Unified time base now so both GVRET and Socketcan devices yield timestamps in microseconds since the program started or clear was pressed, fixed frames per second display, fixed timestamps for sent frames

connections/gvretserial.cpp

@@ -18,7 +18,8 @@ GVRetSerial::GVRetSerial(QString portName) :
     gotValidated = true;
     isAutoRestart = false;
 
-    txTimestampBasis = QDateTime::currentMSecsSinceEpoch();
+    timeBasis = 0;
+    lastSystemTimeBasis = 0;
 
     readSettings();
 }
@@ -147,18 +148,10 @@ bool GVRetSerial::piSendFrame(const CANFrame& frame)
     int c;
     int ID;
     CANFrame tempFrame = frame;
-    tempFrame.isReceived = false;
-    tempFrame.timestamp = ((QDateTime::currentMSecsSinceEpoch() - txTimestampBasis) * 1000);
+    tempFrame.isReceived = false;    
 
     //qDebug() << "Sending out frame with id " << frame->ID;
 
-    //show our sent frames in the list too. This happens even if we're not connected.
-    /* model lives in UI thread, we need to call invokeMethod */
-    //QMetaObject::invokeMethod(model, "addFrame",
-    //                          Qt::QueuedConnection,
-    //                          Q_ARG(CANFrame, tempFrame),
-    //                          Q_ARG(bool, false));
-
     framesRapid++;
 
     if (serial == NULL) return false;
@@ -240,7 +233,7 @@ void GVRetSerial::connectDevice()
     output.append((char)0xF1); //another command to the GVRET
     output.append((char)0x07); //request device information
 
-    output.append((char)0xF1);
+    /*output.append((char)0xF1);
     output.append((char)0x08); //setting singlewire mode
     if (settings.value("Main/SingleWireMode", false).toBool())
     {
@@ -249,7 +242,7 @@ void GVRetSerial::connectDevice()
     else
     {
         output.append((char)0xFF); //signal we don't want single wire mode
-    }
+    }*/
 
     output.append((char)0xF1); //yet another command
     output.append((char)0x09); //comm validation command
@@ -293,7 +286,8 @@ void GVRetSerial::disconnectDevice() {
 void GVRetSerial::connectionTimeout()
 {
     //one second after trying to connect are we actually connected?
-    if (CANCon::NOT_CONNECTED==getStatus()) //no?
+    //if (CANCon::NOT_CONNECTED==getStatus()) //no?
+    if (!gotValidated)
     {
         //then emit the the failure signal and see if anyone cares
         qDebug() << "Failed to connect to GVRET at that com port";
@@ -307,10 +301,11 @@ void GVRetSerial::readSerialData()
 {
     QByteArray data = serial->readAll();
     unsigned char c;
-    //qDebug() << (tr("Got data from serial. Len = %0").arg(data.length()));
+    qDebug() << (tr("Got data from serial. Len = %0").arg(data.length()));
     for (int i = 0; i < data.length(); i++)
     {
         c = data.at(i);
+        //qDebug() << c << "    " << QString::number(c, 16) << "     " << QString(c);
         procRXChar(c);
     }
 }
@@ -376,6 +371,8 @@ void GVRetSerial::procRXChar(unsigned char c)
             break;
         case 3:
             buildFrame.timestamp |= (uint)c << 24;
+
+            buildFrame.timestamp += timeBasis;
             break;
         case 4:
             buildFrame.ID = c;
@@ -425,7 +422,7 @@ void GVRetSerial::procRXChar(unsigned char c)
                         qDebug() << "can't get a frame, ERROR";
 
                     //take the time the frame came in and try to resync the time base.
-                    if (continuousTimeSync) txTimestampBasis = QDateTime::currentMSecsSinceEpoch() - (buildFrame.timestamp / 1000);
+                    //if (continuousTimeSync) txTimestampBasis = QDateTime::currentMSecsSinceEpoch() - (buildFrame.timestamp / 1000);
                 }
             }
             break;
@@ -447,7 +444,9 @@ void GVRetSerial::procRXChar(unsigned char c)
         case 3:
             buildTimeBasis += ((uint32_t)c << 24);
             qDebug() << "GVRET firmware reports timestamp of " << buildTimeBasis;
-            txTimestampBasis = QDateTime::currentMSecsSinceEpoch() - ((uint64_t)buildTimeBasis / (uint64_t)1000ull);
+
+            rebuildLocalTimeBasis();
+
             continuousTimeSync = false;
             rx_state = IDLE;
             break;
@@ -576,11 +575,28 @@ void GVRetSerial::procRXChar(unsigned char c)
     }
 }
 
+void GVRetSerial::rebuildLocalTimeBasis()
+{
+    uint64_t currTime = QDateTime::currentMSecsSinceEpoch() * 1000;
+
+    /*
+      our time basis is the value we have to modulate the main system basis by in order
+      to sync the GVRET timestamps to the rest of the system.
+      The rest of the system uses CANConManager::getInstance()->getTimeBasis as the basis.
+      GVRET returns to us the current time since boot up in microseconds.
+      currTime stores the "system" timestamp when the GVRET timestamp was retrieved.
+    */
+    lastSystemTimeBasis = CANConManager::getInstance()->getTimeBasis();
+    int64_t systemDelta = currTime - lastSystemTimeBasis;
+    int32_t localDelta = buildTimeBasis - systemDelta;
+    timeBasis = localDelta;
+}
 
 void GVRetSerial::handleTick()
 {
+    if (lastSystemTimeBasis != CANConManager::getInstance()->getTimeBasis()) rebuildLocalTimeBasis();
     //qDebug() << "Tick!";
-
+/*
     if( CANCon::CONNECTED == getStatus() )
     {
         if (!gotValidated && doValidation)
@@ -600,7 +616,7 @@ void GVRetSerial::handleTick()
             }
         }
     }
-
+*/
     if (doValidation && serial && serial->isOpen()) sendCommValidation();
 }