Prepare DAQ callback gets pointer to DAQ list structure

README.md

@@ -5,7 +5,7 @@ Disclaimer: This code is in experimental state. There is no release yet.
 
 xcp-lite is a Rust API for measurement and calibration, which uses the ASAM XCP protocol for communication with a measurement and calibration tool like CANape and ASAM A2L for data description.  
 
-This is no complete implementation of XCP in Rust, parts of it are still C/C++ from XCPlite.  
+This is no complete implementation of XCP in Rust, the protocoll and transport layer implementation is in C/C++ based on XCPlite.  
 
 Main purpose was to experiment with Rust and to demonstrate some more advanced features of measurement and calibration with CANape:
 - Automatic A2L and IDL generation with proc-macros
@@ -17,7 +17,7 @@ Main purpose was to experiment with Rust and to demonstrate some more advanced f
 - Data objects and containers with dynamic size like point clouds or detection lists, to demonstrate CANape ADAS features
 - Support Google protobuf or OMG DDS/CDR serialized data objects with XCP and CANape
 
-Requires CANape 22 SP2.  
+Requires CANape 22. Example projects are updated to CANape 23.  
 
 
 ## Introduction
@@ -302,14 +302,11 @@ The EPK version string in the A2L file can be set by the application. It resides
 
 ## Possible improvements
 
-- Create a minimal lock MPSC event queue, increase queue efficiency (optimize mutex contention) for many daq lists and events
-- Support more types of calibration parameters, including types for curves and maps with axis
-- Avoid the mutex lock in CalSeg::Sync when there is no pending parameter modification
+- Create a lock free algorithm to aquire an entry in the MPSC event queue
+- Support specialized types of calibration parameters, including types for curves and maps with axis
+- Avoid the mutex lock in CalSeg::Sync when there is no pending parameter modification or switch to a mcu algorithm  
 - Improve the meta data annotations of the A2L serializer
-- Reduce the number of heap allocations and strings, reduce the overall memory footprint
-- Add sub groups of measurements for event instances
-- Improve the pointer provenance checks in XcpEvent
-- Add support to describe the application clock domain in rust
+- Add support to describe the application clock domain
 - Provide a no-std version and create an embassy example
 
 

build.rs

@@ -3,14 +3,15 @@ fn main() {
 
     // Generate XCPlite C code bindings
     // Uncomment this to regenerate the bindings
-/* 
+
     let bindings = bindgen::Builder::default()
         .header("xcplib/wrapper.h")
         .clang_arg("-Ixcplib/src")
         .clang_arg("-Ixcplib")
         .parse_callbacks(Box::new(bindgen::CargoCallbacks::new()))
         //
         .blocklist_type("T_CLOCK_INFO")
+        .allowlist_type("tXcpDaqLists")
         // Protocol layer
         .allowlist_function("XcpInit")
         //.allowlist_function("XcpStart")
@@ -42,7 +43,6 @@ fn main() {
         .generate()
         .expect("Unable to generate bindings");
     bindings.write_to_file("src/xcp/xcplib.rs").expect("Couldn't write bindings!");
-*/
 
     // Build a XCP on ETH version of XCPlite as a library
     cc::Build::new()
@@ -51,6 +51,7 @@ fn main() {
         .file("xcplib/xcpAppl.c")
         .file("xcplib/src/platform.c")
         .file("xcplib/src/xcpLite.c")
+        .file("xcplib/src/xcpDaq.c")
         .file("xcplib/src/xcpTlQueue.c")
         .file("xcplib/src/xcpTl.c")
         .file("xcplib/src/xcpEthTl.c")
@@ -78,4 +79,6 @@ fn main() {
     println!("cargo:rerun-if-changed=xcplib/src/xcp.h");
     println!("cargo:rerun-if-changed=xcplib/src/xcpLite.h");
     println!("cargo:rerun-if-changed=xcplib/src/xcpLite.c");
+    println!("cargo:rerun-if-changed=xcplib/src/xcpDaq.h");
+    println!("cargo:rerun-if-changed=xcplib/src/xcpDaq.c");
 }

src/xcp.rs

@@ -9,6 +9,7 @@ use std::{
         Arc,
     },
 };
+use xcplib::tXcpDaqLists;
 
