First implementation
This commit is contained in:
Yury Shuvakin
254
cpp/CanController.cpp
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254
cpp/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 <window/SetupDialog/SetupDialog.h>
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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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CanController::CanController(QObject* parent)
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: QObject{parent}
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{
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setupDrivers();
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setupDefaultParameters();
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auto& backend = Backend::instance();
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connect(backend.getTrace(), &CanTrace::messageEnqueued, this, &CanController::handlePackage);
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QSettings settings("settings.ini", QSettings::IniFormat);
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auto sendParametersTimeout = settings.value("sendParametersTimeout", 50).toInt();
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const auto sendParametersTimer = new QTimer(this);
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sendParametersTimer->start(sendParametersTimeout);
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connect(sendParametersTimer, &QTimer::timeout, this, &CanController::sendParameters);
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// auto statusTimer = new QTimer(this);
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// statusTimer->start(5000);
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// statusTimer->callOnTimeout([this]
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// {
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// QVariantMap statusMap;
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// statusMap.insert("time", QDateTime::currentDateTime().toString());
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// statusMap.insert("status", "0x" + QString::number(0xff, 16).toUpper().rightJustified(2, '0'));
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// statusMap.insert("description", "asdfasdfasdf");
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// statuses_.prepend(statusMap);
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// emit statusesChanged();
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// });
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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", 100000).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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backend.startMeasurement();
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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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}
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void CanController::vkuClosure()
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{
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CanMessage message(0x201);
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message.setLength(8);
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message.setByte(0, 0x01);
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auto& backend = Backend::instance();
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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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interface->sendMessage(message);
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}
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}
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}
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void CanController::emergencyReset()
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{
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CanMessage message(0x201);
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message.setLength(8);
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message.setByte(0, 0x02);
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auto& backend = Backend::instance();
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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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interface->sendMessage(message);
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}
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}
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}
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void CanController::sendParameters()
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{
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CanMessage message(0x202);
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message.setLength(8);
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const auto maximumCurrent = maximumCurrent_.toUInt();
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message.setByte(0, maximumCurrent & 0xFF);
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const auto breakingDelay = breakingDelay_.toUInt();
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message.setByte(1, (breakingDelay >> 8) & 0xFF);
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message.setByte(2, breakingDelay & 0xFF);
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const auto breakingCurrent = breakingCurrent_.toUInt();
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message.setByte(3, breakingCurrent & 0xFF);
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const auto emergencyDelay = emergencyDelay_.toUInt();
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message.setByte(4, emergencyDelay & 0xFF);
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const auto retriesAfterEmergencyBreak = retriesAfterEmergencyBreak_.toUInt();
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message.setByte(5, retriesAfterEmergencyBreak & 0xFF);
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// qDebug() << "Sending parameters: " << maximumCurrent;
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auto& backend = Backend::instance();
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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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interface->sendMessage(message);
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}
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}
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}
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void CanController::handlePackage(int index)
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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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if (message->getId() == 0x501)
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{
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handleCurrentState(message);
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}
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if (message->getId() == 0x502)
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{
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handleStatus(message);
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}
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}
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void CanController::handleCurrentState(const CanMessage* message)
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{
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quint16 inputVoltage = (message->getByte(0) << 8) + message->getByte(1);
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setProperty("inputVoltage", QString::number(inputVoltage));
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quint16 outputVoltage = (message->getByte(2) << 8) + message->getByte(3);
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setProperty("outputVoltage", QString::number(outputVoltage));
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quint8 outputCurrent = message->getByte(4);
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setProperty("outputCurrent", QString::number(outputCurrent));
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qint16 radiatorTemperature = (message->getByte(5) << 8) + message->getByte(6);
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setProperty("radiatorTemperature", QString::number(radiatorTemperature));
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}
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void CanController::handleStatus(const CanMessage* message)
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{
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QMap<quint8, QString> statusDescriptionMap =
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{
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{0x00, tr("Reset")},
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{0x01, tr("No incoming messages via CAN interface")},
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{0x03, tr("Waiting for a command for closing")},
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{0x04, tr("Work via CAN")},
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{0x05, tr("Work via button signal")},
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{0x06, tr("Work via CAN or button signal")},
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{0x20, tr("Exceeding input voltage")},
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{0x22, tr("Exceeding maximum current")},
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{0x18, tr("Exceeding radiator temperature")},
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{0x02, tr("Pause after breaking")},
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{0x80, tr("Blocking due to emergency")}
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};
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quint8 status = message->getByte(0);
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auto statusDescription = statusDescriptionMap.value(status, tr("Unknown status"));
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QVariantMap statusMap;
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statusMap.insert("time", QDateTime::currentDateTime().toString());
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statusMap.insert("status", "0x" + QString::number(status, 16).toUpper().rightJustified(2, '0'));
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statusMap.insert("description", statusDescription);
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if (statuses_.isEmpty() || statuses_.first().toMap()["status"] != statusMap["status"])
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{
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statuses_.prepend(statusMap);
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emit statusesChanged();
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}
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quint8 emergencyCounter = message->getByte(1);
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setProperty("emergencyCounter", QString::number(emergencyCounter));
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bool isVkuClosed = (message->getByte(2) & 0x1) == 1;
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setProperty("isVkuClosed", isVkuClosed);
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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::setupDefaultParameters()
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{
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setProperty("maximumCurrent", QString::number(95));
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setProperty("emergencyDelay", QString::number(2));
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setProperty("breakingDelay", QString::number(0));
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setProperty("retriesAfterEmergencyBreak", QString::number(2));
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setProperty("breakingCurrent", QString::number(100));
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}
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