649 lines
18 KiB
C++
649 lines
18 KiB
C++
#include "serialworker.h"
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#include <QSerialPort>
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#include <QDebug>
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#include <QTimer>
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#include <QSettings>
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#if 0
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SerialWorker::SerialWorker(CANFrameModel *model, int base) : CANConnection(model, base)
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{
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qDebug() << "Serial Worker constructor";
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serial = NULL;
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rx_state = IDLE;
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rx_step = 0;
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buildFrame;
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ticker = NULL;
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framesRapid = 0;
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gotValidated = true;
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isAutoRestart = false;
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txTimestampBasis = QDateTime::currentMSecsSinceEpoch();
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readSettings();
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}
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SerialWorker::~SerialWorker()
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{
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if (serial != NULL)
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{
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if (serial->isOpen())
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{
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serial->clear();
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serial->close();
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}
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serial->disconnect(); //disconnect all signals
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delete serial;
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}
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if (ticker != NULL) ticker->stop();
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}
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void SerialWorker::run()
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{
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qDebug() << "Serial worker thread starting";
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ticker = new QTimer;
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connect(ticker, SIGNAL(timeout()), this, SLOT(handleTick()));
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ticker->setInterval(250); //tick four times per second
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ticker->setSingleShot(false); //keep ticking
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ticker->start();
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}
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void SerialWorker::readSettings()
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{
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QSettings settings;
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if (settings.value("Main/ValidateComm", true).toBool())
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{
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doValidation = true;
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}
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else doValidation = false;
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//doValidation=false;
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}
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void SerialWorker::setSerialPort(QSerialPortInfo *port)
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{
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QSettings settings;
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currentPort = port;
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if (serial != NULL)
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{
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if (serial->isOpen())
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{
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serial->clear();
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serial->close();
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}
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serial->disconnect(); //disconnect all signals
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delete serial;
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}
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serial = new QSerialPort(*port);
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qDebug() << "Serial port name is " << port->portName();
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serial->setDataBits(serial->Data8);
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serial->setFlowControl(serial->HardwareControl); //this is important though
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if (!serial->open(QIODevice::ReadWrite))
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{
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qDebug() << serial->errorString();
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}
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serial->setDataTerminalReady(true); //you do need to set these or the fan gets dirty
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serial->setRequestToSend(true);
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QByteArray output;
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output.append((char)0xE7); //this puts the device into binary comm mode
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output.append((char)0xE7);
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output.append((char)0xF1); //signal we want to issue a command
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output.append((char)0x06); //request canbus stats from the board
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output.append((char)0xF1); //another command to the GVRET
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output.append((char)0x07); //request device information
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output.append((char)0xF1);
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output.append((char)0x08); //setting singlewire mode
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if (settings.value("Main/SingleWireMode", false).toBool())
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{
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output.append((char)0x10); //signal that we do want single wire mode
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}
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else
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{
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output.append((char)0xFF); //signal we don't want single wire mode
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}
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output.append((char)0xF1); //yet another command
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output.append((char)0x09); //comm validation command
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output.append((char)0xF1); //and another command
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output.append((char)0x01); //Time Sync - Not implemented until 333 but we can try
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continuousTimeSync = true;
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serial->write(output);
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if (doValidation) isConnected = false;
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else isConnected = true;
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connect(serial, SIGNAL(readyRead()), this, SLOT(readSerialData()));
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if (doValidation) QTimer::singleShot(1000, this, SLOT(connectionTimeout()));
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}
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void SerialWorker::connectionTimeout()
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{
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//one second after trying to connect are we actually connected?
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if (!isConnected) //no?
