Collin Kidder
0baffa300f
QCanBusFrame so that things are more compatible with other Qt based CAN bus code. Not complete yet but getting there.
384 lines
12 KiB
C++
384 lines
12 KiB
C++
#include "isotp_handler.h"
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#include "connections/canconmanager.h"
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ISOTP_HANDLER::ISOTP_HANDLER()
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{
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useExtendedAddressing = false;
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isReceiving = false;
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issueFlowMsgs = false;
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processAll = false;
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lastSenderBus = 0;
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lastSenderID = 0;
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modelFrames = MainWindow::getReference()->getCANFrameModel()->getListReference();
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connect(&frameTimer, SIGNAL(timeout()), this, SLOT(frameTimerTick()));
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}
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ISOTP_HANDLER::~ISOTP_HANDLER()
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{
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disconnect(&frameTimer, SIGNAL(timeout()), this, SLOT(frameTimerTick()));
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}
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void ISOTP_HANDLER::setExtendedAddressing(bool mode)
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{
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useExtendedAddressing = mode;
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}
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void ISOTP_HANDLER::setFlowCtrl(bool state)
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{
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issueFlowMsgs = state;
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}
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void ISOTP_HANDLER::setReception(bool mode)
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{
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if (isReceiving == mode) return;
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isReceiving = mode;
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if (isReceiving)
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{
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connect(CANConManager::getInstance(), &CANConManager::framesReceived, this, &ISOTP_HANDLER::rapidFrames);
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qDebug() << "Enabling reception in ISOTP handler";
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}
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else
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{
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disconnect(CANConManager::getInstance(), &CANConManager::framesReceived, this, &ISOTP_HANDLER::rapidFrames);
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qDebug() << "Disabling reception in ISOTP handler";
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}
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}
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void ISOTP_HANDLER::sendISOTPFrame(int bus, int ID, QVector<unsigned char> data)
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{
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CANFrame frame;
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frame.setFrameType(QCanBusFrame::DataFrame);
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int currByte = 0;
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int index = 0;
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if (bus < 0) return;
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if (bus >= CANConManager::getInstance()->getNumBuses()) return;
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lastSenderID = ID;
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lastSenderBus = bus;
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if (data.length() < 8)
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{
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frame.bus = bus;
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frame.setFrameId(ID);
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if (ID > 0x7FF) frame.setExtendedFrameFormat(true);
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else frame.setExtendedFrameFormat(false);
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QByteArray bytes(8,0);
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bytes.resize(8);
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bytes[0] = data.length();
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for (int i = 0; i < data.length(); i++) bytes[i + 1] = data[i];
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frame.setPayload(bytes);
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CANConManager::getInstance()->sendFrame(frame);
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}
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else //need to send a multi-part ISO_TP message - Respects timing and frame number based flow control
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{
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frame.bus = bus;
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frame.setFrameId(ID);
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if (ID > 0x7FF) frame.setExtendedFrameFormat(true);
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else frame.setExtendedFrameFormat(false);
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QByteArray bytes(8, 0);
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bytes[0] = 0x10 + (data.length() / 256);
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bytes[1] = data.length() & 0xFF;
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for (int i = 0; i < 6; i++) bytes[2 + i] = data[currByte++];
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frame.setPayload(bytes);
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CANConManager::getInstance()->sendFrame(frame);
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//Queue up the rest of the frames
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waitingForFlow = true;
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frameTimer.setInterval(200); //wait a while for the flow frame to come in
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frameTimer.setTimerType(Qt::PreciseTimer);
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frameTimer.start();
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while (currByte < data.length())
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{
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for (int b = 0; b < 8; b++) bytes[b] = 0x00;
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bytes[0] = 0x20 + index;
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index = (index + 1) & 0xF;
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int bytesToGo = data.length() - currByte;
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if (bytesToGo > 7) bytesToGo = 7;
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for (int i = 0; i < bytesToGo; i++) bytes[1 + i] = data[currByte++];
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frame.setPayload(bytes);
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sendingFrames.append(frame);
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//CANConManager::getInstance()->sendFrame(frame);
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}
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}
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}
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//remember, negative numbers are special -1 = all frames deleted, -2 = totally new set of frames.
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void ISOTP_HANDLER::updatedFrames(int numFrames)
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{
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if (numFrames == -1) //all frames deleted. Kill the display
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{
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}
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else if (numFrames == -2) //all new set of frames. Reset
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{
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for (int i = 0; i < modelFrames->length(); i++) processFrame(modelFrames->at(i));
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}
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else //just got some new frames. See if they are relevant.
