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#include "serialbusconnection.h"
#include "canconmanager.h"
#include <QCanBus>
#include <QCanBusFrame>
#include <QDateTime>
#include <QDebug>
/***********************************/
/**** class definition ****/
/***********************************/
SerialBusConnection::SerialBusConnection(QString portName, QString driverName, int pBusSpeed, int pDataRate, bool pCanFd) :
CANConnection(portName, driverName, CANCon::SERIALBUS,0 ,pBusSpeed, pCanFd, pDataRate ,1, 4000, true),
mTimer(this) /*NB: set connection as parent of timer to manage it from working thread */
{
}
SerialBusConnection::~SerialBusConnection()
{
stop();
}
void SerialBusConnection::piStarted()
{
qDebug() << "piStarted()";
/* create device */
QString errorString;
qDebug() << "Creating device instance";
mDev_p = QCanBus::instance()->createDevice(getDriver(), getPort(), &errorString);
if (!mDev_p) {
disconnectDevice();
qDebug() << "Error: createDevice(" << getType() << getDriver() << getPort() << "):" << errorString;
return;
}
/* connect slots */
connect(mDev_p, &QCanBusDevice::errorOccurred, this, &SerialBusConnection::errorReceived);
connect(mDev_p, &QCanBusDevice::framesWritten, this, &SerialBusConnection::framesWritten);
connect(mDev_p, &QCanBusDevice::framesReceived, this, &SerialBusConnection::framesReceived);
connect(&mTimer, SIGNAL(timeout()), this, SLOT(testConnection()));
mTimer.setInterval(1000);
mTimer.setSingleShot(false); //keep ticking
mTimer.start();
mBusData[0].mBus.setActive(true);
mBusData[0].mBus.setCanFD(false);
mBusData[0].mConfigured = true;
}
void SerialBusConnection::piSuspend(bool pSuspend)
{
/* update capSuspended */
setCapSuspended(pSuspend);
/* flush queue if we are suspended */
if(isCapSuspended())
getQueue().flush();
}
void SerialBusConnection::piStop() {
qDebug() << "piStop()";
mTimer.stop();
disconnectDevice();
}
bool SerialBusConnection::piGetBusSettings(int pBusIdx, CANBus& pBus)
{
return getBusConfig(pBusIdx, pBus);
}
void SerialBusConnection::piSetBusSettings(int pBusIdx, CANBus bus)
{
quint32 sbusconfig = 0;
//CANConStatus stats;
/* sanity checks */
if(0 != pBusIdx)
return;
if (!mDev_p) return;
/* disconnect device if we have one connected */
disconnectDevice();
/* copy bus config */
setBusConfig(0, bus);
/* if bus is not active we are done */
if(!bus.isActive())
return;
/* set configuration */
/*if (p.useConfigurationEnabled) {
foreach (const SettingsDialog::ConfigurationItem &item, p.configurations)
mDev->setConfigurationParameter(item.first, item.second);
}*/
//You cannot set the speed of a socketcan interface, it has to be set with console commands.
//But, you can probabaly set the speed of many of the other serialbus devices so go ahead and try
mDev_p->setConfigurationParameter(QCanBusDevice::BitRateKey, bus.getSpeed());
mDev_p->setConfigurationParameter(QCanBusDevice::CanFdKey, bus.isCanFD());
if(bus.isListenOnly())
sbusconfig |= EN_SILENT_MODE;
mDev_p->setConfigurationParameter(QCanBusDevice::UserKey, sbusconfig);
/* connect device */
if (!mDev_p->connectDevice()) {
disconnectDevice();
qDebug() << "can't connect device";
}
}
bool SerialBusConnection::piSendFrame(const CANFrame& pFrame)
{
/* sanity checks */
if(0 != pFrame.bus /*|| pFrame.len>8*/)
return false;
if (!mDev_p) return false;
return mDev_p->writeFrame(pFrame);
}
/***********************************/
/**** private methods ****/
/***********************************/
/* disconnect device */
void SerialBusConnection::disconnectDevice() {
if(mDev_p) {
mDev_p->disconnectDevice();
}
}
void SerialBusConnection::errorReceived(QCanBusDevice::CanBusError error) const
{
switch (error) {
case QCanBusDevice::ReadError:
case QCanBusDevice::WriteError:
case QCanBusDevice::ConnectionError:
case QCanBusDevice::ConfigurationError:
case QCanBusDevice::UnknownError:
qWarning() << mDev_p->errorString();
break;
default:
break;
}
}
void SerialBusConnection::framesWritten(qint64 count)
{
Q_UNUSED(count);
//qDebug() << "Number of frames written:" << count;
}
void SerialBusConnection::framesReceived()
{
uint64_t timeBasis = CANConManager::getInstance()->getTimeBasis();
/* sanity checks */
if(!mDev_p)
return;
/* read frame */
while(true)
{
const QCanBusFrame recFrame = mDev_p->readFrame();
/* exit case */
if(!recFrame.isValid())
break;
/* drop frame if capture is suspended */
if(isCapSuspended())
continue;
/* check frame */
//if (recFrame.payload().length() <= 8) {
if (true) {
CANFrame* frame_p = getQueue().get();
if(frame_p) {
frame_p->setPayload(recFrame.payload());
frame_p->bus = 0;
if (recFrame.frameType() == recFrame.ErrorFrame)
{
frame_p->setExtendedFrameFormat(recFrame.hasExtendedFrameFormat());
frame_p->setFrameId(recFrame.frameId() + 0x20000000ull);
frame_p->isReceived = true;
}
else
{
frame_p->setExtendedFrameFormat(recFrame.hasExtendedFrameFormat());
frame_p->setFrameId(recFrame.frameId());
}
frame_p->setTimeStamp(recFrame.timeStamp());
frame_p->setFrameType(recFrame.frameType());
frame_p->setError(recFrame.error());
/* If recorded frame has a local echo, it is a Tx message, and thus should not be marked as Rx */
frame_p->isReceived = !recFrame.hasLocalEcho();
if (useSystemTime) {
frame_p->setTimeStamp(QCanBusFrame::TimeStamp::fromMicroSeconds(QDateTime::currentMSecsSinceEpoch() * 1000ul));
}
else frame_p->setTimeStamp(QCanBusFrame::TimeStamp(0, (recFrame.timeStamp().seconds() * 1000000ul + recFrame.timeStamp().microSeconds()) - timeBasis));
checkTargettedFrame(*frame_p);
/* enqueue frame */
getQueue().queue();
}
else
qDebug() << "can't get a frame, ERROR";
}
}
}
void SerialBusConnection::testConnection() {
CANConStatus stats;
switch(getStatus())
{
case CANCon::CONNECTED:
if (!mDev_p || mDev_p->state() == QCanBusDevice::UnconnectedState) {
/* we have lost connectivity */
disconnectDevice();
setStatus(CANCon::NOT_CONNECTED);
stats.conStatus = getStatus();
stats.numHardwareBuses = mNumBuses;
emit status(stats);
piStop();
}
break;
case CANCon::NOT_CONNECTED:
if (mDev_p && mDev_p->state() == QCanBusDevice::UnconnectedState) {
/* try to reconnect */
CANBus bus;
if(getBusConfig(0, bus))
{
bus.setActive(true);
setBusSettings(0, bus);
}
setStatus(CANCon::CONNECTED);
stats.conStatus = getStatus();
stats.numHardwareBuses = mNumBuses;
emit status(stats);
}
break;
default: {}
}
}
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