246 lines
8.4 KiB
C++
246 lines
8.4 KiB
C++
#include "motorcontrollerconfigwindow.h"
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#include "ui_motorcontrollerconfigwindow.h"
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#include "mainwindow.h"
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#include <QDebug>
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/*
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* Nothing to see here, these are not the droids you're looking for. Go away
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*
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*
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*
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* You didn't go away, did you... This is a screen that allows for setting EEPROM configuration for a
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* custom motor controller project I was working on. It's hidden by default. You could re-enable it and play around
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* with it if you're bored. It might be a good basis for how to set a list of parameters on a device. But, it could be broken
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* these days too. It is not maintained any longer as the project it was meant for is abandoned. YMMV.
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*/
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MotorControllerConfigWindow::MotorControllerConfigWindow(const QVector<CANFrame> *frames, QWidget *parent) :
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QDialog(parent),
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ui(new Ui::MotorControllerConfigWindow)
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{
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ui->setupUi(this);
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setWindowFlags(Qt::Window);
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modelFrames = frames;
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timer.setInterval(40);
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transmitStep = 0;
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doingRequest = false;
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QStringList headers;
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headers << "Param" << "Value";
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ui->tableParams->setColumnCount(2);
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ui->tableParams->setColumnWidth(0, 350);
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ui->tableParams->setColumnWidth(1, 150);
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ui->tableParams->setHorizontalHeaderLabels(headers);
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connect(MainWindow::getReference(), SIGNAL(framesUpdated(int)), this, SLOT(updatedFrames(int)));
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connect(ui->btnRefresh, SIGNAL(clicked(bool)), this, SLOT(refreshData()));
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connect(ui->btnSave, SIGNAL(clicked(bool)), this, SLOT(saveData()));
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connect(&timer, SIGNAL(timeout()), this, SLOT(timerTick()));
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connect(ui->btnLoadFile, SIGNAL(clicked(bool)), this, SLOT(loadFile()));
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}
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MotorControllerConfigWindow::~MotorControllerConfigWindow()
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{
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delete ui;
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}
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void MotorControllerConfigWindow::updatedFrames(int numFrames)
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{
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CANFrame thisFrame;
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uint32_t id;
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QTableWidgetItem *item = nullptr;
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if (numFrames == -1) //all frames deleted
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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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}
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else //just got some new frames. See if they are relevant.
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{
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if (numFrames > modelFrames->count()) return;
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for (int i = modelFrames->count() - numFrames; i < modelFrames->count(); i++)
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{
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thisFrame = modelFrames->at(i);
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id = thisFrame.frameId();
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if (id == 0xC2) //response to a query we made
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{
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if ((char)thisFrame.payload()[2] == 0)
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{
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uint32_t paramID = static_cast<uint32_t>(thisFrame.payload()[0] + (thisFrame.payload()[1] * 256));
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for (int i = 0; i < params.length(); i++)
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{
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if (params[i].paramID == paramID)
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{
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params[i].value = static_cast<uint16_t>(thisFrame.payload()[4] + (thisFrame.payload()[5] * 256));
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if (params[i].paramType == ASCII) item = new QTableWidgetItem(); //QString::fromUtf8((char *)params[i].value, 2));
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if (params[i].paramType == HEX) item = new QTableWidgetItem(Utility::formatHexNum(params[i].value));
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if (params[i].paramType == DEC)
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{
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if (params[i].signedType == UNSIGNED) item = new QTableWidgetItem(QString::number(params[i].value));
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if (params[i].signedType == SIGNED)
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{
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if (params[i].value < 0x8000) item = new QTableWidgetItem(QString::number(params[i].value));
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else item = new QTableWidgetItem(QString::number(params[i].value - 0x10000));
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}
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if (params[i].signedType == Q15) item = new QTableWidgetItem(QString::number(params[i].value / 32768.0));
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}
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ui->tableParams->setItem(i, 1, item);
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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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}
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}
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void MotorControllerConfigWindow::refreshData()
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{
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doingRequest = true;
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transmitStep = 0;
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timer.start();
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}
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void MotorControllerConfigWindow::loadFile()
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{
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QString filename;
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QFileDialog dialog;
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QFile *inFile;
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QByteArray line;
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PARAM param;
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QStringList filters;
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filters.append(QString(tr("RMS Definition File (*.txt *.TXT)")));
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dialog.setFileMode(QFileDialog::ExistingFile);