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{
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for (int i = modelFrames->count() - numFrames; i < modelFrames->count(); i++)
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{
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//processFrame(modelFrames->at(i)); //accepting these frames in rapidFrames instead
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}
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}
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}
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void ISOTP_HANDLER::rapidFrames(const CANConnection* conn, const QVector<CANFrame>& pFrames)
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{
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Q_UNUSED(conn)
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if (pFrames.length() <= 0) return;
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//qDebug() << "received messages in ISOTP handler";
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foreach(const CANFrame& thisFrame, pFrames)
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{
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//only process frames that we've marked are ISOTP frames
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//unless processAll is true
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if (processAll) processFrame(thisFrame);
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else
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{
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for (int i = 0; i < filters.count(); i++)
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{
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if ((thisFrame.bus == filters[i].bus) && ((thisFrame.frameId() & filters[i].mask) == filters[i].ID))
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{
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processFrame(thisFrame);
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break;
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}
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}
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}
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}
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}
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void ISOTP_HANDLER::processFrame(const CANFrame &frame)
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{
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uint64_t ID = frame.frameId();
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int frameType;
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int frameLen;
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int ln;
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//int offset;
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ISOTP_MESSAGE msg;
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ISOTP_MESSAGE *pMsg;
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frameType = 0;
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frameLen = 0;
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if (useExtendedAddressing)
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{
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ID = ID << 8;
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ID += frame.payload()[0];
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frameType = frame.payload()[1] >> 4;
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frameLen = frame.payload()[1] & 0xF;
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}
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else
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{
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frameType = frame.payload()[0] >> 4;
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frameLen = frame.payload()[0] & 0xF;
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}
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switch(frameType)
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{
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case 0: //single frame message
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checkNeedFlush(ID);
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if (frameLen == 0) return; //length of zero isn't valid.
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if (frameLen > 6 && useExtendedAddressing) return; //impossible
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if (frameLen > 7) return;
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msg.bus = frame.bus;
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msg.extended = frame.hasExtendedFrameFormat();
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msg.ID = ID;
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msg.isReceived = frame.isReceived;
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msg.len = frameLen;
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msg.data.reserve(frameLen);
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msg.timestamp = frame.timeStamp().microSeconds();
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msg.isMultiframe = false;
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if (useExtendedAddressing) for (int j = 0; j < frameLen; j++) msg.data.append(frame.payload()[j+2]);
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else for (int j = 0; j < frameLen; j++) msg.data.append(frame.payload()[j+1]);
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//qDebug() << "Emitting single frame ISOTP message";
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emit newISOMessage(msg);
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break;
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case 1: //first frame of a multi-frame message
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checkNeedFlush(ID);
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msg.bus = frame.bus;
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msg.extended = frame.hasExtendedFrameFormat();
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msg.ID = ID;
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msg.timestamp = frame.timeStamp().microSeconds();
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msg.isReceived = frame.isReceived;
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msg.isMultiframe = true;
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frameLen = frameLen << 8;
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if (useExtendedAddressing)
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{
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frameLen += frame.payload()[2];
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frameLen = frameLen & 0xFFF;
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msg.len = frameLen;
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msg.data.reserve(frameLen);
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for (int j = 0; j < 5; j++) msg.data.append(frame.payload()[3 + j]);
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}
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else
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{
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frameLen += frame.payload()[1];
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frameLen = frameLen & 0xFFF;
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msg.len = frameLen;
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msg.data.reserve(frameLen);
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for (int j = 0; j < 6; j++) msg.data.append(frame.payload()[2 + j]);
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}
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msg.lastSequence = -1;
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messageBuffer.append(msg);
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//The sending ID is set to the last ID we used to send from this class which is
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//very likely to be correct. But, caution, there is a chance that it isn't. Beware.
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if (issueFlowMsgs && lastSenderID > 0)
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{
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CANFrame outFrame;
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outFrame.bus = lastSenderBus;
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outFrame.setExtendedFrameFormat(false);
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outFrame.setFrameId(lastSenderID);
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QByteArray bytes(8, 0);
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bytes[0] = 0x30; //flow control, go ahead and send
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bytes[1] = 0; //dont ask again about flow control
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bytes[2] = 3; //separation time in milliseconds between messages.
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outFrame.setPayload(bytes);
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CANConManager::getInstance()->sendFrame(outFrame);
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}
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break;
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case 2: //subsequent frames for multi-frame messages
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pMsg = nullptr;
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for (int i = 0; i < messageBuffer.length(); i++)
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{
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if (messageBuffer[i].ID == ID)
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{
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pMsg = &messageBuffer[i];
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break;
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}
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}
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if (!pMsg) return;
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if (!pMsg->isMultiframe) return; //if we didn't get a frame type 1 (start of multiframe) first then ignore this frame.
