main.cpp

//
// Copyright (c) 2022 Bjørn Fuglestad, Jaersense AS (bjorn@jaersense.no)
//
// Distributed under the Boost Software License, Version 1.0. (See accompanying
// file LICENSE or copy at http://www.boost.org/LICENSE_1_0.txt)
//
// Official repository: https://github.com/bjorn-jaes/jay
//

#include <iostream>

#include "boost/asio/io_context.hpp"
#include "boost/asio/signal_set.hpp"

#include "../include/jay/address_manager.hpp"
#include "../include/jay/network.hpp"
#include "../include/jay/network_manager.hpp"

#include "j1939_connection.hpp"

int main()
{
  boost::asio::io_context io_layer{};

  // ------- Setup Shutdown signal ------- //
  boost::asio::signal_set signals{ io_layer, SIGINT, SIGTERM };
  signals.async_wait([&io_layer](boost::system::error_code ec, int sig) {
    // Signal triggerd by ctrl-c or shutdown, should cause program to terminate gracefully
    if (!ec) { io_layer.stop(); }
  });

  // ------- Create network components ------- //

  jay::network vcan0_network{ "vcan0" };
  auto j1939_connection = std::make_shared<J1939Connection>(io_layer, vcan0_network);
  jay::network_manager net_mngr{ vcan0_network };
  jay::address_manager addr_mngr{ io_layer, jay::name{ 0x7758 }, vcan0_network };

  // ------- Connect components with callbacks ------- //

  net_mngr.insert(addr_mngr);
  net_mngr.set_callback([](jay::name name, uint8_t address) -> void {
    std::cout << std::hex << static_cast<uint64_t>(name) << " is new, with address: " << address << std::endl;
  });

  j1939_connection->SetCallbacks(J1939Connection::Callbacks{ // J1939Connection -> OnStart Callback
    [](auto) { std::cout << "Listening for can messages..." << std::endl; },

    // J1939Connection -> OnDestroy Callback
    [](auto) { std::cout << "J1939 Connection closed" << std::endl; },

    // J1939Connection -> OnData Callback
    [&net_mngr](auto frame) { net_mngr.process(frame); },

    // J1939Connection -> OnSend Callback
    [](auto frame) { std::cout << "Sent frame: " << frame.to_string() << std::endl; },

    // J1939Connection -> OnFail Callback
    [](auto what, auto ec) { std::cout << what << " " << ec.message() << std::endl; } });

  addr_mngr.set_callbacks(jay::address_manager::callbacks{ [](jay::name name, uint8_t address) -> void {
                                                            std::cout << std::hex << static_cast<uint64_t>(name)
                                                                      << " local ctrl gained address: " << address
                                                                      << std::endl;
                                                          },
    [](jay::name name) -> void {
      std::cout << std::hex << static_cast<uint64_t>(name) << " local ctrl lost address" << std::endl;
    },
    [connection = std::weak_ptr<J1939Connection>(j1939_connection)](jay::frame frame) -> void {
      std::cout << "Output frame: " << frame.to_string() << std::endl;
      if (auto shared = connection.lock(); shared) { return shared->SendRaw(frame); }
    },
    [](std::string what, auto error) -> void { std::cout << what << " " << error.message() << std::endl; } });

  // ------- Run context ------- //

  /// TODO: Insert filter for connection
  if (!j1939_connection->Open({})) { return -1; }

  j1939_connection->Start();
  addr_mngr.start_address_claim(0x44);
  io_layer.run();

  return 0;
}