Disconnect callback

Cargo.toml

@@ -138,7 +138,7 @@ xcp_client = { path = "xcp_client" }
 # dependencies for rayon demo example
 rayon = "1.10.0"
 num = "0.4.3"
-image = "0.13.0"
+image = "0.25.2"
 
 # dependencies for protobuf demo example
 prost = "0.13.1"

examples/point_cloud_demo/Cargo.toml

@@ -8,7 +8,7 @@ log = "0.4.21"
 env_logger = "0.11.3"
 rayon = "1.10.0"
 num = "0.4.3"
-image = "0.13.0"
+image = "0.25.2"
 
 serde = { version = "1.0", features = ["derive"] }
 serde_json = "1.0"

examples/rayon_demo/Cargo.toml

@@ -8,7 +8,7 @@ log = "0.4.21"
 env_logger = "0.11.3"
 rayon = "1.10.0"
 num = "0.4.3"
-image = "0.13.0"
+image = "0.25.2"
 serde = { version = "1.0", features = ["derive"] }
 serde_json = "1.0"
 lazy_static = "1.4.0"

src/main.rs

@@ -422,6 +422,8 @@ fn main() {
     daq_register_static!(static_vars.test_f64, static_event, "Test static f64");
 
     let mut current_session_status = xcp.get_session_status();
+
+    let mut idle_time = 0.0;
     while RUN.load(Ordering::Acquire) {
         // @@@@ Dev: Terminate mainloop for shutdown if calibration parameter run is false, for test automation
         if !calseg.run {
@@ -467,11 +469,17 @@ fn main() {
             current_session_status = session_status;
         }
 
+        // Log idle time
+        if !xcp.is_connected() {
+            idle_time += calseg.cycle_time_ms as f64 / 1000.0;
+        } else {
+            idle_time = 0.0;
+        }
         // @@@@ Dev:
         // Finalize A2l after 2s delay
-        // This is just for testing, to force immediate creation of A2L file
+        // This is just for testing, to force creation of A2L file for inspection
         // Without this, the A2L file will be automatically written on XCP connect, to be available for download by CANape
-        if !xcp.is_connected() && *mainloop_counter2 == (2000 / calseg.cycle_time_ms as u16) as u64 {
+        if idle_time >= 2.0 {
             // Test A2L write
             xcp.write_a2l();
 
@@ -483,20 +491,11 @@ fn main() {
         }
 
         // Terminate after more than 10s disconnected to test shutdown behaviour
-
-        // This is just for testing, to force immediate creation of A2L file
-        // Without this, the A2L file will be automatically written on XCP connect, to be available for download by CANape
-        if !xcp.is_connected() {
-            if *mainloop_counter2 % 200 == 0 {
-                println!(".");
-            }
-            if mainloop_counter1 == (10000 / calseg.cycle_time_ms as u16) as u64 {
-                // after 10s when disconnected
-                thread::sleep(Duration::from_secs(2));
-                break;
-            }
+        if idle_time >= 10.0 {
+            break;
         }
     }
+
     info!("Main task finished");
     RUN.store(false, Ordering::Relaxed);
 

xcp_client/src/main.rs

@@ -234,7 +234,6 @@ async fn main() {
     info!("Expected {} events/s, {} byte/s", 1_000_000 / 50 * 10, 90 * 1_000_000 / 50 * 10);
 
     // Disconnect
-    info!("XCP Disconnect");
     xcp_client.disconnect().await.unwrap();
 }
 

xcplib/src/xcpLite.c

@@ -978,13 +978,17 @@ void XcpDisconnect()
 {
   if (!isStarted()) return;
 
-  if (isDaqRunning()) {
-    ApplXcpStopDaq();
-    XcpStopAllDaq();
-    XcpTlWaitForTransmitQueueEmpty(); // Wait until transmit queue empty
-  }
+  if (isConnected()) {
 
-  gXcp.SessionStatus &= ~SS_CONNECTED;
+    if (isDaqRunning()) {
+      ApplXcpStopDaq();
+      XcpStopAllDaq();
+      XcpTlWaitForTransmitQueueEmpty(); // Wait until transmit queue empty
+    }
+
+    gXcp.SessionStatus &= ~SS_CONNECTED;
+    ApplXcpDisconnect();
+  }
 }
 
 // Transmit command response

xcplib/src/xcpLite.h

@@ -132,8 +132,9 @@ extern tXcpEvent* XcpGetEvent(uint16_t event);
 // All callback functions supplied by the application
 // Must be thread save
 
-/* Callbacks on connect, measurement prepare, start and stop */
+/* Callbacks on connect, disconnect, measurement prepare, start and stop */
 extern BOOL ApplXcpConnect();
+extern void ApplXcpDisconnect();
 #if XCP_PROTOCOL_LAYER_VERSION >= 0x0104
 extern BOOL ApplXcpPrepareDaq();
 #endif

xcplib/xcpAppl.c

@@ -97,6 +97,10 @@ BOOL ApplXcpConnect() {
     return TRUE;
 }
 
+void ApplXcpDisconnect() {
+    DBG_PRINT3("XCP disconnect\n");
+}
+
 #if XCP_PROTOCOL_LAYER_VERSION >= 0x0104
 BOOL ApplXcpPrepareDaq() { 
     DBG_PRINT3("XCP prepare DAQ\n");