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Support higher time resolution CANserver format

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CANserver firmware 2.2.0 will be adding a new logging format that support us resolution for timestamps of received frames.
This commit is contained in:
Chris Whiteford
2023-12-15 11:14:46 -05:00
parent d1223f7511
commit 737cf0e6f4
1 changed files with 52 additions and 27 deletions
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framefileio.cpp
+49 -24
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@@ -4791,7 +4791,7 @@ bool FrameFileIO::isCANServerFile(QString filename)
{ {
//qDebug() << "header: " << headerData; //qDebug() << "header: " << headerData;
//We have enough bytes to make up our header. Lets check if it matches //We have enough bytes to make up our header. Lets check if it matches
if (headerData == "CANSERVER_v2_CANSERVER") if (headerData == "CANSERVER_v2_CANSERVER" || headerData == "CANSERVER_v3_CANSERVER")
{ {
isMatch = true; isMatch = true;
} }
@@ -4833,6 +4833,7 @@ bool FrameFileIO::loadCANServerFile(QString filename, QVector<CANFrame>* frames)
//Skip the header //Skip the header
bool fileIsGood = false; bool fileIsGood = false;
uint8_t logVersion = 1;
QByteArray headerData = inFile->read(22); QByteArray headerData = inFile->read(22);
if (headerData.length() == 22) if (headerData.length() == 22)
{ {
@@ -4840,6 +4841,12 @@ bool FrameFileIO::loadCANServerFile(QString filename, QVector<CANFrame>* frames)
//We have enough bytes to make up our header. Lets check if it matches //We have enough bytes to make up our header. Lets check if it matches
if (headerData == "CANSERVER_v2_CANSERVER") if (headerData == "CANSERVER_v2_CANSERVER")
{ {
logVersion = 1;
fileIsGood = true;
}
else if (headerData == "CANSERVER_v3_CANSERVER")
{
logVersion = 2;
fileIsGood = true; fileIsGood = true;
} }
} }
@@ -4864,7 +4871,13 @@ bool FrameFileIO::loadCANServerFile(QString filename, QVector<CANFrame>* frames)
{ {
if (possibleHeaderData == "ANSERVER_v2_CANSERVER" ) if (possibleHeaderData == "ANSERVER_v2_CANSERVER" )
{ {
//We found another header. Lets just ignore things and move on //We found another header (in this case a version 1 format). Lets just ignore things and move on
logVersion = 1;
}
else if (possibleHeaderData == "ANSERVER_v3_CANSERVER" )
{
//We found another header (in this case a version 2 format). Lets just ignore things and move on
logVersion = 2;
} }
else else
{ {
@@ -4873,9 +4886,9 @@ bool FrameFileIO::loadCANServerFile(QString filename, QVector<CANFrame>* frames)
} }
} }
} }
else if (data[0] == 0xCD) else if ((logVersion == 1 && data[0] == 0xCD) || (logVersion == 2 && data[0] == 0xD0))
{ {
//Log mark message //Log mark message (the same format in v1 or v2. Just a different identifier byte)
//Read in the size of the mark //Read in the size of the mark
uint8_t markSize[1]; uint8_t markSize[1];
@@ -4897,9 +4910,9 @@ bool FrameFileIO::loadCANServerFile(QString filename, QVector<CANFrame>* frames)
frames->append(markFrame); frames->append(markFrame);
*/ */
} }
else if (data[0] == 0xCE) else if ((logVersion == 1 && data[0] == 0xCE) || (logVersion == 2 && data[0] == 0xA0))
{ {
//Timesync message //Timesync message (v1 log format)
framedata_U timesyncvalue; framedata_U timesyncvalue;
