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A partial commit that changes CANFrame over to be based on

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QCanBusFrame so that things are more compatible with other Qt based
CAN bus code. Not complete yet but getting there.
This commit is contained in:
Collin Kidder
2019-12-11 21:17:33 -05:00
parent 29b635a009
commit 0baffa300f
22 changed files with 272 additions and 278 deletions
Download Patch File Download Diff File Expand all files Collapse all files
bus_protocols/isotp_handler.cpp
+58 -57
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@@ -50,7 +50,7 @@ void ISOTP_HANDLER::setReception(bool mode)
void ISOTP_HANDLER::sendISOTPFrame(int bus, int ID, QVector<unsigned char> data)
{
CANFrame frame;
frame.remote = false;
frame.setFrameType(QCanBusFrame::DataFrame);
int currByte = 0;
int index = 0;
if (bus < 0) return;
@@ -61,27 +61,28 @@ void ISOTP_HANDLER::sendISOTPFrame(int bus, int ID, QVector<unsigned char> data)
if (data.length() < 8)
{
frame.bus = bus;
frame.ID = ID;
if (ID > 0x7FF) frame.extended = true;
else frame.extended = false;
frame.len = 8;
for (int b = 0; b < 8; b++) frame.data[b] = 0x00;
frame.data[0] = data.length();
for (int i = 0; i < frame.data[0]; i++) frame.data[i + 1] = data[i];
frame.bus = bus;
frame.setFrameId(ID);
if (ID > 0x7FF) frame.setExtendedFrameFormat(true);
else frame.setExtendedFrameFormat(false);
QByteArray bytes(8,0);
bytes.resize(8);
bytes[0] = data.length();
for (int i = 0; i < data.length(); i++) bytes[i + 1] = data[i];
frame.setPayload(bytes);
CANConManager::getInstance()->sendFrame(frame);
}
else //need to send a multi-part ISO_TP message - Respects timing and frame number based flow control
{
frame.bus = bus;
frame.ID = ID;
if (ID > 0x7FF) frame.extended = true;
else frame.extended = false;
frame.len = 8;
for (int b = 0; b < 8; b++) frame.data[b] = 0x00;
frame.data[0] = 0x10 + (data.length() / 256);
frame.data[1] = data.length() & 0xFF;
for (int i = 0; i < 6; i++) frame.data[2 + i] = data[currByte++];
frame.setFrameId(ID);
if (ID > 0x7FF) frame.setExtendedFrameFormat(true);
else frame.setExtendedFrameFormat(false);
QByteArray bytes(8, 0);
bytes[0] = 0x10 + (data.length() / 256);
bytes[1] = data.length() & 0xFF;
for (int i = 0; i < 6; i++) bytes[2 + i] = data[currByte++];
frame.setPayload(bytes);
CANConManager::getInstance()->sendFrame(frame);
//Queue up the rest of the frames
waitingForFlow = true;
@@ -90,13 +91,13 @@ void ISOTP_HANDLER::sendISOTPFrame(int bus, int ID, QVector<unsigned char> data)
frameTimer.start();
while (currByte < data.length())
{
for (int b = 0; b < 8; b++) frame.data[b] = 0x00;
frame.data[0] = 0x20 + index;
for (int b = 0; b < 8; b++) bytes[b] = 0x00;
bytes[0] = 0x20 + index;
index = (index + 1) & 0xF;
int bytesToGo = data.length() - currByte;
if (bytesToGo > 7) bytesToGo = 7;
for (int i = 0; i < bytesToGo; i++) frame.data[1 + i] = data[currByte++];
frame.len = 8;
for (int i = 0; i < bytesToGo; i++) bytes[1 + i] = data[currByte++];
frame.setPayload(bytes);
sendingFrames.append(frame);
//CANConManager::getInstance()->sendFrame(frame);
}
@@ -138,7 +139,7 @@ void ISOTP_HANDLER::rapidFrames(const CANConnection* conn, const QVector<CANFram
{
for (int i = 0; i < filters.count(); i++)
{
if ((thisFrame.bus == filters[i].bus) && ((thisFrame.ID & filters[i].mask) == filters[i].ID))
if ((thisFrame.bus == filters[i].bus) && ((thisFrame.frameId() & filters[i].mask) == filters[i].ID))
{
processFrame(thisFrame);
break;
@@ -151,7 +152,7 @@ void ISOTP_HANDLER::rapidFrames(const CANConnection* conn, const QVector<CANFram
void ISOTP_HANDLER::processFrame(const CANFrame &frame)
{
uint64_t ID = frame.ID;
uint64_t ID = frame.frameId();
int frameType;
int frameLen;
int ln;
@@ -165,14 +166,14 @@ void ISOTP_HANDLER::processFrame(const CANFrame &frame)
if (useExtendedAddressing)
{
ID = ID << 8;
ID += frame.data[0];
frameType = frame.data[1] >> 4;
frameLen = frame.data[1] & 0xF;
ID += frame.payload()[0];
frameType = frame.payload()[1] >> 4;
frameLen = frame.payload()[1] & 0xF;
}
else
{
frameType = frame.data[0] >> 4;
frameLen = frame.data[0] & 0xF;
frameType = frame.payload()[0] >> 4;
frameLen = frame.payload()[0] & 0xF;
}
switch(frameType)
@@ -185,42 +186,42 @@ void ISOTP_HANDLER::processFrame(const CANFrame &frame)
if (frameLen > 7) return;
msg.bus = frame.bus;
msg.extended = frame.extended;
msg.extended = frame.hasExtendedFrameFormat();
msg.ID = ID;
msg.isReceived = frame.isReceived;
msg.len = frameLen;
msg.data.reserve(frameLen);
msg.timestamp = frame.timestamp;
msg.timestamp = frame.timeStamp().microSeconds();
msg.isMultiframe = false;