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{
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//then emit the the failure signal and see if anyone cares
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qDebug() << "Failed to connect to GVRET at that com port";
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//ticker->stop();
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closeSerialPort(); //make sure it's properly closed anyway
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emit connectionFailure(this);
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}
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}
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void SerialWorker::readSerialData()
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{
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QByteArray data = serial->readAll();
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unsigned char c;
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//qDebug() << (tr("Got data from serial. Len = %0").arg(data.length()));
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for (int i = 0; i < data.length(); i++)
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{
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c = data.at(i);
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procRXChar(c);
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}
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if (framesRapid > 0)
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{
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emit frameUpdateRapid(framesRapid);
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framesRapid = 0;
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}
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}
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void SerialWorker::sendFrame(const CANFrame *frame)
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{
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QByteArray buffer;
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int c;
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int ID;
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CANFrame tempFrame = *frame;
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tempFrame.isReceived = false;
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tempFrame.timestamp = ((QDateTime::currentMSecsSinceEpoch() - txTimestampBasis) * 1000);
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//qDebug() << "Sending out frame with id " << frame->ID;
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//show our sent frames in the list too. This happens even if we're not connected.
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/* model lives in UI thread, we need to call invokeMethod */
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QMetaObject::invokeMethod(model, "addFrame",
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Qt::QueuedConnection,
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Q_ARG(CANFrame, tempFrame),
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Q_ARG(bool, false));
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framesRapid++;
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if (serial == NULL) return;
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if (!serial->isOpen()) return;
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if (!isConnected) return;
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ID = frame->ID;
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if (frame->extended) ID |= 1 << 31;
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buffer[0] = (char)0xF1; //start of a command over serial
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buffer[1] = 0; //command ID for sending a CANBUS frame
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buffer[2] = (unsigned char)(ID & 0xFF); //four bytes of ID LSB first
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buffer[3] = (unsigned char)(ID >> 8);
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buffer[4] = (unsigned char)(ID >> 16);
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buffer[5] = (unsigned char)(ID >> 24);
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buffer[6] = (unsigned char)((frame->bus - this->getBusBase()) & 1);
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buffer[7] = (unsigned char)frame->len;
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for (c = 0; c < frame->len; c++)
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{
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buffer[8 + c] = frame->data[c];
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}
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buffer[8 + frame->len] = 0;
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//qDebug() << "writing " << buffer.length() << " bytes to serial port";
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serial->write(buffer);
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}
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//a simple way for another thread to pass us a bunch of frames to send.
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//Don't get carried away here. The GVRET firmware only has finite
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//buffers and besides, the other end will get buried in traffic.
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void SerialWorker::sendFrameBatch(const QList<CANFrame> *frames)
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{
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sendBulkMutex.lock();
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for (int i = 0; i < frames->length(); i++) sendFrame(&frames->at(i));
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sendBulkMutex.unlock();
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}
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void SerialWorker::updateBaudRates(unsigned int Speed1, unsigned int Speed2)
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{
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QByteArray buffer;
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qDebug() << "Got signal to update bauds. 1: " << Speed1 <<" 2: " << Speed2;
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buffer[0] = (char)0xF1; //start of a command over serial
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buffer[1] = 5; //setup canbus
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buffer[2] = (unsigned char)(Speed1 & 0xFF); //four bytes of ID LSB first
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buffer[3] = (unsigned char)(Speed1 >> 8);
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buffer[4] = (unsigned char)(Speed1 >> 16);
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buffer[5] = (unsigned char)(Speed1 >> 24);
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buffer[6] = (unsigned char)(Speed2 & 0xFF); //four bytes of ID LSB first
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buffer[7] = (unsigned char)(Speed2 >> 8);
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buffer[8] = (unsigned char)(Speed2 >> 16);
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buffer[9] = (unsigned char)(Speed2 >> 24);
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buffer[10] = 0;
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if (serial == NULL) return;
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if (!serial->isOpen()) return;
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serial->write(buffer);
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}
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void SerialWorker::procRXChar(unsigned char c)
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{
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switch (rx_state)
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{
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case IDLE:
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if (c == 0xF1) rx_state = GET_COMMAND;
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break;
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case GET_COMMAND:
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switch (c)
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{
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case 0: //receiving a can frame
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rx_state = BUILD_CAN_FRAME;
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rx_step = 0;
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break;
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case 1: //time sync
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rx_state = TIME_SYNC;
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rx_step = 0;
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break;
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case 2: //process a return reply for digital input states.
