First implementation
This commit is contained in:
Yury Shuvakin
356
CanController.cpp
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356
CanController.cpp
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#include "CanController.h"
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#include <core/MeasurementSetup.h>
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#include <core/MeasurementNetwork.h>
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#include <core/MeasurementInterface.h>
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#include <core/CanTrace.h>
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#include <core/Log.h>
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#include <driver/CanInterface.h>
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#include <driver/SLCANDriver/SLCANDriver.h>
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#include <driver/CANBlastDriver/CANBlasterDriver.h>
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#if defined(__linux__)
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#include <driver/SocketCanDriver/SocketCanDriver.h>
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#else
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#include <driver/CandleApiDriver/CandleApiDriver.h>
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#endif
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#include "CanStructs.h"
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#include <QDataStream>
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#include <QDateTime>
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#include <QDebug>
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#include <QTimer>
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#include <QSettings>
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#include <QRandomGenerator>
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#include <bitset>
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#include <functional>
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CanController::CanController(QObject* parent)
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: QObject{parent}
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, lastPackageDateTime_(QDateTime::fromMSecsSinceEpoch(0))
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{
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setupDrivers();
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QSettings settings("settings.ini", QSettings::IniFormat);
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auto& backend = Backend::instance();
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connect(backend.getTrace(), &CanTrace::messageEnqueued, this, &CanController::handlePackage);
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const auto requestParametersTimer = new QTimer(this);
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connect(requestParametersTimer, &QTimer::timeout, this, &CanController::requestParameters);
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const auto requestParametersTimeout = settings.value("requestParametersTimeout", 500).toInt();
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requestParametersTimer->start(requestParametersTimeout);
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const auto updateCanStatusTimer = new QTimer(this);
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connect(updateCanStatusTimer, &QTimer::timeout, this, &CanController::updateCanStatus);
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updateCanStatusTimer->start(2000);
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const auto reconnectTimer = new QTimer(this);
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connect(reconnectTimer, &QTimer::timeout, this, &CanController::tryConnectCan);
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reconnectTimer->start(5000);
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const auto sendMessagesTimer = new QTimer(this);
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connect(sendMessagesTimer, &QTimer::timeout, this, &CanController::sendMessages);
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const auto sendMessagesTimeout = settings.value("sendMessagesTimeout", 30).toInt();
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sendMessagesTimer->start(sendMessagesTimeout);
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initializeBatteries();
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QTimer::singleShot(0, this, &CanController::connectCan);
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}
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CanController::~CanController()
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{
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}
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QObject* CanController::qmlInstance(QQmlEngine* /*engine*/, QJSEngine* /*scriptEngine*/)
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{
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return new CanController;
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}
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void CanController::connectCan()
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{
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auto& backend = Backend::instance();
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backend.clearTrace();
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QSettings settings("settings.ini", QSettings::IniFormat);
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auto bitrate = settings.value("bitrate", 125000).toInt();
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for (auto* network: backend.getSetup().getNetworks())
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{
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for (auto* mi: network->interfaces())
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{
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mi->setBitrate(bitrate);
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}
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}
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isFirstCheck_ = true;
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backend.startMeasurement();
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saveConfiguration();
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QTimer::singleShot(1000, this, [this]{ updateCanStatus(); });
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}
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void CanController::disconnectCan()
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{
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Backend::instance().stopMeasurement();
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isConnected_ = false;
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}
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void CanController::tryConnectCan()
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{
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if (!isConnected_)
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{
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disconnectCan();
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connectCan();
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}
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}
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void CanController::sendCanMessage(const CanMessage& message, bool highPriority)
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{
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if (highPriority)
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{
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sendMessages_.prepend(message);
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}
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else
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{
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sendMessages_.push_back(message);
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}
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}
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void CanController::sendMessages()
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{
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if (sendMessages_.isEmpty())
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{
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return;
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}
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const auto& message = sendMessages_.takeFirst();
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auto& backend = Backend::instance();
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bool isSent = false;
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for (const auto interfaceId: backend.getInterfaceList())
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{
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auto interface = backend.getInterfaceById(interfaceId);
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if (interface)
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{
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isSent = true;
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interface->sendMessage(message);
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}
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}
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if (isSent)
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{
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qDebug() << "Sent:" << message.getIdString() << message.getDataHexString();
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}
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}
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void CanController::requestParameters()
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{
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for (auto address: registerAddresses())
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{
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CanId parametersId;
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parametersId.address = address;
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parametersId.type = 0x1;
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CanMessage parametersMessage(parametersId.serialize());
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parametersMessage.setLength(1);
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parametersMessage.setByte(0, 24);
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sendCanMessage(parametersMessage);
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}
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}
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void CanController::setBatteryAction()
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{
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auto batteryController = qobject_cast<BatteryController*>(sender());
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if (!batteryController)
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{
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return;
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}
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CanId actionId;
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actionId.address = registerAddresses().at(batteryController->batteryIndex()) + 0x12;
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actionId.type = 0x0;
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CanMessage actionMessage(actionId.serialize());
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actionMessage.setLength(1);
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actionMessage.setByte(0, 1);
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sendCanMessage(actionMessage, true);
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}
