401 lines
11 KiB
C++
401 lines
11 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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SerialWorker::SerialWorker(CANFrameModel *model, QObject *parent) : QObject(parent)
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{
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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 = new CANFrame;
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canModel = model;
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gotFrames = 0;
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ticker = NULL;
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elapsedTime = NULL;
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framesPerSec = 0;
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capturing = true;
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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::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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}
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void SerialWorker::setSerialPort(QSerialPortInfo *port)
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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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serial = new QSerialPort(*port);
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qDebug() << "Serial port name is " << port->portName();
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serial->setBaudRate(serial->Baud115200);
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serial->setDataBits(serial->Data8);
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serial->setFlowControl(serial->HardwareControl);
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serial->open(QIODevice::ReadWrite);
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serial->setDataTerminalReady(true);
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serial->setRequestToSend(true);
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QByteArray output;
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output.append(0xE7); //this puts the device into binary comm mode
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output.append(0xE7);
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output.append(0xF1); //signal we want to issue a command
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output.append(0x06); //request canbus stats from the board
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output.append(0xF1); //another command to the GVRET
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output.append(0x07); //request device information
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serial->write(output);
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if (doValidation) connected = false;
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else connected = 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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if (ticker == NULL)
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{
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ticker = new QTimer;
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connect(ticker, SIGNAL(timeout()), this, SLOT(handleTick()));
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}
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if (elapsedTime == NULL)
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{
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elapsedTime = new QTime;
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elapsedTime->start();
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}
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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::connectionTimeout()
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{
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//one second after trying to connect are we actually connected?
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if (!connected) //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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emit connectionFailure();
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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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}
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void SerialWorker::sendFrame(const CANFrame *frame, int bus = 0)
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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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//qDebug() << "Sending out frame with id " << frame->ID;
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if (!connected) return;
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ID = frame->ID;
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if (frame->extended) ID |= 1 << 31;
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buffer[0] = 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)(bus & 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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if (serial == NULL) return;
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if (!serial->isOpen()) return;
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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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void SerialWorker::updateBaudRates(int Speed1, 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] = 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: //we don't accept time sync commands from the firmware
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rx_state = IDLE;
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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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}
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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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canModel->addFrame(*buildFrame, false);
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gotFrames++;
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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 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;
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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;
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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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if (!can1Enabled) can1Baud = 0;
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if (!can0Enabled) can0Baud = 0;
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connected = true;
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emit connectionSuccess(can0Baud, can1Baud);
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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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}
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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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framesPerSec += gotFrames * 1000 / elapsedTime->elapsed() - (framesPerSec / 4);
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elapsedTime->restart();
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emit frameUpdateTick(framesPerSec / 4, gotFrames); //sends stats to interested parties
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canModel->sendBulkRefresh(gotFrames);
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gotFrames = 0;
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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->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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ticker->stop();
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delete serial;
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serial = NULL;
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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";
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capturing = true;
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}
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