 // Using sync version of OnceCell from once_cell crate for the static event remapping array
 use once_cell::sync::OnceCell;
@@ -704,8 +705,6 @@ impl Xcp {
                 // @@@@ Unsafe - C library call
                 xcplib::ApplXcpSetEpk(epk.as_ptr());
                 std::mem::forget(epk); // This memory is never dropped, it is moved to xcplib singleton
-
-
             }
 
             // A2l is no longer needed yet, free memory
@@ -800,7 +799,7 @@ extern "C" fn cb_connect() -> u8 {
 }
 
 #[no_mangle]
-extern "C" fn cb_prepare_daq() -> u8 {
+extern "C" fn cb_prepare_daq(_daq: *const tXcpDaqLists) -> u8 {
     log::trace!("cb_prepare_daq");
     TRUE
 }

src/xcp/xcplib.rs

@@ -1,31 +1,197 @@
 /* automatically generated by rust-bindgen 0.69.5 */
 
 extern "C" {
-    pub fn ApplXcpSetLogLevel(level: u8);
+    pub fn XcpEthTlGetInfo(isTCP: *mut u8, mac: *mut u8, addr: *mut u8, port: *mut u16);
 }
-extern "C" {
-    pub fn ApplXcpRegisterCallbacks(
-        cb_connect: ::std::option::Option<unsafe extern "C" fn() -> u8>,
-        cb_prepare_daq: ::std::option::Option<unsafe extern "C" fn() -> u8>,
-        cb_start_daq: ::std::option::Option<unsafe extern "C" fn() -> u8>,
-        cb_stop_daq: ::std::option::Option<unsafe extern "C" fn()>,
-        cb_get_cal_page: ::std::option::Option<unsafe extern "C" fn(segment: u8, mode: u8) -> u8>,
-        cb_set_cal_page: ::std::option::Option<unsafe extern "C" fn(segment: u8, page: u8, mode: u8) -> u8>,
-        cb_freeze_cal: ::std::option::Option<unsafe extern "C" fn() -> u8>,
-        cb_init_cal: ::std::option::Option<unsafe extern "C" fn(src_page: u8, dst_page: u8) -> u8>,
-        cb_read: ::std::option::Option<unsafe extern "C" fn(src: u32, size: u8, dst: *mut u8) -> u8>,
-        cb_write: ::std::option::Option<unsafe extern "C" fn(dst: u32, size: u8, src: *const u8, delay: u8) -> u8>,
-        cb_flush: ::std::option::Option<unsafe extern "C" fn() -> u8>,
+#[repr(C)]
+#[derive(Debug, Copy, Clone)]
+pub struct tXcpOdt {
+    pub first_odt_entry: u16,
+    pub last_odt_entry: u16,
+    pub size: u16,
+}
+#[test]
+fn bindgen_test_layout_tXcpOdt() {
+    const UNINIT: ::std::mem::MaybeUninit<tXcpOdt> = ::std::mem::MaybeUninit::uninit();
+    let ptr = UNINIT.as_ptr();
+    assert_eq!(::std::mem::size_of::<tXcpOdt>(), 6usize, concat!("Size of: ", stringify!(tXcpOdt)));
+    assert_eq!(::std::mem::align_of::<tXcpOdt>(), 2usize, concat!("Alignment of ", stringify!(tXcpOdt)));
+    assert_eq!(
+        unsafe { ::std::ptr::addr_of!((*ptr).first_odt_entry) as usize - ptr as usize },
+        0usize,
+        concat!("Offset of field: ", stringify!(tXcpOdt), "::", stringify!(first_odt_entry))
+    );
+    assert_eq!(
+        unsafe { ::std::ptr::addr_of!((*ptr).last_odt_entry) as usize - ptr as usize },
+        2usize,
+        concat!("Offset of field: ", stringify!(tXcpOdt), "::", stringify!(last_odt_entry))
+    );
+    assert_eq!(
+        unsafe { ::std::ptr::addr_of!((*ptr).size) as usize - ptr as usize },
