new socketcan connection
This commit is contained in:
canpadawan
+162
-59
@@ -2,33 +2,7 @@
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#include <QDebug>
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#include <QCanBusFrame>
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#include "canframemodel.h"
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#include "canconnection_old.h"
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#include "socketcanconnection.h"
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/***********************************/
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/**** nested class ****/
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/***********************************/
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BUSConfig::BUSConfig():isConfigured(false){}
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void BUSConfig::reset() {
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isConfigured = false;
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}
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bool BUSConfig::operator==(CANBus& bus) {
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return isConfigured && speed == bus.speed &&
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listenOnly == bus.listenOnly && active == bus.active;
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}
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void BUSConfig::operator=(CANBus& bus) {
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isConfigured = true;
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speed = bus.speed;
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listenOnly = bus.listenOnly;
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active = bus.active;
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}
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#include "socketcan.h"
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@@ -36,41 +10,120 @@ void BUSConfig::operator=(CANBus& bus) {
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/**** class definition ****/
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/***********************************/
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SocketCanConnection::SocketCanConnection(CANFrameModel *model, int base) : CANConnection(model, base), mDev_p(NULL)
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SocketCanConnection::SocketCanConnection(QString portName) :
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CANConnection(portName, CANCon::SOCKETCAN, 1),
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mDev_p(NULL),
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mThread(NULL)
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{
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getQueue().setSize(2000); /*TODO add check on returned value */
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/* move ourself to the thread */
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moveToThread(&mThread);
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qDebug() << "SocketCanConnection()";
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qRegisterMetaType<CANFrame>("CANFrame");
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}
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SocketCanConnection::~SocketCanConnection()
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{
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stop();
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qDebug() << "~SocketCanConnection()";
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/* stop device */
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}
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void SocketCanConnection::updateBusSettings(CANBus bus)
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{
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qDebug()<<"updateBusSettings";
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if(mConf == bus) return;
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void SocketCanConnection::start() {
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qDebug() << "enter thread";
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mThread.start(QThread::HighPriority);
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connect(&mTimer, SIGNAL(timeout()), this, SLOT(testConnection()));
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mTimer.setInterval(1000);
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mTimer.setSingleShot(false); //keep ticking
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mTimer.start();
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}
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void SocketCanConnection::suspend(bool pSuspend) {
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/* make sure we execute in mThread context */
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if(QThread::currentThread() != &mThread) {
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QMetaObject::invokeMethod(this, "suspend",
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Qt::BlockingQueuedConnection,
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Q_ARG(bool, pSuspend));
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return;
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}
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/* update capSuspended */
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setCapSuspended(pSuspend);
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/* flush queue if we are suspended */
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if(isCapSuspended())
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getQueue().flush();
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}
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void SocketCanConnection::stop() {
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mTimer.stop();
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mThread.quit();
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if(!mThread.wait()) {
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qDebug() << "can't stop thread";
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}
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disconnectDevice();
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}
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bool SocketCanConnection::getBusSettings(int pBusIdx, CANBus& pBus) {
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/* make sure we execute in mThread context */
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if(QThread::currentThread() != &mThread) {
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bool ret;
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QMetaObject::invokeMethod(this, "getBusSettings",
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Qt::BlockingQueuedConnection,
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Q_RETURN_ARG(bool, ret),
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Q_ARG(int , pBusIdx),
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Q_ARG(CANBus& , pBus));
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return ret;
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}
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return getBusConfig(pBusIdx, pBus);
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}
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void SocketCanConnection::setBusSettings(int pBusIdx, CANBus bus)
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{
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/* make sure we execute in mThread context */
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if(QThread::currentThread() != &mThread) {
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QMetaObject::invokeMethod(this, "setBusSettings",
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Qt::BlockingQueuedConnection,
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Q_ARG(int, pBusIdx),
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Q_ARG(CANBus, bus));
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return;
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}
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/* sanity checks */
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if(0 != pBusIdx)
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return;
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/* disconnect device if we have one connected */
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if(mDev_p) disconnect();
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if(mDev_p)
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disconnectDevice();
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/* copy bus config */
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setBusConfig(0, bus);
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/* if bus is not active we are done */
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if(!bus.active) return;
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if(!bus.active)
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return;
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/* create device */
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mDev_p = QCanBus::instance()->createDevice("socketcan", portName);
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mDev_p = QCanBus::instance()->createDevice("socketcan", getPort());