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rx_state = GET_DIG_INPUTS;
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rx_step = 0;
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break;
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case 3: //process a return reply for analog inputs
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rx_state = GET_ANALOG_INPUTS;
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break;
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case 4: //we set digital outputs we don't accept replies so nothing here.
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rx_state = IDLE;
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break;
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case 5: //we set canbus specs we don't accept replies.
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rx_state = IDLE;
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break;
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case 6: //get canbus parameters from GVRET
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rx_state = GET_CANBUS_PARAMS;
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rx_step = 0;
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break;
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case 7: //get device info
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rx_state = GET_DEVICE_INFO;
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rx_step = 0;
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break;
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case 9:
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gotValidated = true;
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//qDebug() << "Got validated";
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rx_state = IDLE;
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break;
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}
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break;
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case BUILD_CAN_FRAME:
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switch (rx_step)
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{
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case 0:
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buildFrame.timestamp = c;
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break;
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case 1:
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buildFrame.timestamp |= (uint)(c << 8);
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break;
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case 2:
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buildFrame.timestamp |= (uint)c << 16;
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break;
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case 3:
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buildFrame.timestamp |= (uint)c << 24;
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break;
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case 4:
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buildFrame.ID = c;
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break;
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case 5:
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buildFrame.ID |= c << 8;
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break;
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case 6:
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buildFrame.ID |= c << 16;
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break;
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case 7:
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buildFrame.ID |= c << 24;
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if ((buildFrame.ID & 1 << 31) == 1 << 31)
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{
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buildFrame.ID &= 0x7FFFFFFF;
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buildFrame.extended = true;
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}
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else buildFrame.extended = false;
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break;
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case 8:
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buildFrame.len = c & 0xF;
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if (buildFrame.len > 8) buildFrame.len = 8;
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buildFrame.bus = (c & 0xF0) >> 4;
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break;
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default:
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if (rx_step < buildFrame.len + 9)
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{
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buildFrame.data[rx_step - 9] = c;
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}
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else
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{
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rx_state = IDLE;
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rx_step = 0;
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//qDebug() << "emit from serial handler to main form id: " << buildFrame.ID;
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//if (capturing)
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//{
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buildFrame.isReceived = true;
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/* model lives in UI thread, we need to call invokeMethod */
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QMetaObject::invokeMethod(model, "addFrame",
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Qt::QueuedConnection,
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Q_ARG(CANFrame, buildFrame),
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Q_ARG(bool, false));
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//take the time the frame came in and try to resync the time base.
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if (continuousTimeSync) txTimestampBasis = QDateTime::currentMSecsSinceEpoch() - (buildFrame.timestamp / 1000);
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framesRapid++;
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//}
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}
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break;
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}
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rx_step++;
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break;
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case TIME_SYNC: //gives a pretty good base guess for the proper timestamp. Can be refined when traffic starts to flow (if wanted)
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switch (rx_step)
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{
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case 0:
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buildTimeBasis = c;
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break;
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case 1:
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buildTimeBasis += ((uint32_t)c << 8);
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break;
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case 2:
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buildTimeBasis += ((uint32_t)c << 16);
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break;
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case 3:
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buildTimeBasis += ((uint32_t)c << 24);
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qDebug() << "GVRET firmware reports timestamp of " << buildTimeBasis;
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txTimestampBasis = QDateTime::currentMSecsSinceEpoch() - ((uint64_t)buildTimeBasis / (uint64_t)1000ull);
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continuousTimeSync = false;
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rx_state = IDLE;
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break;
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}
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rx_step++;
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break;
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case GET_ANALOG_INPUTS: //get 9 bytes - 2 per analog input plus checksum
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switch (rx_step)
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{
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case 0:
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break;
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}
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rx_step++;
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break;
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case GET_DIG_INPUTS: //get two bytes. One for digital in status and one for checksum.