+        4usize,
+        concat!("Offset of field: ", stringify!(tXcpOdt), "::", stringify!(size))
     );
 }
-extern "C" {
-    pub fn ApplXcpSetA2lName(name: *const ::std::os::raw::c_char);
+#[repr(C)]
+#[derive(Debug, Copy, Clone)]
+pub struct tXcpDaqList {
+    pub last_odt: u16,
+    pub first_odt: u16,
+    pub event_channel: u16,
+    pub mode: u8,
+    pub state: u8,
+    pub priority: u8,
+    pub addr_ext: u8,
 }
-extern "C" {
-    pub fn ApplXcpSetEpk(epk: *const ::std::os::raw::c_char);
+#[test]
+fn bindgen_test_layout_tXcpDaqList() {
+    const UNINIT: ::std::mem::MaybeUninit<tXcpDaqList> = ::std::mem::MaybeUninit::uninit();
+    let ptr = UNINIT.as_ptr();
+    assert_eq!(::std::mem::size_of::<tXcpDaqList>(), 10usize, concat!("Size of: ", stringify!(tXcpDaqList)));
+    assert_eq!(::std::mem::align_of::<tXcpDaqList>(), 2usize, concat!("Alignment of ", stringify!(tXcpDaqList)));
+    assert_eq!(
+        unsafe { ::std::ptr::addr_of!((*ptr).last_odt) as usize - ptr as usize },
+        0usize,
+        concat!("Offset of field: ", stringify!(tXcpDaqList), "::", stringify!(last_odt))
+    );
+    assert_eq!(
+        unsafe { ::std::ptr::addr_of!((*ptr).first_odt) as usize - ptr as usize },
+        2usize,
+        concat!("Offset of field: ", stringify!(tXcpDaqList), "::", stringify!(first_odt))
+    );
+    assert_eq!(
+        unsafe { ::std::ptr::addr_of!((*ptr).event_channel) as usize - ptr as usize },
+        4usize,
+        concat!("Offset of field: ", stringify!(tXcpDaqList), "::", stringify!(event_channel))
+    );
+    assert_eq!(
+        unsafe { ::std::ptr::addr_of!((*ptr).mode) as usize - ptr as usize },
+        6usize,
+        concat!("Offset of field: ", stringify!(tXcpDaqList), "::", stringify!(mode))
+    );
+    assert_eq!(
+        unsafe { ::std::ptr::addr_of!((*ptr).state) as usize - ptr as usize },
+        7usize,
+        concat!("Offset of field: ", stringify!(tXcpDaqList), "::", stringify!(state))
+    );
+    assert_eq!(
+        unsafe { ::std::ptr::addr_of!((*ptr).priority) as usize - ptr as usize },
+        8usize,
+        concat!("Offset of field: ", stringify!(tXcpDaqList), "::", stringify!(priority))
+    );
+    assert_eq!(
+        unsafe { ::std::ptr::addr_of!((*ptr).addr_ext) as usize - ptr as usize },
+        9usize,
+        concat!("Offset of field: ", stringify!(tXcpDaqList), "::", stringify!(addr_ext))
+    );
 }
-extern "C" {
-    pub fn XcpEthTlGetInfo(isTCP: *mut u8, mac: *mut u8, addr: *mut u8, port: *mut u16);
+#[repr(C)]
+#[derive(Copy, Clone)]
+pub struct tXcpDaqLists {
+    pub odt_entry_count: u16,
+    pub odt_count: u16,
+    pub daq_count: u16,
+    pub res: u16,
+    pub odt_entry_addr: *mut i32,
+    pub odt_entry_size: *mut u8,
+    pub odt: *mut tXcpOdt,
+    pub u: tXcpDaqLists__bindgen_ty_1,
+}
+#[repr(C)]
+#[derive(Copy, Clone)]
+pub union tXcpDaqLists__bindgen_ty_1 {
+    pub daq_list: [tXcpDaqList; 1500usize],
+    pub odt: [tXcpOdt; 2500usize],
