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Merge pull request #1052 from chrumck/fixLawicellTimestamps

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LAWICEL timestamps fix
This commit is contained in:
Collin Kidder
2026-04-06 21:11:34 -04:00
committed by GitHub
parent 140316a0d4 5fa1bb43ef
commit 7e021edaac
2 changed files with 41 additions and 24 deletions
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connections/lawicel_serial.cpp
+38 -22
View File
@@ -17,6 +17,7 @@ LAWICELSerial::LAWICELSerial(QString portName, int serialSpeed, int lawicelSpeed
serial = nullptr; serial = nullptr;
isAutoRestart = false; isAutoRestart = false;
rebuildLocalTimeBasis();
readSettings(); readSettings();
} }
@@ -203,6 +204,13 @@ bool LAWICELSerial::piSendFrame(const CANFrame& frame)
/****************************************************************/ /****************************************************************/
void LAWICELSerial::rebuildLocalTimeBasis()
{
timeBasis = 0;
lastHWTimestamp = -1;
wrapAdder = 0;
}
void LAWICELSerial::readSettings() void LAWICELSerial::readSettings()
{ {
QSettings settings; QSettings settings;
@@ -254,6 +262,8 @@ void LAWICELSerial::deviceConnected()
{ {
sendDebug("Connecting to LAWICEL Device!"); sendDebug("Connecting to LAWICEL Device!");
rebuildLocalTimeBasis();
QByteArray output; QByteArray output;
output.clear(); output.clear();
@@ -474,8 +484,6 @@ void LAWICELSerial::readSerialData()
QByteArray data; QByteArray data;
unsigned char c; unsigned char c;
QString debugBuild; QString debugBuild;
CANFrame buildFrame;
QByteArray buildData;
if (serial) data = serial->readAll(); if (serial) data = serial->readAll();
@@ -491,41 +499,49 @@ void LAWICELSerial::readSerialData()
{ {
qDebug() << "Got CR!"; qDebug() << "Got CR!";
if (useSystemTime) CANFrame buildFrame;
{ QByteArray buildData;
buildFrame.setTimeStamp(QCanBusFrame::TimeStamp::fromMicroSeconds(QDateTime::currentMSecsSinceEpoch() * 1000ul));
} buildFrame.setTimeStamp(QCanBusFrame::TimeStamp(0, QDateTime::currentMSecsSinceEpoch() * 1000ll));
else if (!useSystemTime)
{ {
bool isFD = false;
char offset; char offset;
char len_index; char len_index;
switch(mBuildLine[0].toLatin1()) { switch(mBuildLine[0].toLatin1()) {
case 't': case 'b':
case 'd': case 'd':
isFD = true;
[[fallthrough]];
case 't':
offset = 5; offset = 5;
len_index = 4; len_index = 4;
break; break;
case 'T': case 'B':
case 'D': case 'D':
isFD = true;
[[fallthrough]];
case 'T':
offset = 10; offset = 10;
len_index = 9; len_index = 9;
break; break;
default: default:
offset = 5; offset = 5;
len_index = 4; len_index = 4;
break; break;
} }
//If total length is greater than command, header and data, timestamps must be enabled.
if (data.length() > (offset + mBuildLine.mid(len_index, 1).toInt() * 2 + 1)) int dlc = mBuildLine.mid(len_index, 1).toInt();
int byteCount = isFD ? (int)dlc_code_to_bytes(dlc) : dlc;
int frameStringLen = offset + byteCount * 2;
if (mBuildLine.length() > frameStringLen + 1)
{ {
//Four bytes after the end of the data bytes. qint64 hardwareMs = mBuildLine.mid(frameStringLen, 4).toInt(nullptr, 16);
buildTimestamp = mBuildLine.mid(offset + mBuildLine.mid(len_index, 1).toInt() * 2, 4).toInt(nullptr, 16); if (lastHWTimestamp >= 0 && hardwareMs < lastHWTimestamp) { wrapAdder += 60000; }
buildFrame.setTimeStamp(QCanBusFrame::TimeStamp(0, buildTimestamp)); lastHWTimestamp = hardwareMs;
} qint64 unwrappedMs = wrapAdder + hardwareMs;
else if (timeBasis == 0) { timeBasis = QDateTime::currentMSecsSinceEpoch() - unwrappedMs; }
{ buildFrame.setTimeStamp(QCanBusFrame::TimeStamp(0, (timeBasis + unwrappedMs) * 1000ll));
//Default to system time if timestamps are disabled.
buildFrame.setTimeStamp(QCanBusFrame::TimeStamp::fromMicroSeconds(QDateTime::currentMSecsSinceEpoch() * 1000ul));
} }
} }
connections/lawicel_serial.h
+3 -2
View File
@@ -60,8 +60,9 @@ protected:
bool isAutoRestart; bool isAutoRestart;
QSerialPort *serial; QSerialPort *serial;
int framesRapid; int framesRapid;
CANFrame buildFrame; qint64 timeBasis;
qint64 buildTimestamp; qint64 lastHWTimestamp;
qint64 wrapAdder;
bool can0Enabled; bool can0Enabled;
bool can0ListenOnly; bool can0ListenOnly;
bool canFd; bool canFd;