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switch (rx_step)
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{
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case 0:
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break;
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case 1:
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rx_state = IDLE;
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break;
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}
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rx_step++;
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break;
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case GET_CANBUS_PARAMS:
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switch (rx_step)
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{
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case 0:
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can0Enabled = (c & 0xF);
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can0ListenOnly = (c >> 4);
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break;
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case 1:
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can0Baud = c;
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break;
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case 2:
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can0Baud |= c << 8;
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break;
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case 3:
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can0Baud |= c << 16;
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break;
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case 4:
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can0Baud |= c << 24;
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break;
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case 5:
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can1Enabled = (c & 0xF);
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can1ListenOnly = (c >> 4);
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deviceSingleWireMode = (c >> 6);
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break;
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case 6:
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can1Baud = c;
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break;
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case 7:
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can1Baud |= c << 8;
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break;
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case 8:
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can1Baud |= c << 16;
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break;
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case 9:
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can1Baud |= c << 24;
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rx_state = IDLE;
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qDebug() << "Baud 0 = " << can0Baud;
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qDebug() << "Baud 1 = " << can1Baud;
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can0Baud |= 0x80000000;
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if (can0Enabled) can0Baud |= 0x40000000;
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if (can0ListenOnly) can0Baud |= 0x20000000;
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can1Baud |= 0x80000000;
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if (can1Enabled) can1Baud |= 0x40000000;
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if (can1ListenOnly) can1Baud |= 0x20000000;
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if (deviceSingleWireMode > 0) can1Baud |= 0x10000000;
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isConnected = true;
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emit connectionSuccess(this);
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int can0Status = 0x78; //updating everything we can update
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int can1Status = 0x78;
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if (can0Enabled) can0Status +=1;
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if (can0ListenOnly) can0Status += 4;
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if (can1Enabled) can1Status += 1;
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if (deviceSingleWireMode > 0) can1Status += 2;
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if (can1ListenOnly) can1Status += 4;
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emit busStatus(busBase, can0Baud & 0xFFFFF, can0Status);
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emit busStatus(busBase + 1, can1Baud & 0xFFFFF, can1Status);
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break;
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}
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rx_step++;
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break;
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case GET_DEVICE_INFO:
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switch (rx_step)
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{
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case 0:
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deviceBuildNum = c;
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break;
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case 1:
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deviceBuildNum |= c << 8;
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break;
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case 2:
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break; //don't care about eeprom version
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case 3:
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break; //don't care about file type
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case 4:
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break; //don't care about whether it auto logs or not
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case 5:
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deviceSingleWireMode = c;
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rx_state = IDLE;
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qDebug() << "build num: " << deviceBuildNum;
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qDebug() << "single wire can: " << deviceSingleWireMode;
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emit deviceInfo(deviceBuildNum, deviceSingleWireMode);
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break;
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}
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rx_step++;
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break;
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case SET_DIG_OUTPUTS:
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rx_state = IDLE;
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break;
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case SETUP_CANBUS:
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rx_state = IDLE;
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break;
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case SET_SINGLEWIRE_MODE:
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rx_state = IDLE;
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break;
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}
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}
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void SerialWorker::handleTick()
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{
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//qDebug() << "Tick!";
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if (isConnected)
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{
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if (!gotValidated && doValidation)
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{
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if (serial == NULL) return;
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if (serial->isOpen()) //if it's still false we have a problem...
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{
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qDebug() << "Comm validation failed. ";
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closeSerialPort(); //start by stopping everything.