if (useExtendedAddressing) for (int j = 0; j < frameLen; j++) msg.data.append(frame.data[j+2]);
else for (int j = 0; j < frameLen; j++) msg.data.append(frame.data[j+1]);
if (useExtendedAddressing) for (int j = 0; j < frameLen; j++) msg.data.append(frame.payload()[j+2]);
else for (int j = 0; j < frameLen; j++) msg.data.append(frame.payload()[j+1]);
//qDebug() << "Emitting single frame ISOTP message";
emit newISOMessage(msg);
break;
case 1: //first frame of a multi-frame message
checkNeedFlush(ID);
msg.bus = frame.bus;
msg.extended = frame.extended;
msg.extended = frame.hasExtendedFrameFormat();
msg.ID = ID;
msg.timestamp = frame.timestamp;
msg.timestamp = frame.timeStamp().microSeconds();
msg.isReceived = frame.isReceived;
msg.isMultiframe = true;
frameLen = frameLen << 8;
if (useExtendedAddressing)
{
frameLen += frame.data[2];
frameLen += frame.payload()[2];
frameLen = frameLen & 0xFFF;
msg.len = frameLen;
msg.data.reserve(frameLen);
for (int j = 0; j < 5; j++) msg.data.append(frame.data[3 + j]);
for (int j = 0; j < 5; j++) msg.data.append(frame.payload()[3 + j]);
}
else
{
frameLen += frame.data[1];
frameLen += frame.payload()[1];
frameLen = frameLen & 0xFFF;
msg.len = frameLen;
msg.data.reserve(frameLen);
for (int j = 0; j < 6; j++) msg.data.append(frame.data[2 + j]);
for (int j = 0; j < 6; j++) msg.data.append(frame.payload()[2 + j]);
}
msg.lastSequence = -1;
messageBuffer.append(msg);
@@ -230,13 +231,13 @@ void ISOTP_HANDLER::processFrame(const CANFrame &frame)
{
CANFrame outFrame;
outFrame.bus = lastSenderBus;
outFrame.extended = false;
outFrame.ID = lastSenderID;
outFrame.len = 8;
for (int b = 0; b < 8; b++) outFrame.data[b] = 0x00;
outFrame.data[0] = 0x30; //flow control, go ahead and send
outFrame.data[1] = 0; //dont ask again about flow control
outFrame.data[2] = 3; //separation time in milliseconds between messages.
outFrame.setExtendedFrameFormat(false);
outFrame.setFrameId(lastSenderID);
QByteArray bytes(8, 0);
bytes[0] = 0x30; //flow control, go ahead and send
bytes[1] = 0; //dont ask again about flow control
bytes[2] = 3; //separation time in milliseconds between messages.
outFrame.setPayload(bytes);
CANConManager::getInstance()->sendFrame(outFrame);
}
break;
@@ -257,12 +258,12 @@ void ISOTP_HANDLER::processFrame(const CANFrame &frame)
if (useExtendedAddressing)
{
if (ln > 6) ln = 6;
for (int j = 0; j < ln; j++) pMsg->data.append(frame.data[j+2]);
for (int j = 0; j < ln; j++) pMsg->data.append(frame.payload()[j+2]);
}
else
{
if (ln > 7) ln = 7;
for (int j = 0; j < ln; j++) pMsg->data.append(frame.data[j+1]);
for (int j = 0; j < ln; j++) pMsg->data.append(frame.payload()[j+1]);
}
if (pMsg->len <= pMsg->data.count())
{
@@ -276,10 +277,10 @@ void ISOTP_HANDLER::processFrame(const CANFrame &frame)
case 0: //continue to send frames but maybe change inter-frame delay
waitingForFlow = false;
//data[1] contains number of frames to send before waiting for next flow control
framesUntilFlow = frame.data[1];
framesUntilFlow = frame.payload()[1];
if (framesUntilFlow == 0) framesUntilFlow = -1; //-1 means don't count frames and just keep going
//data[2] contains the interframe delay to use (0xF1 through 0xF9 are special through)
if (frame.data[2] < 0xF1) frameTimer.start(frame.data[2]); //set proper delay between frames
if (frame.payload()[2] < (char)0xF1) frameTimer.start(frame.payload()[2]); //set proper delay between frames
else frameTimer.start(1); //can't do sub-millisecond sending with this code so just use 1ms timing
break;
case 1: //wait - do not send any more frames until other side says so
@@ -307,14 +308,14 @@ void ISOTP_HANDLER::checkNeedFlush(uint64_t ID)
//used to pass by reference but now newISOMessage should pass by value which makes it easier to use cross thread
if (messageBuffer[i].ID > 0x600 && messageBuffer[i].ID < 0x630)
{
if (messageBuffer[i].len <= messageBuffer[i].data.count())
{
qDebug() << "Flushing full frame" << QString::number(messageBuffer[i].ID, 16) << " " << messageBuffer[i].len << " " << messageBuffer[i].data.count();
}
else
{
qDebug() << "Flushing a partial frame " << QString::number(messageBuffer[i].ID, 16) << " " << messageBuffer[i].len << " " << messageBuffer[i].data.count();
}
if (messageBuffer[i].len <= messageBuffer[i].data.count())
{
qDebug() << "Flushing full frame" << QString::number(messageBuffer[i].ID, 16) << " " << messageBuffer[i].len << " " << messageBuffer[i].data.count();
}
else
{
qDebug() << "Flushing a partial frame " << QString::number(messageBuffer[i].ID, 16) << " " << messageBuffer[i].len << " " << messageBuffer[i].data.count();
}
}
emit newISOMessage(messageBuffer[i]);
messageBuffer.removeAt(i);