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Changed the way the filter system works in the CAN connection objects - now used only for sending frames immediately to relevant objects. Tested to work in firmware updater. Currently broken elsewhere. Also switched main frame update interval from 4 times per second to 8 to make things smoother.

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This commit is contained in:
Collin Kidder
2016-12-29 19:13:51 -05:00
parent 96523cc082
commit beea680106
11 changed files with 172 additions and 87 deletions
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can_structs.h
-1
View File
@@ -20,7 +20,6 @@ struct CANFlt
{
quint32 id;
quint32 mask;
bool notify;
};
struct J1939ID
connections/canconmanager.cpp
+67 -2
View File
@@ -17,7 +17,7 @@ CANConManager* CANConManager::getInstance()
CANConManager::CANConManager(QObject *parent): QObject(parent)
{
connect(&mTimer, SIGNAL(timeout()), this, SLOT(refreshCanList()));
mTimer.setInterval(250); /*tick 4 times a second */
mTimer.setInterval(125); /*tick 8 times a second */
mTimer.setSingleShot(false);
mTimer.start();
@@ -38,7 +38,8 @@ CANConManager::~CANConManager()
void CANConManager::add(CANConnection* pConn_p)
{
connect(pConn_p, SIGNAL(notify()), this, SLOT(refreshCanList()));
//connect(pConn_p, SIGNAL(notify()), this, SLOT(refreshCanList()));
connect(pConn_p, SIGNAL(targettedFrameReceived(CANFrame)), this, SLOT(gotTargettedFrame(CANFrame)));
mConns.append(pConn_p);
emit connectionStatusUpdated(getNumBuses());
}
@@ -179,3 +180,67 @@ bool CANConManager::sendFrames(const QList<CANFrame>& pFrames)
return true;
}
//For each device associated with buses go through and see if that device has a bus
//that the filter should apply to. If so forward the data on but fudge
//the bus numbers if bus wasn't -1 so that they're local to the device
bool CANConManager::addTargettedFrame(int pBusId, const CANFlt &target)
{
int tempBusVal;
int busBase = 0;
foreach (CANConnection* conn, mConns)
{
if (pBusId == -1) conn->addTargettedFrame(pBusId, target);
else
{
tempBusVal = pBusId >> busBase;
tempBusVal &= ((1 << conn->getNumBuses()) - 1);
if (tempBusVal) {
qDebug() << "Forwarding targetted frame setting to a connection object";
conn->addTargettedFrame(tempBusVal, target);
}
}
busBase += conn->getNumBuses();
}
}
bool CANConManager::removeTargettedFrame(int pBusId, const CANFlt &target)
{
int tempBusVal;
int busBase = 0;
foreach (CANConnection* conn, mConns)
{
if (pBusId == -1) conn->removeTargettedFrame(pBusId, target);
else
{
tempBusVal = pBusId >> busBase;
tempBusVal &= ((1 << conn->getNumBuses()) - 1);
if (tempBusVal) conn->removeTargettedFrame(tempBusVal, target);
}
busBase += conn->getNumBuses();
}
}
/*
* A connected CANConnection object has passed us a frame that one or more
* other objects are interested in. Fix up the bus number to be a system global bus
* number instead of connection local bus number then send it off again.
*/
void CANConManager::gotTargettedFrame(CANFrame frame)
{
int busBase = 0;
foreach (CANConnection* conn, mConns)
{
if (conn != sender()) busBase += conn->getNumBuses();
else break;
}
qDebug() << "Targetted frame, offset was " << busBase << " id was " << frame.ID;
frame.bus += busBase;
emit targettedFrameReceived(frame);
}
connections/canconmanager.h
+19 -1
View File
@@ -36,12 +36,30 @@ public:
//just the multi-frame version of above function.
bool sendFrames(const QList<CANFrame>& pFrames);
/**
* @brief Add a new filter for the targetted frames. If a frame matches it will immediately be sent via the targettedFrameReceived signal
* @param pBusId - Which bus to bond to. -1 for any, otherwise a bitfield of buses (but 0 = first bus, etc)
* @param target - The filter to use for selected targetted frames
* @return true if filter was able to be added, false otherwise.
*/
bool addTargettedFrame(int pBusId, const CANFlt &target);
/**
* @brief Try to find a matching filter in the list and remove it, no longer targetting those frames
* @param pBusId - Which bus to bond to. Doesn't have to match the call to addTargettedFrame exactly. You could disconnect just one bus for instance.
* @param target - The filter that was set
* @return true if filter was found and deleted, false otherwise.