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ln = pMsg->len - pMsg->data.count();
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//offset = pMsg->data.count();
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if (useExtendedAddressing)
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{
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if (ln > 6) ln = 6;
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for (int j = 0; j < ln; j++) pMsg->data.append(frame.payload()[j+2]);
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}
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else
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{
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if (ln > 7) ln = 7;
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for (int j = 0; j < ln; j++) pMsg->data.append(frame.payload()[j+1]);
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}
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if (pMsg->len <= pMsg->data.count())
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{
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//qDebug() << "Emitting multiframe ISOTP message";
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checkNeedFlush(pMsg->ID);
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}
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break;
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case 3: //flow control messages
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switch (frameLen) //actually flow control type in this case
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{
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case 0: //continue to send frames but maybe change inter-frame delay
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waitingForFlow = false;
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//data[1] contains number of frames to send before waiting for next flow control
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framesUntilFlow = frame.payload()[1];
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if (framesUntilFlow == 0) framesUntilFlow = -1; //-1 means don't count frames and just keep going
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//data[2] contains the interframe delay to use (0xF1 through 0xF9 are special through)
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if (frame.payload()[2] < (char)0xF1) frameTimer.start(frame.payload()[2]); //set proper delay between frames
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else frameTimer.start(1); //can't do sub-millisecond sending with this code so just use 1ms timing
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break;
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case 1: //wait - do not send any more frames until other side says so
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waitingForFlow = true;
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frameTimer.stop(); //quit sending frames for now
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break;
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case 2: //overflow or abort. Assume this means abort and quit sending
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frameTimer.stop();
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sendingFrames.clear();
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waitingForFlow = false;
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break;
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}
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waitingForFlow = false;
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break;
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}
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}
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void ISOTP_HANDLER::checkNeedFlush(uint64_t ID)
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{
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for (int i = 0; i < messageBuffer.length(); i++)
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{
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if (messageBuffer[i].ID == ID)
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{
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//used to pass by reference but now newISOMessage should pass by value which makes it easier to use cross thread
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if (messageBuffer[i].ID > 0x600 && messageBuffer[i].ID < 0x630)
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{
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if (messageBuffer[i].len <= messageBuffer[i].data.count())
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{
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qDebug() << "Flushing full frame" << QString::number(messageBuffer[i].ID, 16) << " " << messageBuffer[i].len << " " << messageBuffer[i].data.count();
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}
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else
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{
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qDebug() << "Flushing a partial frame " << QString::number(messageBuffer[i].ID, 16) << " " << messageBuffer[i].len << " " << messageBuffer[i].data.count();
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}
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}
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emit newISOMessage(messageBuffer[i]);
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messageBuffer.removeAt(i);
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return;
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}
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}
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}
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void ISOTP_HANDLER::frameTimerTick()
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{
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CANFrame frame;
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if (!waitingForFlow)
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{
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if (!sendingFrames.isEmpty())
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{
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frame = sendingFrames.takeFirst();
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CANConManager::getInstance()->sendFrame(frame);
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if (framesUntilFlow > -1) framesUntilFlow--;
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if (framesUntilFlow == 0) //stop sending and wait for another flow control message
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{
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frameTimer.stop(); //we absolutely will not send anything until other side says to.
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waitingForFlow = true;
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}
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}
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else //no more frames to send
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{
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frameTimer.stop();
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}
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}
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else //while waiting for a flow frame we didn't get one during timeout period. Try to send anyway with default timeout
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{
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waitingForFlow = false;
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frameTimer.setInterval(20); //pretty slow sending which should be OK as a default
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}
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}
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void ISOTP_HANDLER::setProcessAll(bool state)
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{
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processAll = state;
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}
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void ISOTP_HANDLER::addFilter(uint32_t pBusId, uint32_t ID, uint32_t mask)
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{
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CANFilter filt;
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filt.ID = ID;
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filt.bus = pBusId;
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filt.mask = mask;
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filters.append(filt);
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}
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void ISOTP_HANDLER::removeFilter(uint32_t pBusId, uint32_t ID, uint32_t mask)
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{
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for (int i = 0; i < filters.count(); i++)
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{
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if (filters[i].bus == pBusId && filters[i].ID == ID && filters[i].mask == mask) filters.removeAt(i);
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}
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}
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void ISOTP_HANDLER::clearAllFilters()
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{
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filters.clear();
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}
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