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Copy pathExtender.cpp
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204 lines (172 loc) · 26 KB
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/*
* Copyright (C) 2018 Markus Ippy, Bastian Gschrey,
* use this program at your own risk.
\file Extender.cpp
\brief request and receive messages from Haltech via CAN Haltech CAN Protocol V2
\author Markus Ippy
*/
#include "Extender.h"
#include "dashboard.h"
#include <QtEndian>
#include <QDebug>
#include <QVector>
#include "math.h"
QVector<int>averagehz1(0);
qreal avghz1;
qreal test1;
quint32 canstartadress;
quint32 canstartadressrpm;
quint32 adress1;
quint32 adress2;
quint32 adress3;
quint32 adress4;
quint32 adress5;
int statusmask = 128;
int frequencymask = 127;
qreal cylinders = 0;
Extender::Extender(QObject *parent)
: QObject(parent)
, m_dashboard(Q_NULLPTR)
{
}
Extender::Extender(DashBoard *dashboard, QObject *parent)
: QObject(parent)
, m_dashboard(dashboard)
{
}
Extender::~Extender()
{
}
void Extender::variables(const qreal &Cylinder)
{
cylinders = (Cylinder/2);
//qDebug() << "cylinders " << cylinders;
}
void Extender::openCAN(const int &ExtenderBaseID,const int &RPMCANBaseID)
{
canstartadress = ExtenderBaseID;
canstartadressrpm =
// qDebug() << "CAN Start Adress :" << canstartadress;
// qDebug() << "Opening CANbus ";
adress1 = canstartadress + 1;
adress2 = canstartadress + 2;
adress3 = canstartadress + 3;
adress5 = RPMCANBaseID + 1;
if (QCanBus::instance()->plugins().contains(QStringLiteral("socketcan")))
{
QString errorString;
m_canDevice = QCanBus::instance()->createDevice(QStringLiteral("socketcan"),
QStringLiteral("can0"),&errorString);
if (!m_canDevice) {
//qDebug() << ("Error creating device");
return;
}
if(m_canDevice->connectDevice()){
//qDebug() << m_canDevice->state();
// qDebug() << m_canDevice;
// qDebug() << "device connected!";
//connect(m_canDevice,SIGNAL(framesReceived()),this,SLOT(readyToRead()));
connect(m_canDevice, &QCanBusDevice::framesReceived, this, &Extender::readyToRead);
}
}
}
void Extender::closeConnection()
{
disconnect(m_canDevice,SIGNAL(framesReceived()),this,SLOT(readyToRead()));
if (m_canDevice)
m_canDevice->disconnectDevice();
}
void Extender::readyToRead()
{
if (!m_canDevice)
return;
while (m_canDevice->framesAvailable()) {
const QCanBusFrame frame = m_canDevice->readFrame();
// Just for testing start
QString view;
if (frame.frameType() == QCanBusFrame::ErrorFrame)
view = m_canDevice->interpretErrorFrame(frame);
else
view = frame.toString();
/*
const QString time = QString::fromLatin1("%1.%2 ")
.arg(frame.timeStamp().seconds(), 10, 10, QLatin1Char(' '))
.arg(frame.timeStamp().microSeconds() / 100, 4, 10, QLatin1Char('0'));
// Just for testing end
// qDebug() << time << view;
*/
// This section decodes the recevied Payload according to the frame ID
QByteArray splitpayload = frame.payload();
payload* info=reinterpret_cast<payload*>(splitpayload.data());
pkgpayload[0] = qFromLittleEndian(info->CH1);
pkgpayload[1] = qFromLittleEndian(info->CH2);
pkgpayload[2] = qFromLittleEndian(info->CH3);
pkgpayload[3] = qFromLittleEndian(info->CH4);
int byte0 = splitpayload[0] ;
int byte1 = splitpayload[1] ;
int byte2 = splitpayload[2] ;
int byte3 = splitpayload[3] ;
int byte4 = splitpayload[4] ;
int byte5 = splitpayload[5] ;
int byte6 = splitpayload[6] ;
int byte7 = splitpayload[7] ;
//switch(frame.frameId()) {
//case adress1:
if (frame.frameId() == adress1) {
// ON / Off Status :
m_dashboard->setEXDigitalInput1((byte0 & statusmask)>0); //Digital Input 0
m_dashboard->setEXDigitalInput2((byte1 & statusmask)>0); //Digital Input 1
m_dashboard->setEXDigitalInput3((byte2 & statusmask)>0); //Digital Input 2
m_dashboard->setEXDigitalInput4((byte3 & statusmask)>0); //Digital Input 3
m_dashboard->setEXDigitalInput5((byte4 & statusmask)>0); //Digital Input 4
m_dashboard->setEXDigitalInput6((byte5 & statusmask)>0); //Digital Input 5
m_dashboard->setEXDigitalInput7((byte6 & statusmask)>0); //Digital Input 6
m_dashboard->setEXDigitalInput8((byte7 & statusmask)>0); //Digital Input 7
/*
// Frequency Counter :
m_dashboard->setEXDigitalInput1((byte0 & frequencymask)*16.6*30); //Digital Input 0
m_dashboard->setEXDigitalInput2((byte1 & frequencymask)*16.6); //Digital Input 1
m_dashboard->setEXDigitalInput3((byte2 & frequencymask)*16.6); //Digital Input 2
m_dashboard->setEXDigitalInput4((byte3 & frequencymask)*16.6); //Digital Input 3
m_dashboard->setEXDigitalInput5((byte4 & frequencymask)*16.6); //Digital Input 4
m_dashboard->setEXDigitalInput6((byte5 & frequencymask)*16.6); //Digital Input 5
m_dashboard->setEXDigitalInput7((byte6 & frequencymask)*16.6); //Digital Input 6
m_dashboard->setEXDigitalInput8((byte7 & frequencymask)*16.6); //Digital Input 7
//qDebug() << "Frequency :" << ((byte0 & frequencymask)*16.6);
averagehz1.removeFirst();
averagehz1.append((byte0 & frequencymask));
//qDebug() << "Vector HZ " << averagehz1;
avghz1 = 0;
for (int i = 0; i <= 10-1; i++){avghz1+= averagehz1[i];}
test1 = avghz1/10;
averagehz1.resize(10);
//qDebug() << "Frequency 10 samples :" << ((avghz1/10)*16.6);
m_dashboard->setEXDigitalInput1((avghz1/10)*16.6*30);
//qDebug() << "Test :" << test1;
*/
}
//case 0x402:
if (frame.frameId() == adress2) {
m_dashboard->setEXAnalogInput0(pkgpayload[0]*0.001); //Analog 0
m_dashboard->setEXAnalogInput1(pkgpayload[1]*0.001); //Analog 1
m_dashboard->setEXAnalogInput2(pkgpayload[2]*0.001); //Analog 2
m_dashboard->setEXAnalogInput3(pkgpayload[3]*0.001); //Analog 3
// break;
}
//case 0x403:
if (frame.frameId() == adress3) {
m_dashboard->setEXAnalogInput4(pkgpayload[0]*0.001); //Analog 4
m_dashboard->setEXAnalogInput5(pkgpayload[1]*0.001); //Analog 5
m_dashboard->setEXAnalogInput6(pkgpayload[2]*0.001); //Analog 6
m_dashboard->setEXAnalogInput7(pkgpayload[3]*0.001); //Analog 7
//break;
}
if (frame.frameId() == adress5 && cylinders != 0) {
m_dashboard->setrpm(qRound((pkgpayload[0]*4) / cylinders)); //RPM
//break;
}
// default:
// break;
// }
}
}