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//Then wait 500ms and restart the connection automatically
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QTimer::singleShot(500, this, SLOT(handleReconnect()));
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return;
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}
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}
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}
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if (doValidation && serial && serial->isOpen()) sendCommValidation();
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}
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void SerialWorker::handleReconnect()
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{
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qDebug() << "Automatically reopening the connection";
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setSerialPort(currentPort); //then go back through the re-init
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}
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void SerialWorker::sendCommValidation()
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{
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QByteArray output;
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gotValidated = false;
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output.append((char)0xF1); //another command to the GVRET
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output.append((char)0x09); //request a reply to get validation
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//send it twice for good measure.
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output.append((char)0xF1); //another command to the GVRET
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output.append((char)0x09); //request a reply to get validation
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serial->write(output);
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}
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//totally shuts down the whole thing
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void SerialWorker::closeSerialPort()
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{
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if (serial == NULL) return;
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if (serial->isOpen())
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{
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serial->clear();
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serial->close();
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}
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serial->disconnect();
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//do not stop the ticker here. It always stays running now.
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//ticker->stop();
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delete serial;
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serial = NULL;
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}
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/*
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void SerialWorker::stopFrameCapture()
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{
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qDebug() << "Stopping frame capture";
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capturing = false;
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}
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void SerialWorker::startFrameCapture()
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{
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|
qDebug() << "Starting up frame capture";
|
|
capturing = true;
|
|
}
|
|
*/
|
|
|
|
void SerialWorker::updatePortName(QString portName)
|
|
{
|
|
QList<QSerialPortInfo> ports;
|
|
|
|
CANConnection::updatePortName(portName);
|
|
|
|
ports = QSerialPortInfo::availablePorts();
|
|
|
|
for (int i = 0; i < ports.count(); i++)
|
|
{
|
|
if (portName == ports[i].portName())
|
|
{
|
|
setSerialPort(&ports[i]);
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
void SerialWorker::updateBusSettings(CANBus bus)
|
|
{
|
|
int busNum = bus.busNum - busBase;
|
|
if (busNum < 0) return;
|
|
if (busNum >= numBuses) return;
|
|
qDebug() << "About to update bus " << busNum << " on GVRET";
|
|
if (busNum == 0)
|
|
{
|
|
can0Baud = bus.getSpeed();
|
|
can0Baud |= 0x80000000;
|
|
if (bus.isActive())
|
|
{
|
|
can0Baud |= 0x40000000;
|
|
can0Enabled = true;
|
|
}
|
|
else can0Enabled = false;
|
|
|
|
if (bus.isListenOnly())
|
|
{
|
|
can0Baud |= 0x20000000;
|
|
can0ListenOnly = true;
|
|
}
|
|
else can0ListenOnly = false;
|
|
}
|
|
if (busNum == 1)
|
|
{
|
|
can1Baud = bus.getSpeed();
|
|
can1Baud |= 0x80000000;
|
|
if (bus.isActive())
|
|
{
|
|
can1Baud |= 0x40000000;
|
|
can1Enabled = true;
|
|
}
|
|
else can1Enabled = false;
|
|
|
|
if (bus.isListenOnly())
|
|
{
|
|
can1Baud |= 0x20000000;
|
|
can1ListenOnly = true;
|
|
}
|
|
else can1ListenOnly = false;
|
|
|
|
if (bus.isSingleWire())
|
|
{
|
|
can1Baud |= 0x10000000;
|
|
deviceSingleWireMode = 1;
|
|
}
|
|
else deviceSingleWireMode = 0;
|
|
}
|
|
|
|
updateBaudRates(can0Baud,can1Baud);
|
|
}
|
|
|
|
|
|
/************************************/
|
|
|
|
int SerialWorker::getNumBuses()
|
|
{
|
|
return 2;
|
|
}
|
|
|
|
QString SerialWorker::getConnTypeName()
|
|
{
|
|
return QString("GVRET");
|
|
}
|
|
|
|
#endif
|