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dialog.setNameFilters(filters);
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dialog.setViewMode(QFileDialog::Detail);
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if (dialog.exec() == QDialog::Accepted)
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{
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filename = dialog.selectedFiles()[0];
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inFile = new QFile(filename);
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if (!inFile->open(QIODevice::ReadOnly | QIODevice::Text))
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{
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delete inFile;
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return;
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}
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ui->tableParams->clear();
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params.clear();
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while (!inFile->atEnd())
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{
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line = inFile->readLine().simplified().toUpper();
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if (!line.startsWith("#") && line.length() > 10)
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{
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QList<QByteArray> tokens = line.split(',');
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//Serial_Number_EEPROM , 0x0113, uint, dec, 16, 6, spr, spr, spr
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param.paramName = tokens[0].simplified();
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param.paramID = Utility::ParseStringToNum(tokens[1].simplified());
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QString signedStr = tokens[2].simplified().toUpper();
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param.signedType = SIGNED;
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if (signedStr.compare("UINT") == 0) param.signedType = UNSIGNED;
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if (signedStr.compare("Q15") == 0) param.signedType = Q15;
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QString typeStr = tokens[3].simplified().toUpper();
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param.paramType = DEC;
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if (typeStr.compare("HEX") == 0) param.paramType = HEX;
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if (typeStr.compare("ASCII") == 0) param.paramType = ASCII;
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int row = ui->tableParams->rowCount();
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ui->tableParams->insertRow(row);
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QTableWidgetItem *item = new QTableWidgetItem(param.paramName);
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ui->tableParams->setItem(row, 0, item);
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item = new QTableWidgetItem("");
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ui->tableParams->setItem(row, 1, item);
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params.append(param);
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}
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}
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refreshData();
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inFile->close();
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delete inFile;
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}
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}
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void MotorControllerConfigWindow::saveData()
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{
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doingRequest = false;
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transmitStep = 0;
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timer.start();
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}
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void MotorControllerConfigWindow::timerTick()
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{
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if (doingRequest) //send requests for data
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{
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qDebug() << "Request: " << QString::number(transmitStep);
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outFrame.setFrameId(0xC1);
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QByteArray bytes(8, 0);
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outFrame.bus = 0;
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outFrame.setExtendedFrameFormat(false);
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bytes[0] = params[transmitStep].paramID & 0xFF;
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bytes[1] = (params[transmitStep].paramID >> 8) & 0xFF;
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bytes[2] = 0; //0 = read, 1 = write
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bytes[3] = 0; //reserved
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bytes[4] = 0; //value goes in bytes 4,5 when writing
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bytes[5] = 0;
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bytes[6] = 0; //reserved
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bytes[7] = 0; //reserved
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outFrame.setPayload(bytes);
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CANConManager::getInstance()->sendFrame(outFrame);
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transmitStep++;
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if (transmitStep == params.length())
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{
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timer.stop();
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return;
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}
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}
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else //save current value of all data items
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{
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uint16_t thisValue;
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qDebug() << "Transmission: " << QString::number(transmitStep);
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QString cellVal = ui->tableParams->item(transmitStep, 1)->text();
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if (params[transmitStep].paramType != HEX)
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thisValue = (uint16_t)Utility::ParseStringToNum(cellVal);
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else
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thisValue = (uint16_t)Utility::ParseStringToNum(cellVal);
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if (thisValue != params[transmitStep].value)
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{
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outFrame.setFrameId(0xC1);
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QByteArray bytes(8, 0);
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outFrame.bus = 0;
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outFrame.setExtendedFrameFormat(false);
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bytes[0] = params[transmitStep].paramID & 0xFF;
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bytes[1] = (params[transmitStep].paramID >> 8) & 0xFF;
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bytes[2] = 1; //0 = read, 1 = write
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bytes[3] = 0; //reserved
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bytes[4] = params[transmitStep].value & 0xFF;
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bytes[5] = (params[transmitStep].value >> 8) & 0xFF;
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bytes[6] = 0; //reserved
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bytes[7] = 0; //reserved
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CANConManager::getInstance()->sendFrame(outFrame);
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}
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transmitStep++;
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}
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}
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