*/
bool removeTargettedFrame(int pBusId, const CANFlt &target);
signals:
void framesReceived(CANConnection* pConn_p, QVector<CANFrame>& pFrames);
void targettedFrameReceived(CANFrame frame);
void connectionStatusUpdated(int conns);
private slots:
void refreshCanList();
void refreshCanList();
void gotTargettedFrame(CANFrame frame);
private:
explicit CANConManager(QObject *parent = 0);
connections/canconnection.cpp
+47 -37
View File
@@ -5,8 +5,7 @@
struct BusData {
CANBus mBus;
bool mConfigured;
QVector<CANFlt> mFilters;
bool mFilterOut;
QVector<CANFlt> mTargettedFrames;
};
@@ -38,7 +37,6 @@ CANConnection::CANConnection(QString pPort,
mBusData_p = new BusData[mNumBuses];
for(int i=0 ; i<mNumBuses ; i++) {
mBusData_p[i].mConfigured = false;
mBusData_p[i].mFilterOut = false;
}
/* if needed, create a thread and move ourself into it */
@@ -258,53 +256,73 @@ void CANConnection::setCapSuspended(bool pIsSuspended) {
mIsCapSuspended = pIsSuspended;
}
bool CANConnection::setFilters(int pBusId, const QVector<CANFlt>& pFilters, bool pFilterOut)
bool CANConnection::addTargettedFrame(int pBusId, const CANFlt &target)
{
/* make sure we execute in mThread context */
if( mThread_p && (mThread_p != QThread::currentThread()) ) {
bool ret;
QMetaObject::invokeMethod(this, "setFilters",
QMetaObject::invokeMethod(this, "addTargettedFrame",
Qt::BlockingQueuedConnection,
Q_RETURN_ARG(bool, ret),
Q_ARG(int , pBusId),
Q_ARG(const QVector<CANFlt>&, pFilters),
Q_ARG(bool , pFilterOut));
Q_ARG(const CANFlt&, target));
return ret;
}
/* sanity checks */
if(pBusId<0 || pBusId>=getNumBuses())
if(pBusId < -1 || pBusId >= (1 << getNumBuses()))
return false;
/* copy filters */
mBusData_p[pBusId].mFilters = pFilters;
mBusData_p[pBusId].mFilterOut = pFilterOut;
/* set hardware filtering if available */
if(pFilterOut)
piSetFilters(pBusId, pFilters);
for (int i = 0; i < getNumBuses(); i++)
{
if (pBusId == -1 || pBusId && (1 << i)) {
qDebug() << "Connection is registering a new targetted frame filter";
mBusData_p[i].mTargettedFrames.append(target);
}
}
return true;
}
bool CANConnection::discard(int pBusId, quint32 pId, bool& pNotify)
bool CANConnection::removeTargettedFrame(int pBusId, const CANFlt &target)
{
if(pBusId<0 || pBusId>=getNumBuses())
return true;
foreach (const CANFlt& filter, mBusData_p[pBusId].mFilters)
{
if( (filter.id & filter.mask) == (pId & filter.mask) )
{
if(filter.notify)
pNotify = true;
return false;
}
/* make sure we execute in mThread context */
if( mThread_p && (mThread_p != QThread::currentThread()) ) {
bool ret;
QMetaObject::invokeMethod(this, "addTargettedFrame",
Qt::BlockingQueuedConnection,
Q_RETURN_ARG(bool, ret),
Q_ARG(int , pBusId),
Q_ARG(const CANFlt&, target));
return ret;
}
return mBusData_p[pBusId].mFilterOut;
/* sanity checks */
if(pBusId < -1 || pBusId >= (1 << getNumBuses()))
return false;
for (int i = 0; i < getNumBuses(); i++)
{
//if (pBusId == -1 || (pBusId && (1 << i)))
//mBusData_p[i].mTargettedFrames.removeOne(target);
}
return true;
}
void CANConnection::checkTargettedFrame(CANFrame &frame)
{
int maskedID;
foreach (const CANFlt filt, mBusData_p[frame.bus].mTargettedFrames)
{
maskedID = frame.ID & filt.mask;
if (maskedID == filt.id) {
qDebug() << "In connection object I got a targetted frame. Forwarding it.";
emit targettedFrameReceived(frame);
return; //only match once then stop.
