#include <iostream>
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//! It is discouraged to use global variables, but it is done here for simplicity.
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static std::shared_ptr<isobus::VirtualTerminalClient> virtualTerminalClient = nullptr;
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static std::shared_ptr<isobus::VirtualTerminalClientUpdateHelper> virtualTerminalUpdateHelper = nullptr;
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static std::atomic_bool running = { true };
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void signal_handler(int)
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{
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running = false;
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}
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// This callback will provide us with event driven notifications of softkey presses from the stack
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void handle_softkey_event(const isobus::VirtualTerminalClient::VTKeyEvent &event)
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{
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if (event.keyNumber == 0)
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{
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// We have the alarm ACK code, so if we have an active alarm, acknowledge it by going back to the main runscreen
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virtualTerminalUpdateHelper->set_active_data_or_alarm_mask(example_WorkingSet, mainRunscreen_DataMask);
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}
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switch (event.keyEvent)
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{
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case isobus::VirtualTerminalClient::KeyActivationCode::ButtonUnlatchedOrReleased:
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{
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switch (event.objectID)
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{
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case alarm_SoftKey:
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{
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virtualTerminalUpdateHelper->set_active_data_or_alarm_mask(example_WorkingSet, example_AlarmMask);
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}
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break;
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case acknowledgeAlarm_SoftKey:
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{
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virtualTerminalUpdateHelper->set_active_data_or_alarm_mask(example_WorkingSet, mainRunscreen_DataMask);
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}
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break;
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default:
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break;
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}
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}
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break;
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default:
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break;
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}
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}
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// This callback will provide us with event driven notifications of button presses from the stack
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void handle_button_event(const isobus::VirtualTerminalClient::VTKeyEvent &event)
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{
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switch (event.keyEvent)
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{
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case isobus::VirtualTerminalClient::KeyActivationCode::ButtonUnlatchedOrReleased:
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case isobus::VirtualTerminalClient::KeyActivationCode::ButtonStillHeld:
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{
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switch (event.objectID)
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{
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case Plus_Button:
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{
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virtualTerminalUpdateHelper->increase_numeric_value(ButtonExampleNumber_VarNum);
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}
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break;
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case Minus_Button:
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{
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virtualTerminalUpdateHelper->decrease_numeric_value(ButtonExampleNumber_VarNum);
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}
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break;
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default:
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break;
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}
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}
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break;
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default:
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break;
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}
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}
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int main()
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{
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std::signal(SIGINT, signal_handler);
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// Automatically load the desired CAN driver based on the available drivers
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std::shared_ptr<isobus::CANHardwarePlugin> canDriver = nullptr;
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#if defined(ISOBUS_SOCKETCAN_AVAILABLE)
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canDriver = std::make_shared<isobus::SocketCANInterface>("can0");
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#elif defined(ISOBUS_WINDOWSPCANBASIC_AVAILABLE)
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canDriver = std::make_shared<isobus::PCANBasicWindowsPlugin>(PCAN_USBBUS1);
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#elif defined(ISOBUS_WINDOWSINNOMAKERUSB2CAN_AVAILABLE)
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canDriver = std::make_shared<isobus::InnoMakerUSB2CANWindowsPlugin>(0); // CAN0
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#elif defined(ISOBUS_MACCANPCAN_AVAILABLE)
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canDriver = std::make_shared<isobus::MacCANPCANPlugin>(PCAN_USBBUS1);
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#elif defined(ISOBUS_SYS_TEC_AVAILABLE)
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canDriver = std::make_shared<isobus::SysTecWindowsPlugin>();
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#endif
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if (nullptr == canDriver)
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{
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std::cout << "Unable to find a CAN driver. Please make sure you have one of the above drivers installed with the library." << std::endl;
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std::cout << "If you want to use a different driver, please add it to the list above." << std::endl;
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return -1;
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}
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isobus::CANStackLogger::set_can_stack_logger_sink(&logger);
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isobus::CANStackLogger::set_log_level(isobus::CANStackLogger::LoggingLevel::Info); // Change this to Debug to see more information
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isobus::CANHardwareInterface::set_number_of_can_channels(1);
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isobus::CANHardwareInterface::assign_can_channel_frame_handler(0, canDriver);
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if ((!isobus::CANHardwareInterface::start()) || (!canDriver->get_is_valid()))
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{
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std::cout << "Failed to start hardware interface. The CAN driver might be invalid." << std::endl;
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return -2;
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}
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std::this_thread::sleep_for(std::chrono::milliseconds(250));
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isobus::NAME TestDeviceNAME(0);
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//! Make sure you change these for your device!!!!
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TestDeviceNAME.set_arbitrary_address_capable(true);
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TestDeviceNAME.set_industry_group(1);
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TestDeviceNAME.set_device_class(0);
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TestDeviceNAME.set_function_code(static_cast<std::uint8_t>(isobus::NAME::Function::SteeringControl));
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TestDeviceNAME.set_identity_number(2);
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TestDeviceNAME.set_ecu_instance(0);
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TestDeviceNAME.set_function_instance(0);
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TestDeviceNAME.set_device_class_instance(0);
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TestDeviceNAME.set_manufacturer_code(1407);
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std::vector<std::uint8_t> version3pool = isobus::IOPFileInterface::read_iop_file("VT3TestPool.iop");
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std::vector<std::uint8_t> version4pool = isobus::IOPFileInterface::read_iop_file("window_masks.iop");
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if (version3pool.empty())
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{
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std::cout << "Failed to load object pool from VT3TestPool.iop" << std::endl;
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return -3;
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}
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std::cout << "Loaded object pool from VT3TestPool.iop" << std::endl;
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if (version4pool.empty())
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{
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std::cout << "Failed to load object pool from window_masks.iop" << std::endl;
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return -4;
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}
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std::cout << "Loaded object pool from window_masks.iop" << std::endl;
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// Generate a unique version string for this object pool (this is optional, and is entirely application specific behavior)
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std::string objectPoolHash = "";
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const isobus::NAMEFilter filterVirtualTerminal(isobus::NAME::NAMEParameters::FunctionCode, static_cast<std::uint8_t>(isobus::NAME::Function::VirtualTerminal));
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const std::vector<isobus::NAMEFilter> vtNameFilters = { filterVirtualTerminal };
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auto TestInternalECU = isobus::CANNetworkManager::CANNetwork.create_internal_control_function(TestDeviceNAME, 0);
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auto TestPartnerVT = isobus::CANNetworkManager::CANNetwork.create_partnered_control_function(0, vtNameFilters);
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virtualTerminalClient = std::make_shared<isobus::VirtualTerminalClient>(TestPartnerVT, TestInternalECU);
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virtualTerminalClient->get_vt_soft_key_event_dispatcher().add_listener(handle_softkey_event);
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virtualTerminalClient->get_vt_button_event_dispatcher().add_listener(handle_button_event);
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virtualTerminalClient->set_on_ready_for_object_pool_callback([&version3pool, &version4pool, objectPoolHash](isobus::VirtualTerminalClient::VTVersion version) {
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// You can check the connected VT version if you need to know what features are available, and select which object pool(s) to use based on that.
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// This is optional though. If you want, you can just call set_object_pool() blindly exactly one time at any point if you want to try to use the same object pool for all VT versions.
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switch (virtualTerminalClient->get_connected_vt_version())
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{
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case isobus::VirtualTerminalClient::VTVersion::Version3:
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{
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// For version 3, we upload a base pool with only VT version 3 complaint objects
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virtualTerminalClient->set_object_pool(0, version3pool.data(), version3pool.size(), objectPoolHash);
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}
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break;
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case isobus::VirtualTerminalClient::VTVersion::Version4:
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case isobus::VirtualTerminalClient::VTVersion::Version5:
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case isobus::VirtualTerminalClient::VTVersion::Version6:
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{
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// For version 4, 5, and 6, we upload the same base pool as version 3, but also upload a second pool with version 4 objects
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virtualTerminalClient->set_object_pool(0, version3pool.data(), version3pool.size(), objectPoolHash);
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virtualTerminalClient->set_object_pool(1, version4pool.data(), version4pool.size(), objectPoolHash);
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}
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break;
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default:
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{
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// Either we're not ready yet, or we don't have an object pool for this version
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}
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break;
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}
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});
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virtualTerminalClient->initialize(true);
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virtualTerminalUpdateHelper = std::make_shared<isobus::VirtualTerminalClientUpdateHelper>(virtualTerminalClient);
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virtualTerminalUpdateHelper->add_tracked_numeric_value(ButtonExampleNumber_VarNum, 214748364); // In the object pool the output number has an offset of -214748364 so we use this to represent 0.
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virtualTerminalUpdateHelper->initialize();
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while (running)
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{
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// CAN stack runs in other threads. Do nothing forever.
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std::this_thread::sleep_for(std::chrono::milliseconds(1000));
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}
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virtualTerminalClient->terminate();
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isobus::CANHardwareInterface::stop();
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return 0;
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}

