329 lines
11 KiB
C++
329 lines
11 KiB
C++
#ifndef CANCONNECTION_H
|
|
#define CANCONNECTION_H
|
|
|
|
#include <Qt>
|
|
#include <QObject>
|
|
#include "utils/lfqueue.h"
|
|
#include "can_structs.h"
|
|
#include "canbus.h"
|
|
#include "canconconst.h"
|
|
|
|
struct BusData;
|
|
|
|
class CANConnection : public QObject
|
|
{
|
|
Q_OBJECT
|
|
|
|
protected:
|
|
|
|
/**
|
|
* @brief CANConnection constructor
|
|
* @param pPort: string containing port name
|
|
* @param pDriver: string containing driver name - Really only used for SerialBus connections
|
|
* @param pType: the type of connection @ref CANCon::type
|
|
* @param pSerialSpeed: for devices with variable serial speed this is that speed.
|
|
* @param pBusSpeed: set an initial speed when opening this connection
|
|
* @param pNumBuses: the number of buses the device has
|
|
* @param pQueueLen: the length of the lock free queue to use
|
|
* @param pUseThread: if set to true, object will be execute in a dedicated thread
|
|
*/
|
|
CANConnection(QString pPort,
|
|
QString pDriver,
|
|
CANCon::type pType,
|
|
int pSerialSpeed,
|
|
int pBusSpeed,
|
|
bool pCanFd,
|
|
int pDataRate,
|
|
int pNumBuses,
|
|
int pQueueLen,
|
|
bool pUseThread);
|
|
|
|
public:
|
|
|
|
/**
|
|
* @brief CANConnection destructor
|
|
*/
|
|
|
|
virtual ~CANConnection();
|
|
|
|
/**
|
|
* @brief getNumBuses
|
|
* @return returns the number of buses of the device
|
|
*/
|
|
int getNumBuses() const;
|
|
|
|
/**
|
|
* @brief getPort
|
|
* @return returns the port name of the device
|
|
*/
|
|
QString getPort();
|
|
|
|
/**
|
|
* @brief getDriver
|
|
* @return returns the name of the driver used for this device
|
|
*/
|
|
QString getDriver();
|
|
|
|
|
|
/**
|
|
* @brief getQueue
|
|
* @return the lock free queue of the device
|
|
*/
|
|
LFQueue<CANFrame>& getQueue();
|
|
|
|
/**
|
|
* @brief getType
|
|
* @return the @ref CANCon::type of the device
|
|
*/
|
|
CANCon::type getType();
|
|
|
|
/**
|
|
* @brief getStatus
|
|
* @return the @ref CANCon::status of the device (either connected or not)
|
|
*/
|
|
CANCon::status getStatus();
|
|
|
|
/**
|
|
* @brief setConsoleOutput
|
|
* @param state - set whether to send debugging info to the console or not
|
|
*/
|
|
void setConsoleOutput(bool state);
|
|
|
|
|
|
signals:
|
|
/*not implemented yet */
|
|
void error(const QString &);
|
|
void deviceInfo(int, int); //First param = driver version (or version of whatever you want), second param a status byte
|
|
|
|
//bus number, bus speed, status (bit 0 = enabled, 1 = single wire, 2 = listen only)
|
|
//3 = Use value stored for enabled, 4 = use value passed for single wire, 5 = use value passed for listen only
|
|
//6 = use value passed for speed. This allows bus status to be updated but set that some things aren't really
|
|
//being passed. Just set for things that really are being updated.
|
|
void busStatus(int, int, int);
|
|
|
|
/**
|
|
* @brief event sent when a frame matching a filter is received
|
|
*/
|
|
void targettedFrameReceived(CANFrame frame);
|
|
|
|
/**
|
|
* @brief event emitted when the CANCon::status of the connection changes (connected->not_connected or the other way round)
|
|
* @param pStatus: the new status of the device
|
|
*/
|
|
void status(CANConStatus pStatus);
|
|
|
|
/**
|
|
* @brief Event sent when device has done something worthy of debugging output.