}
}
}
bool CANConnection::piSendFrames(const QList<CANFrame>& pFrames)
{
@@ -316,11 +334,3 @@ bool CANConnection::piSendFrames(const QList<CANFrame>& pFrames)
return true;
}
/* default implementation of piSetFilters */
void CANConnection::piSetFilters(int pBusId, const QVector<CANFlt>& pFilters)
{
Q_UNUSED(pBusId);
Q_UNUSED(pFilters);
}
connections/canconnection.h
+18 -25
View File
@@ -81,9 +81,9 @@ signals:
void busStatus(int, int, int);
/**
* @brief event sent when a frame matching a filter set with notification hs been received
* @brief event sent when a frame matching a filter is received
*/
void notify();
void targettedFrameReceived(CANFrame frame);
/**
* @brief event emitted when the CANCon::status of the connection changes (connected->not_connected or the other way round)
@@ -149,15 +149,26 @@ public slots:
bool sendFrames(const QList<CANFrame>& pFrames);
/**
* @brief sets a filter list. Filters can be used to send a signal or filter out messages
* @param pFilters: a vector of can filters
* @param pFilterOut: if set to true, can frames not matching a filter are discarded
* @return true if filters have been set, false if busid is invalid
* @brief Add a new filter for the targetted frames. If a frame matches it will immediately be sent via the targettedFrameReceived signal
* @param pBusId - Which bus to bond to. -1 for any, otherwise a bitfield of buses (but 0 = first bus, etc)
* @param target - The filter to use for selected targetted frames
* @return true if filter was able to be added, false otherwise.
*/
bool setFilters(int pBusId, const QVector<CANFlt>& pFilters, bool pFilterOut);
bool addTargettedFrame(int pBusId, const CANFlt &target);
/**
* @brief Try to find a matching filter in the list and remove it, no longer targetting those frames
* @param pBusId - Which bus to bond to. Doesn't have to match the call to addTargettedFrame exactly. You could disconnect just one bus for instance.
* @param target - The filter that was set
* @return true if filter was found and deleted, false otherwise.
*/
bool removeTargettedFrame(int pBusId, const CANFlt &target);
protected:
//determine if the passed frame is part of a filter or not.
void checkTargettedFrame(CANFrame &frame);
/**
* @brief setStatus
* @param pStatus: the status to set
@@ -206,16 +217,6 @@ protected:
*/
void setCapSuspended(bool pIsSuspended);
/**
* @brief used to check if a message shall be discarded. The function also update pNotify if a notification is expected for that message
* @param pBusId: the bus id on which the frame has been received
* @param pId: the id of the message to filter
* @param pNotify: set to true if a notification is expected, else pNotify is not set
* @return true if message shall be discarded
*/
bool discard(int pBusId, quint32 pId, bool& pNotify);
protected:
/**************************************************************/
@@ -269,14 +270,6 @@ protected:
*/
virtual bool piSendFrames(const QList<CANFrame>&);
/**
* @brief sets a hardware filter list
* @param pBusId: the bus id on which filters have to be set
* @param pFilters: a vector of can filters, the notification flag of CANFilter is ignored
* @note implementing this function is optional
*/
virtual void piSetFilters(int pBusId, const QVector<CANFlt>& pFilters);
private:
LFQueue<CANFrame> mQueue;
const int mNumBuses;
connections/gvretserial.cpp
+1
View File
@@ -417,6 +417,7 @@ void GVRetSerial::procRXChar(unsigned char c)
//qDebug() << "GVRET got frame on bus " << frame_p->bus;
/* copy frame */
*frame_p = buildFrame;
checkTargettedFrame(buildFrame);
/* enqueue frame */
getQueue().queue();
}
connections/socketcan.cpp
+3 -9
View File
@@ -155,9 +155,6 @@ void SocketCan::framesWritten(qint64 count)
void SocketCan::framesReceived()
{
/* test */
bool sndNotif = false;
uint64_t timeBasis = CANConManager::getInstance()->getTimeBasis();