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void CanController::handlePackage(int index)
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{
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lastPackageDateTime_ = QDateTime::currentDateTime();
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if (isFirstCheck_)
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{
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updateCanStatus();
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}
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auto& backend = Backend::instance();
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auto message = backend.getTrace()->getMessage(index);
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if (!message)
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{
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return;
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}
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qDebug() << "Received:" << index << message->getIdString() << message->getDataHexString();
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CanId canId;
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canId.deserialize(message->getId());
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if (canId.destination != 0x1 || canId.source != 0x0)
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{
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qDebug() << "Ignoring message with destination" << canId.destination << "and source" << canId.source;
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return;
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}
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auto batteryIndex = qsizetype((canId.address - 0x200) / 128);
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if (batteryIndex < 0 || batteryIndex >= batteries_.size())
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{
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qDebug() << "Invalid battery index:" << batteryIndex << "for address" << canId.address;
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return;
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}
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QHash<quint16, std::function<void(const CanMessage*, qsizetype)>> packageHandlers =
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{
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{0x0, std::bind(&CanController::handleControlParameters, this, std::placeholders::_1, std::placeholders::_2)},
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{0x8, std::bind(&CanController::handleMeasuredParameters, this, std::placeholders::_1, std::placeholders::_2)},
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{0x10, std::bind(&CanController::handleStatusParameters, this, std::placeholders::_1, std::placeholders::_2)}
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};
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auto offset = canId.address - quint16(0x200 + batteryIndex * 128);
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qDebug() << "Address:" << canId.address << "Index:" << batteryIndex << "Offset:" << offset;
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if (packageHandlers.contains(offset))
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{
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packageHandlers[offset](message, batteryIndex);
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}
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}
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void CanController::handleControlParameters(const CanMessage* message, qsizetype batteryIndex)
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{
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QDataStream stream(message->getData());
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stream.setByteOrder(QDataStream::LittleEndian);
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quint16 capacity = 0;
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stream >> capacity;
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batteries_.at(batteryIndex)->setControlCapacity(parameterToVariant(capacity));
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quint16 temperature = 0;
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stream >> temperature;
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batteries_.at(batteryIndex)->setControlTemperature(parameterToVariant(temperature));
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quint16 current = 0;
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stream >> current;
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batteries_.at(batteryIndex)->setControlCurrent(parameterToVariant(current));
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quint16 voltage = 0;
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stream >> voltage;
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batteries_.at(batteryIndex)->setControlVoltage(parameterToVariant(voltage));
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}
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void CanController::handleMeasuredParameters(const CanMessage* message, qsizetype batteryIndex)
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{
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QDataStream stream(message->getData());
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stream.setByteOrder(QDataStream::LittleEndian);
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quint16 capacity = 0;
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stream >> capacity;
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batteries_.at(batteryIndex)->setMeasuredCapacity(parameterToVariant(capacity));
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quint16 temperature = 0;
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stream >> temperature;
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batteries_.at(batteryIndex)->setMeasuredTemperature(parameterToVariant(temperature));
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quint16 current = 0;
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stream >> current;
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batteries_.at(batteryIndex)->setMeasuredCurrent(parameterToVariant(current));
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quint16 voltage = 0;
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stream >> voltage;
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batteries_.at(batteryIndex)->setMeasuredVoltage(parameterToVariant(voltage));
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}
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void CanController::handleStatusParameters(const CanMessage* message, qsizetype batteryIndex)
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{
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QDataStream stream(message->getData());
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stream.setByteOrder(QDataStream::LittleEndian);
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quint8 chargeType = 0;
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stream >> chargeType;
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batteries_.at(batteryIndex)->setChargeType(chargeType);
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quint8 workingMode = 0;
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stream >> workingMode;
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batteries_.at(batteryIndex)->setWorkingMode(workingMode);
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stream.skipRawData(1);
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quint16 status = 0;
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stream >> status;
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batteries_.at(batteryIndex)->addStatus(status);
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}
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void CanController::updateCanStatus()
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{
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auto isConnected = lastPackageDateTime_.msecsTo(QDateTime::currentDateTime()) < 2000;
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if (isConnected_ != isConnected || isFirstCheck_)
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{
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isFirstCheck_ = false;
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setProperty("isConnected", isConnected);
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}
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}
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void CanController::setupDrivers()
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{
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auto& backend = Backend::instance();
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#if defined(__linux__)
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backend.addCanDriver(*(new SocketCanDriver(backend)));
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#else
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backend.addCanDriver(*(new CandleApiDriver(backend)));
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#endif
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backend.addCanDriver(*(new SLCANDriver(backend)));
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// backend.addCanDriver(*(new CANBlasterDriver(backend)));
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backend.setDefaultSetup();
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}
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void CanController::saveConfiguration()
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{
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auto& backend = Backend::instance();
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QDomDocument doc;
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auto root = doc.createElement("configuration");
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backend.getSetup().saveXML(backend, doc, root);
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doc.appendChild(root);
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const auto configuration = doc.toString();
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qDebug() << "Configuration" << configuration;
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}
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void CanController::initializeBatteries()
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{
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for (int i = 0; i < 8; ++i)
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{
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auto batteryContoller = new BatteryController(this);
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connect(batteryContoller, &BatteryController::actionButtonClicked, this, &CanController::setBatteryAction);
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batteries_.append(batteryContoller);
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emit batteriesChanged();
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}
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}
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QList<quint16> CanController::registerAddresses() const
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{
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return {0x200, 0x280, 0x300, 0x380, 0x400, 0x480, 0x500, 0x580};
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}
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QVariant CanController::parameterToVariant(quint16 parameter) const
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{
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return parameter == 0xFFFF ? QVariant() : QVariant::fromValue(parameter / 10.0);
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}
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