|
|
* @param debugString: String based output to show for debugging purposes
|
|
*/
|
|
void debugOutput(QString debugString);
|
|
|
|
public slots:
|
|
|
|
/**
|
|
* @brief start the device. This calls piStarted
|
|
* @note starts the working thread if required (piStarted is called in the working thread context)
|
|
*/
|
|
void start();
|
|
|
|
/**
|
|
* @brief stop the device. This calls piStop
|
|
* @note if a working thread is used, piStop is called before exiting the working thread
|
|
*/
|
|
void stop();
|
|
|
|
/**
|
|
* @brief setBusSettings
|
|
* @param pBusIdx: the index of the bus for which settings have to be set
|
|
* @param pBus: the settings to set
|
|
* @note this calls piSetBusSettings in the working thread context (if one has been started)
|
|
*/
|
|
void setBusSettings(int pBusIdx, CANBus pBus);
|
|
|
|
/**
|
|
* @brief getBusSettings
|
|
* @param pBusIdx: the index of the bus for which settings have to be retrieved
|
|
* @param pBus: the CANBus struct to fill with information
|
|
* @return true if operation succeeds, false if pBusIdx is invalid or bus has not been configured yet
|
|
* @note this calls piGetBusSettings in the working thread context (if one has been started)
|
|
*/
|
|
bool getBusSettings(int pBusIdx, CANBus& pBus);
|
|
|
|
/**
|
|
* @brief suspends/restarts data capture
|
|
* @param pSuspend: suspends capture if true else restarts it
|
|
* @note this calls piSuspend (in the working thread context if one has been started)
|
|
* @note the caller shall not access the queue when capture is suspended,
|
|
* @note the callee is expected to flush the queue
|
|
*/
|
|
void suspend(bool pSuspend);
|
|
|
|
/**
|
|
* @brief provides device with the frame to send
|
|
* @param pFrame: the frame to send
|
|
* @return false if parameter is invalid (bus id for instance)
|
|
* @note this calls piSendFrame (in the working thread context if one has been started)
|
|
*/
|
|
bool sendFrame(const CANFrame& pFrame);
|
|
|
|
/**
|
|
* @brief provides device with a list of frames to send
|
|
* @param pFrame: the list of frames to send
|
|
* @return false if parameter is invalid (bus id for instance)
|
|
* @note this calls piSendFrameBatch (in the working thread context if one has been started)
|
|
*/
|
|
bool sendFrames(const QList<CANFrame>& pFrames);
|
|
|
|
/**
|
|
* @brief Add a new filter for the targetted frames. If a frame matches it will immediately be sent via the targettedFrameReceived signal
|
|
* @param pBusId - Which bus to bond to. -1 for any, otherwise a bitfield of buses (but 0 = first bus, etc)
|
|
* @param ID - 11 or 29 bit ID to match against
|
|
* @param mask - 11 or 29 bit mask used for filter
|
|
* @param receiver - Pointer to a QObject that wants to receive notification when filter is matched
|
|
* @return true if filter was able to be added, false otherwise.
|
|
*/
|
|
bool addTargettedFrame(int pBusId, uint32_t ID, uint32_t mask, QObject *receiver);
|
|
|
|
/**
|
|
* @brief Try to find a matching filter in the list and remove it, no longer targetting those frames
|
|
* @param pBusId - Which bus to bond to. Doesn't have to match the call to addTargettedFrame exactly. You could disconnect just one bus for instance.
|
|
* @param ID - 11 or 29 bit ID to match against
|
|
* @param mask - 11 or 29 bit mask used for filter
|
|
* @param receiver - Pointer to a QObject that wants to receive notification when filter is matched
|
|
* @return true if filter was found and deleted, false otherwise.
|
|
*/
|
|
bool removeTargettedFrame(int pBusId, uint32_t ID, uint32_t mask, QObject *receiver);
|
|
|
|
/**
|
|
* @brief Removes all registered filters for the passed receiver
|
|
* @param receiver - Pointer to a QObject that registered one or more filters
|
|
* @return true if filter(s) was/were found and deleted, false otherwise.
|
|
*/
|
|
bool removeAllTargettedFrames(QObject *receiver);
|
|
|
|
void debugInput(QByteArray bytes);
|
|
|
|
protected:
|
|
int mNumBuses; //protected to allow connected device to figure out how many buses are available
|
|
QVector<BusData> mBusData;
|
|
bool mConsoleOutput; //send debugging info to the console?