/* sanity checks */
@@ -179,8 +176,7 @@ void SocketCan::framesReceived()
/* check frame */
if( !recFrame.payload().isEmpty() &&
recFrame.payload().length()<=8 &&
!discard(0, recFrame.frameId(), sndNotif) )
recFrame.payload().length()<=8 )
{
CANFrame* frame_p = getQueue().get();
if(frame_p) {
@@ -192,6 +188,8 @@ void SocketCan::framesReceived()
frame_p->isReceived = true;
frame_p->timestamp = (recFrame.timeStamp().seconds()*1000000 + recFrame.timeStamp().microSeconds()) - timeBasis;
checkTargettedFrame(*frame_p);
/* enqueue frame */
getQueue().queue();
}
@@ -201,10 +199,6 @@ void SocketCan::framesReceived()
#endif
}
}
if(sndNotif) {
emit notify();
}
}
firmwareuploaderwindow.cpp
+9 -2
View File
@@ -27,10 +27,17 @@ FirmwareUploaderWindow::FirmwareUploaderWindow(const QVector<CANFrame> *frames,
timer = new QTimer();
timer->setInterval(100); //100ms without a reply will cause us to attempt a resend
CANFlt firmwareFilter;
firmwareFilter.id = 0x100;
firmwareFilter.mask = 0x7F0;
CANConManager::getInstance()->addTargettedFrame(-1, firmwareFilter);
//MainWindow::getReference()->setTargettedID(baseAddress + 0x10);
connect(MainWindow::getReference(), SIGNAL(framesUpdated(int)), this, SLOT(updatedFrames(int)));
connect(ui->btnLoadFile, SIGNAL(clicked(bool)), this, SLOT(handleLoadFile()));
connect(ui->btnStartStop, SIGNAL(clicked(bool)), this, SLOT(handleStartStopTransfer()));
connect(timer, SIGNAL(timeout()), this, SLOT(timerElapsed()));
connect(CANConManager::getInstance(), SIGNAL(targettedFrameReceived(CANFrame)), this, SLOT(gotTargettedFrame(CANFrame)));
}
FirmwareUploaderWindow::~FirmwareUploaderWindow()
@@ -66,9 +73,9 @@ void FirmwareUploaderWindow::updatedFrames(int numFrames)
}
}
void FirmwareUploaderWindow::gotTargettedFrame(int frameLoc)
void FirmwareUploaderWindow::gotTargettedFrame(CANFrame frame)
{
const CANFrame &frame = modelFrames->at(frameLoc);
qDebug() << "FUW: Got targetted frame with id " << frame.ID;
if (frame.ID == (baseAddress + 0x10)) {
qDebug() << "Start firmware reply";
if ((frame.data[0] == 0xAD) && (frame.data[1] == 0xDE))
firmwareuploaderwindow.h
+2 -1
View File
@@ -4,6 +4,7 @@
#include <QDialog>
#include <QTimer>
#include "can_structs.h"
#include "connections/canconmanager.h"
#include "utility.h"
namespace Ui {
@@ -22,7 +23,7 @@ signals:
void sendCANFrame(const CANFrame *);
public slots:
void gotTargettedFrame(int frameLoc);
void gotTargettedFrame(CANFrame frame);
private slots:
void handleLoadFile();
mainwindow.cpp
-2
View File
@@ -852,8 +852,6 @@ void MainWindow::showFirmwareUploaderWindow()
if (!firmwareUploaderWindow)
{
firmwareUploaderWindow = new FirmwareUploaderWindow(model->getListReference());
//connect(firmwareUploaderWindow, SIGNAL(sendCANFrame(const CANFrame*)), connectionWindow, SLOT(sendFrame(const CANFrame*)));
//connect(worker, SIGNAL(gotTargettedFrame(int)), firmwareUploaderWindow, SLOT(gotTargettedFrame(int)));
}
firmwareUploaderWindow->show();
}
scriptcontainer.cpp
+6 -7
View File
@@ -71,18 +71,17 @@ void ScriptContainer::setFilter(QJSValue id, QJSValue mask, QJSValue bus)
CANConnection* conn_p = CANConManager::getInstance()->getByName(mConName);
if(conn_p)
{
CANFlt canFlt;
for(int i=0 ; i<conn_p->getNumBuses() ; i++)
{
QVector<CANFlt> fltrs;
foreach(const CANFilter& flt, filters)
{
if(flt.bus==i) {
fltrs.append({flt.ID, flt.mask, true});
canFlt.id = idVal;
canFlt.mask = maskVal;
conn_p->addTargettedFrame(busVal, canFlt);
}
}
if(fltrs.size())
conn_p->setFilters(i, fltrs, false);
}
}
}
@@ -108,8 +107,8 @@ void ScriptContainer::clearFilters()
CANConnection* conn_p = CANConManager::getInstance()->getByName(mConName);
if(conn_p)
{
for(int i=0 ; i<conn_p->getNumBuses() ; i++)
conn_p->setFilters(i, QVector<CANFlt>(), false);
//for(int i=0 ; i<conn_p->getNumBuses() ; i++)
//conn_p->setFilters(i, QVector<CANFlt>(), false);
}
}