+    pub odt_entry_addr: [u32; 3750usize],
+    pub odt_entry_size: [u8; 15000usize],
+    pub b: [u8; 15000usize],
+}
+#[test]
+fn bindgen_test_layout_tXcpDaqLists__bindgen_ty_1() {
+    const UNINIT: ::std::mem::MaybeUninit<tXcpDaqLists__bindgen_ty_1> = ::std::mem::MaybeUninit::uninit();
+    let ptr = UNINIT.as_ptr();
+    assert_eq!(
+        ::std::mem::size_of::<tXcpDaqLists__bindgen_ty_1>(),
+        30000usize,
+        concat!("Size of: ", stringify!(tXcpDaqLists__bindgen_ty_1))
+    );
+    assert_eq!(
+        ::std::mem::align_of::<tXcpDaqLists__bindgen_ty_1>(),
+        8usize,
+        concat!("Alignment of ", stringify!(tXcpDaqLists__bindgen_ty_1))
+    );
+    assert_eq!(
+        unsafe { ::std::ptr::addr_of!((*ptr).daq_list) as usize - ptr as usize },
+        0usize,
+        concat!("Offset of field: ", stringify!(tXcpDaqLists__bindgen_ty_1), "::", stringify!(daq_list))
+    );
+    assert_eq!(
+        unsafe { ::std::ptr::addr_of!((*ptr).odt) as usize - ptr as usize },
+        0usize,
+        concat!("Offset of field: ", stringify!(tXcpDaqLists__bindgen_ty_1), "::", stringify!(odt))
+    );
+    assert_eq!(
+        unsafe { ::std::ptr::addr_of!((*ptr).odt_entry_addr) as usize - ptr as usize },
+        0usize,
+        concat!("Offset of field: ", stringify!(tXcpDaqLists__bindgen_ty_1), "::", stringify!(odt_entry_addr))
+    );
+    assert_eq!(
+        unsafe { ::std::ptr::addr_of!((*ptr).odt_entry_size) as usize - ptr as usize },
+        0usize,
+        concat!("Offset of field: ", stringify!(tXcpDaqLists__bindgen_ty_1), "::", stringify!(odt_entry_size))
+    );
+    assert_eq!(
+        unsafe { ::std::ptr::addr_of!((*ptr).b) as usize - ptr as usize },
+        0usize,
+        concat!("Offset of field: ", stringify!(tXcpDaqLists__bindgen_ty_1), "::", stringify!(b))
+    );
+}
+#[test]
+fn bindgen_test_layout_tXcpDaqLists() {
+    const UNINIT: ::std::mem::MaybeUninit<tXcpDaqLists> = ::std::mem::MaybeUninit::uninit();
+    let ptr = UNINIT.as_ptr();
+    assert_eq!(::std::mem::size_of::<tXcpDaqLists>(), 30032usize, concat!("Size of: ", stringify!(tXcpDaqLists)));
+    assert_eq!(::std::mem::align_of::<tXcpDaqLists>(), 8usize, concat!("Alignment of ", stringify!(tXcpDaqLists)));
+    assert_eq!(
+        unsafe { ::std::ptr::addr_of!((*ptr).odt_entry_count) as usize - ptr as usize },
+        0usize,
+        concat!("Offset of field: ", stringify!(tXcpDaqLists), "::", stringify!(odt_entry_count))
+    );
+    assert_eq!(
+        unsafe { ::std::ptr::addr_of!((*ptr).odt_count) as usize - ptr as usize },
+        2usize,
+        concat!("Offset of field: ", stringify!(tXcpDaqLists), "::", stringify!(odt_count))
+    );
+    assert_eq!(
+        unsafe { ::std::ptr::addr_of!((*ptr).daq_count) as usize - ptr as usize },
+        4usize,
+        concat!("Offset of field: ", stringify!(tXcpDaqLists), "::", stringify!(daq_count))
+    );
+    assert_eq!(
+        unsafe { ::std::ptr::addr_of!((*ptr).res) as usize - ptr as usize },
+        6usize,