‎examples/virtual_terminal/multiple_object_pools/objectPoolObjects.h‎

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// This is a file that will be auto-generated by your object pool designer application.
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// These are the object IDs for the objects in the object pool
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#define UNDEFINED 65535 //0xFFFF
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#define example_WorkingSet 0 //0x0000
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#define mainRunscreen_DataMask 1000 //0x03E8
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#define example_AlarmMask 2000 //0x07D0
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#define exampleNumberInc_Container 3000 //0x0BB8
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#define mainRunscreen_SoftKeyMask 4000 //0x0FA0
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#define alarm_SKeyMask 4001 //0x0FA1
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#define alarm_SoftKey 5000 //0x1388
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#define acknowledgeAlarm_SoftKey 5001 //0x1389
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#define Plus_Button 6000 //0x1770
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#define Minus_Button 6001 //0x1771
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#define Title_OutStr 11000 //0x2AF8
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#define MainDescription_OutStr 11001 //0x2AF9
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#define temp_OutStr_ID_11002 11002 //0x2AFA
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#define temp_OutStr_ID_11003 11003 //0x2AFB
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#define AlarmMaskTitle_OutStr 11004 //0x2AFC
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#define exampleOutput_OutNum 12000 //0x2EE0
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#define Title_OutRect 14000 //0x36B0
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#define MainRunscreenBackground_OutRect 14001 //0x36B1
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#define avatar_OutPict 20000 //0x4E20
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#define warningIcon_OutPict 20001 //0x4E21
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#define redAlert_OutPict 20002 //0x4E22
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#define greenCheck_OutPict 20003 //0x4E23
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#define ButtonExampleNumber_VarNum 21000 //0x5208
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#define title_OutStr 22000 //0x55F0
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#define MainDescription_VarStr 22001 //0x55F1
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#define alarmMaskTitle_OutStr 22002 //0x55F2
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#define ExampleAlarmMask_VarStr 22003 //0x55F3
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#define temp_FontAttr_ID_23000 23000 //0x59D8
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#define temp_FontAttr_ID_23001 23001 //0x59D9
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#define black48x64_FontAttr 23002 //0x59DA
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#define solidBlack_LineAttr 24000 //0x5DC0
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#define solidWhite_FillAttr 25000 //0x61A8
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#define exampleNumberInc_ObjPtr 27000 //0x6978

‎examples/virtual_terminal/multiple_object_pools/window_masks.iop‎

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