|
|
int mSerialSpeed;
|
|
|
|
//determine if the passed frame is part of a filter or not.
|
|
void checkTargettedFrame(CANFrame &frame);
|
|
|
|
/**
|
|
* @brief setStatus
|
|
* @param pStatus: the status to set
|
|
*/
|
|
void setStatus(CANCon::status pStatus);
|
|
|
|
/**
|
|
* @brief isConfigured
|
|
* @param pBusId
|
|
* @return true if bus is configured
|
|
*/
|
|
bool isConfigured(int pBusId);
|
|
|
|
/**
|
|
* @brief setConfigured
|
|
* @param pBusId
|
|
* @param pConfigured
|
|
* @note it is not necessary to call this function to set pBusId configured, it is enough to call @ref setBusConfig
|
|
*/
|
|
void setConfigured(int pBusId, bool pConfigured);
|
|
|
|
/**
|
|
* @brief getBusConfig
|
|
* @param pBusId
|
|
* @param pBus
|
|
* @return true if operation succeeds, false if pBusIdx is invalid or bus has not been configured yet
|
|
*/
|
|
bool getBusConfig(int pBusId, CANBus& pBus);
|
|
|
|
/**
|
|
* @brief setBusConfig
|
|
* @param pBusId: the index of the bus for which settings have to be set
|
|
* @param pBus: the settings to set
|
|
*/
|
|
void setBusConfig(int pBusId, CANBus& pBus);
|
|
|
|
/**
|
|
* @brief isCapSuspended
|
|
* @return true if the capture is suspended
|
|
*/
|
|
bool isCapSuspended();
|
|
|
|
/**
|
|
* @brief setCapSuspended
|
|
* @param pIsSuspended
|
|
*/
|
|
void setCapSuspended(bool pIsSuspended);
|
|
|
|
protected:
|
|
bool useSystemTime;
|
|
|
|
/**************************************************************/
|
|
/*********** protected interface to implement *******/
|
|
/**************************************************************/
|
|
|
|
/**
|
|
* @brief starts the device
|
|
*/
|
|
virtual void piStarted() = 0;
|
|
|
|
/**
|
|
* @brief stops the device
|
|
*/
|
|
virtual void piStop() = 0;
|
|
|
|
/**
|
|
* @brief piSetBusSettings
|
|
* @param pBusIdx: the index of the bus for which settings have to be set
|
|
* @param pBus: the settings to set
|
|
*/
|
|
virtual void piSetBusSettings(int pBusIdx, CANBus pBus) = 0;
|
|
|
|
/**
|
|
* @brief piGetBusSettings
|
|
* @param pBusIdx: the index of the bus for which settings have to be retrieved
|
|
* @param pBus: the CANBus struct to fill with information
|
|
* @return true if operation succeeds, false if pBusIdx is invalid or bus has not been configured yet
|
|
*/
|
|
virtual bool piGetBusSettings(int pBusIdx, CANBus& pBus) = 0;
|
|
|
|
/**
|
|
* @brief suspends/restarts data capture
|
|
* @param pSuspend: suspends capture if true else restarts it
|
|
* @note the caller will not access the queue when capture is suspended, so it is safe for callee to flush the queue
|
|
*/
|
|
virtual void piSuspend(bool pSuspend) = 0;
|
|
|
|
/**
|
|
* @brief provides device with the frame to send
|
|
* @param pFrame: the frame to send
|
|
* @return false if parameter is invalid (bus id for instance)
|
|
*/
|
|
virtual bool piSendFrame(const CANFrame&) = 0;
|
|
|
|
/**
|
|
* @brief provides device with a list of frames to send
|
|
* @param pFrame: the list of frames to send
|
|
* @return false if parameter is invalid (bus id for instance)
|
|
* @note implementing this function is optional
|
|
*/
|
|
virtual bool piSendFrames(const QList<CANFrame>&);
|
|
|
|
private:
|
|
LFQueue<CANFrame> mQueue;
|
|
const QString mPort;
|
|
const QString mDriver;
|
|
const CANCon::type mType;
|
|
bool mIsCapSuspended;
|
|
QAtomicInt mStatus;
|
|
bool mStarted;
|
|
QThread* mThread_p;
|
|
};
|
|
|
|
#endif // CANCONNECTION_H
|