+        concat!("Offset of field: ", stringify!(tXcpDaqLists), "::", stringify!(res))
+    );
+    assert_eq!(
+        unsafe { ::std::ptr::addr_of!((*ptr).odt_entry_addr) as usize - ptr as usize },
+        8usize,
+        concat!("Offset of field: ", stringify!(tXcpDaqLists), "::", stringify!(odt_entry_addr))
+    );
+    assert_eq!(
+        unsafe { ::std::ptr::addr_of!((*ptr).odt_entry_size) as usize - ptr as usize },
+        16usize,
+        concat!("Offset of field: ", stringify!(tXcpDaqLists), "::", stringify!(odt_entry_size))
+    );
+    assert_eq!(
+        unsafe { ::std::ptr::addr_of!((*ptr).odt) as usize - ptr as usize },
+        24usize,
+        concat!("Offset of field: ", stringify!(tXcpDaqLists), "::", stringify!(odt))
+    );
+    assert_eq!(
+        unsafe { ::std::ptr::addr_of!((*ptr).u) as usize - ptr as usize },
+        32usize,
+        concat!("Offset of field: ", stringify!(tXcpDaqLists), "::", stringify!(u))
+    );
 }
 extern "C" {
     pub fn XcpInit();
@@ -45,6 +211,30 @@ extern "C" {
 extern "C" {
     pub fn ApplXcpGetAddr(p: *const u8) -> u32;
 }
+extern "C" {
+    pub fn ApplXcpSetLogLevel(level: u8);
+}
+extern "C" {
+    pub fn ApplXcpRegisterCallbacks(
+        cb_connect: ::std::option::Option<unsafe extern "C" fn() -> u8>,
+        cb_prepare_daq: ::std::option::Option<unsafe extern "C" fn(daq: *const tXcpDaqLists) -> u8>,
+        cb_start_daq: ::std::option::Option<unsafe extern "C" fn() -> u8>,
+        cb_stop_daq: ::std::option::Option<unsafe extern "C" fn()>,
+        cb_get_cal_page: ::std::option::Option<unsafe extern "C" fn(segment: u8, mode: u8) -> u8>,
+        cb_set_cal_page: ::std::option::Option<unsafe extern "C" fn(segment: u8, page: u8, mode: u8) -> u8>,
+        cb_freeze_cal: ::std::option::Option<unsafe extern "C" fn() -> u8>,
+        cb_init_cal: ::std::option::Option<unsafe extern "C" fn(src_page: u8, dst_page: u8) -> u8>,
+        cb_read: ::std::option::Option<unsafe extern "C" fn(src: u32, size: u8, dst: *mut u8) -> u8>,
+        cb_write: ::std::option::Option<unsafe extern "C" fn(dst: u32, size: u8, src: *const u8, delay: u8) -> u8>,
+        cb_flush: ::std::option::Option<unsafe extern "C" fn() -> u8>,
+    );
+}
+extern "C" {
+    pub fn ApplXcpSetA2lName(name: *const ::std::os::raw::c_char);
+}
+extern "C" {
+    pub fn ApplXcpSetEpk(name: *const ::std::os::raw::c_char);
+}
 extern "C" {
     pub fn XcpEthServerInit(addr: *const u8, port: u16, useTCP: u8) -> u8;
 }

tests/xcp_test_executor.rs

@@ -606,7 +606,8 @@ pub async fn xcp_test_executor(_xcp: &Xcp, test_mode_cal: TestModeCal, test_mode
 
             // Consistent calibration test loop
             // Do MAX_ITER consistent calibrations on cal_seg.sync_test1/2 cal_test, task will panic if different
-            /* @@@@ TODO reanbale this
+            warn!("Consistent calibration test disabled");
+            /* @@@@ TODO reenable this
             {
                 tokio::time::sleep(Duration::from_micros(10000)).await;