Big change to serial code - moved out to its own class and thread. Serial comm is now run on a separate thread. This code now certainly leaks a small amount of memory but that'll get fixed.

2015-05-06 22:22:14 -04:00
parent c37bca4132
commit 5f4fd37839
5 changed files with 249 additions and 168 deletions
@@ -0,0 +1,160 @@
+#include "serialworker.h"
+
+#include <QSerialPort>
+#include <QDebug>
+
+SerialWorker::SerialWorker(QObject *parent) : QObject(parent)
+{
+    serial = NULL;
+    rx_state = IDLE;
+    rx_step = 0;
+    buildFrame = new CANFrame;
+}
+
+SerialWorker::~SerialWorker()
+{
+    if (serial != NULL) delete serial;
+}
+
+void SerialWorker::setSerialPort(QString portName)
+{
+    if (serial == NULL) serial = new QSerialPort(this);
+
+    if (serial->isOpen())
+    {
+        serial->close();
+    }
+    else
+    {
+        qDebug() << "Serial port name is " << portName;
+        serial->setPortName(portName);
+        serial->open(QIODevice::ReadWrite);
+        QByteArray output;
+        output.append(0xE7);
+        output.append(0xE7);
+        serial->write(output);
+        ///isConnected = true;
+        connect(serial, SIGNAL(readyRead()), this, SLOT(readSerialData()));
+    }
+}
+
+void SerialWorker::readSerialData()
+{
+    QByteArray data = serial->readAll();
+    unsigned char c;
+    qDebug() << (tr("Got data from serial. Len = %0").arg(data.length()));
+    for (int i = 0; i < data.length(); i++)
+    {
+        c = data.at(i);
+        procRXChar(c);
+    }
+}
+
+void SerialWorker::procRXChar(unsigned char c)
+{
+    switch (rx_state)
+    {
+    case IDLE:
+        if (c == 0xF1) rx_state = GET_COMMAND;
+        break;
+    case GET_COMMAND:
+        switch (c)
+        {
+        case 0: //receiving a can frame
+            rx_state = BUILD_CAN_FRAME;
+            rx_step = 0;
+            break;
+        case 1: //we don't accept time sync commands from the firmware
+            rx_state = IDLE;
+            break;
+        case 2: //process a return reply for digital input states.
+            rx_state = GET_DIG_INPUTS;
+            rx_step = 0;
+            break;
+        case 3: //process a return reply for analog inputs
+            rx_state = GET_ANALOG_INPUTS;
+            break;
+        case 4: //we set digital outputs we don't accept replies so nothing here.
+            rx_state = IDLE;
+            break;
+        case 5: //we set canbus specs we don't accept replies.
+            rx_state = IDLE;
+            break;
+        }
+        break;
+    case BUILD_CAN_FRAME:
+        switch (rx_step)
+        {
+        case 0:
+            buildFrame->timestamp = c;
+            break;
+        case 1:
+            buildFrame->timestamp |= (uint)(c << 8);
+            break;
+        case 2:
+            buildFrame->timestamp |= (uint)c << 16;
+            break;
+        case 3:
+            buildFrame->timestamp |= (uint)c << 24;
+            break;
+        case 4:
+            buildFrame->ID = c;
+            break;
+        case 5:
+            buildFrame->ID |= c << 8;
+            break;
+        case 6:
+            buildFrame->ID |= c << 16;
+            break;
+        case 7:
+            buildFrame->ID |= c << 24;
+            if ((buildFrame->ID & 1 << 31) == 1 << 31)
+            {
+                buildFrame->ID &= 0x7FFFFFFF;
+                buildFrame->extended = true;
+            }
+            else buildFrame->extended = false;
+            break;
+        case 8:
+            buildFrame->len = c & 0xF;
+            if (buildFrame->len > 8) buildFrame->len = 8;
+            buildFrame->bus = (c & 0xF0) >> 4;
+            break;
+        default:
+            if (rx_step < buildFrame->len + 9)
+            {
+                buildFrame->data[rx_step - 9] = c;
+            }
+            else
+            {
+                rx_state = IDLE;
+                rx_step = 0;
+                qDebug() << "emit from serial handler to main form id: " << buildFrame->ID;
+                emit receivedFrame(buildFrame);
+                buildFrame = new CANFrame;
+            }
+            break;
+        }
+        rx_step++;
+        break;
+    case GET_ANALOG_INPUTS: //get 9 bytes - 2 per analog input plus checksum
+        switch (rx_step)
+        {
+        case 0:
+            break;
+        }
+        rx_step++;
+        break;
+    case GET_DIG_INPUTS: //get two bytes. One for digital in status and one for checksum.
+        switch (rx_step)
+        {
+        case 0:
+            break;
+        case 1:
+            rx_state = IDLE;
+            break;
+        }
+        rx_step++;
+        break;
+    }
+}