::memset(timesyncvalue.data, 0, sizeof(timesyncvalue.data)); ::memset(timesyncvalue.data, 0, sizeof(timesyncvalue.data));
inFile->read(timesyncvalue.data, 8); inFile->read(timesyncvalue.data, 8);
@@ -4908,39 +4921,54 @@ bool FrameFileIO::loadCANServerFile(QString filename, QVector<CANFrame>* frames)
//qDebug() << "Found a time sync message: " << timesyncvalue.u64; //qDebug() << "Found a time sync message: " << timesyncvalue.u64;
timeStampBase = timesyncvalue.u64; timeStampBase = timesyncvalue.u64;
} }
else if (data[0] == 0xCF) else if ((logVersion == 1 && data[0] == 0xCF) || (logVersion == 2 && (data[0] & 0xF0) == 0xB0))
{ {
if (frameCounter++ > 100) // Can frame format (either a v1 or a v2)
if (frameCounter++ > 10000)
{ {
qApp->processEvents(); qApp->processEvents();
frameCounter = 0; frameCounter = 0;
} }
//CAN Frame
uint8_t frameheaderdata[5]; uint8_t frameheaderdata[5];
inFile->read((char*)frameheaderdata, 5); inFile->read((char*)frameheaderdata, 5);
//The frame time offset is how long since the last time sync message (now in ms) this frame is uint32_t frametimeoffset = 0;
uint8_t byte1 = frameheaderdata[0]; if (logVersion == 1)
uint8_t byte2 = frameheaderdata[1]; {
uint16_t frametimeoffset = ((uint16_t)byte2 << 8) | byte1; //The frame time offset is how long since the last time sync message (now in ms) this frame is
frametimeoffset = ((uint16_t)frameheaderdata[1] << 8) | frameheaderdata[0];
frametimeoffset *= 1000;
}
else if (logVersion == 2)
{
frametimeoffset = (data[0] & 0x0F) + (frameheaderdata[0] << 4) + (frameheaderdata[1] << 12) + (((frameheaderdata[2] & 0xF8) >> 3) << 20);
}
byte1 = frameheaderdata[2]; uint16_t messageId = 0;
byte2 = frameheaderdata[3]; if (logVersion == 1)
uint16_t messageId = ((uint16_t)byte2 << 8) | byte1; {
messageId = ((uint16_t)frameheaderdata[3] << 8) | frameheaderdata[2];
}
else if (logVersion == 2)
{
messageId = ((frameheaderdata[2] & 0x07) << 8) + (frameheaderdata[3] & 0xFF);
}
uint8_t framelength = frameheaderdata[4] & 0x0F; uint8_t framelength = (frameheaderdata[4] & 0x0F);
uint8_t busid = frameheaderdata[4] >> 4; uint8_t busid = (frameheaderdata[4] & 0xF0) >> 4;
framelength = framelength > 8 ? 8 : framelength; framelength = framelength > 8 ? 8 : framelength;
//Now that we have a length lets read those bytes //Now that we have a length lets read those bytes
::memset(framedata.data, 0, sizeof(framedata.data)); ::memset(framedata.data, 0, sizeof(framedata.data));
inFile->read(framedata.data, framelength);
if (framelength > 0)
{
inFile->read(framedata.data, framelength);
}
//Setup the frame object and populate it //Setup the frame object and populate it
CANFrame thisFrame; CANFrame thisFrame;
thisFrame.setFrameType(QCanBusFrame::DataFrame); thisFrame.setFrameType(QCanBusFrame::DataFrame);
@@ -4950,11 +4978,8 @@ bool FrameFileIO::loadCANServerFile(QString filename, QVector<CANFrame>* frames)
uint64_t frameTime = timeStampBase; uint64_t frameTime = timeStampBase;
uint64_t frameoffset = frametimeoffset; uint64_t frameoffset = frametimeoffset;
frameoffset *= 1000;
frameTime += frameoffset; frameTime += frameoffset;
//lastFrameTime = frameTime;
thisFrame.setTimeStamp(QCanBusFrame::TimeStamp(0, frameTime)); thisFrame.setTimeStamp(QCanBusFrame::TimeStamp(0, frameTime));
QByteArray bytes(framelength,0); QByteArray bytes(framelength,0);