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if (!mDev_p) {
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qDebug() << "can't create device";
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return;
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disconnectDevice();
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qDebug() << "can't create device";
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return;
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}
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/* connect slots */
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connect(mDev_p, &QCanBusDevice::errorOccurred, this, &SocketCanConnection::errorReceived);
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connect(mDev_p, &QCanBusDevice::framesReceived, this, &SocketCanConnection::framesReceived);
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connect(mDev_p, &QCanBusDevice::framesWritten, this, &SocketCanConnection::framesWritten);
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connect(mDev_p, &QCanBusDevice::framesReceived, this, &SocketCanConnection::framesReceived);
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/* set configuration */
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/*if (p.useConfigurationEnabled) {
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@@ -80,19 +133,23 @@ void SocketCanConnection::updateBusSettings(CANBus bus)
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/* connect device */
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if (!mDev_p->connectDevice()) {
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disconnect();
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disconnectDevice();
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qDebug() << "can't connect device";
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}
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}
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void SocketCanConnection::sendFrame(const CANFrame *) {}
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void SocketCanConnection::sendFrameBatch(const QList<CANFrame> *){}
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/***********************************/
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/**** private methods ****/
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/***********************************/
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/* connect device */
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void SocketCanConnection::disconnect() {
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/* disconnect device */
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void SocketCanConnection::disconnectDevice() {
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if(mDev_p) {
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mDev_p->disconnectDevice();
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delete mDev_p;
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@@ -123,35 +180,81 @@ void SocketCanConnection::framesWritten(qint64 count)
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void SocketCanConnection::framesReceived()
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{
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/* sanity checks */
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if(!mDev_p) return;
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if(!mDev_p)
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return;
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/* read frame */
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while(true)
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{
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const QCanBusFrame recFrame = mDev_p->readFrame();
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/* exit case */
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if(!recFrame.isValid()) return;
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/* exit case */
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if(!recFrame.isValid())
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return;
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/* drop frame if capture is suspended */
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if(isCapSuspended())
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continue;
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/* check frame */
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if(!recFrame.payload().isEmpty() &&
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recFrame.payload().length()<=8)
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{
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CANFrame frame;
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frame.len = recFrame.payload().length();
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frame.bus = 0;
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memcpy(frame.data, recFrame.payload().data(), frame.len);
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frame.extended = false;
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frame.ID = recFrame.frameId();
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frame.isReceived = true;
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frame.timestamp = recFrame.timeStamp().microSeconds();
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CANFrame* frame_p = getQueue().get();
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if(frame_p) {
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frame_p->len = recFrame.payload().length();
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frame_p->bus = 0;
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memcpy(frame_p->data, recFrame.payload().data(), frame_p->len);
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frame_p->extended = false;
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frame_p->ID = recFrame.frameId();
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frame_p->isReceived = true;
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frame_p->timestamp = recFrame.timeStamp().seconds()*1000000 + recFrame.timeStamp().microSeconds();
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/* send frame */
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QMetaObject::invokeMethod(model, "addFrame",
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Qt::QueuedConnection,
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Q_ARG(CANFrame, frame),
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Q_ARG(bool, false));
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/* enqueue frame */
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getQueue().queue();
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}
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else
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qDebug() << "can't get a frame, ERROR";
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}
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else {
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qDebug() << "invalid frame";
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}
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}
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}
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void SocketCanConnection::testConnection() {
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QCanBusDevice* dev_p = QCanBus::instance()->createDevice("socketcan", getPort());
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switch(getStatus())
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{
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case CANCon::CONNECTED:
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if (!dev_p || !dev_p->connectDevice()) {
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/* we have lost connectivity */
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disconnectDevice();
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setStatus(CANCon::NOT_CONNECTED);
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emit status(getStatus());
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}
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break;
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case CANCon::NOT_CONNECTED:
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if (dev_p && dev_p->connectDevice()) {
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/* try to reconnect */
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CANBus bus;
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if(getBusConfig(0, bus))
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setBusSettings(0, bus);
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/* disconnect test instance */
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dev_p->disconnectDevice();
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setStatus(CANCon::CONNECTED);
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emit status(getStatus());
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}
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break;
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default: {}
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}
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if(dev_p)
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delete dev_p;
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}
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