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checker_host/interface/if_can.cpp

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#include "interface/if_can.h"
#include <QDebug>
#include "QTimer"
#include "base/crc.h"
#include <QtEndian>
#include "QThread"
#include "base/mycfg.h"
#define QT_NO_DEBUG_OUTPUT
typedef struct
{
uint32_t Reserve1 : 3;
uint32_t srcMACID : 5;
uint32_t Reserve0 : 2;
uint32_t destMACID : 5;
uint32_t ACK : 1;
uint32_t FunClass : 6;
uint32_t SegFlag : 2;
uint32_t SegNum : 8;
} YeCanID_st;
typedef union
{
uint32_t Exide;
YeCanID_st yecanid;
} YeCanID_un;
can_slave::can_slave()
{
addr = 0;
recv_pack_num = 0;
}
// 定义带参的沟道函数供QList调用
can_slave::can_slave(const can_slave &b) : QObject()
{
this->addr = b.addr;
this->recv_data = b.recv_data;
this->recv_pack_num = b.recv_pack_num;
}
can_slave::~can_slave()
{
}
can_slave &can_slave::operator=(const can_slave &b)
{
this->addr = b.addr;
this->recv_data = b.recv_data;
this->recv_pack_num = b.recv_pack_num;
return *this;
}
void can_slave::append(QByteArray data)
{
recv_data.append(data);
recv_pack_num++;
}
QByteArray can_slave::get_data()
{
return recv_data;
}
int can_slave::get_pack_num()
{
return recv_pack_num;
}
void can_slave::clear()
{
recv_data.clear();
recv_pack_num = 0;
}
can_host::can_host(int bitrate)
{
this->bitrate = bitrate;
this->can_ = nullptr;
timer_ = nullptr;
}
can_host::~can_host()
{
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if(can_ !=nullptr){
delete can_;
}
if(timer_ !=nullptr){
delete timer_;
}
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}
// 用于返回指定地址的从机对象
can_slave &can_host::get_slave_by_addr(uint8_t addr)
{
for (int i = 0; i < slaves.size(); i++)
{
if (slaves[i].addr == addr)
return slaves[i];
}
// 如果没有对应地址的从机,则添加一个
can_slave c;
c.addr = addr;
slaves.append(c);
return slaves[slaves.size() - 1];
}
void can_host::init()
{
QTimer::singleShot(0, this, &can_host::init_cb);
}
void can_host::init_cb()
{
if (nullptr == can_)
{
/* 先关闭can0 */
system("ifconfig can0 down");
QString cmd = tr("ip link set up can0 type can bitrate %1 restart-ms 100").arg(bitrate);
/* 使用系统指令以设置的比特率初始化CAN */
// qDebug()<< "can cmd:"<<cmd<<endl;
system(cmd.toStdString().c_str());
system("echo 4096 > /sys/class/net/can0/tx_queue_len");
QString errorString;
can_ = QCanBus::instance()->createDevice("socketcan", "can0", &errorString);
if (!can_)
{
qWarning() << "Error creating device can0,reson:" << errorString;
return;
}
/* 连接CAN */
if (!can_->connectDevice())
{
qWarning() << "device can0 Connection error:" << can_->errorString();
delete can_;
can_ = nullptr;
return;
}
// 连接收到数据信号和错误信号
connect(can_, SIGNAL(framesReceived()), this, SLOT(recv_data_cb()));
}
}
// 发送完成回调
void can_host::freams_sent_cb(qint64 count)
{
Q_UNUSED(count);
qDebug() << "freams sent.count=" << count;
if (!send_packets.isEmpty())
{
QCanBusFrame f = send_packets.at(0);
if (can_->writeFrame(f) == true)
send_packets.removeAt(0);
}
}
// 收到can数据的回调
void can_host::recv_data_cb()
{
YeCanID_un frame_id;
while (can_->framesAvailable())
{
const QCanBusFrame frame = can_->readFrame();
frame_id.Exide = frame.frameId();
if (frame_id.Exide == 0x000000)
return;
QByteArray payload = frame.payload();
uint8_t slave_addr = frame_id.yecanid.srcMACID;
uint8_t dst_addr = frame_id.yecanid.destMACID;
uint8_t seg_flag = frame_id.yecanid.SegFlag;
int seg_num = frame_id.yecanid.SegNum;
can_slave &slave = get_slave_by_addr(slave_addr);
if (seg_flag == 0x00)
{
// 不分段
slave.clear();
slave.append(payload);
if (dst_addr == 0){
if (irq_fun)
{
irq_fun(myarray(slave.get_data()));
}
}
qDebug()<<"can recv from:"<<slave_addr<<slave.get_data().toHex(' ');
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}
else if (seg_flag == 0x01)
{
// 首段
slave.clear();
slave.append(payload);
}
else if (seg_flag == 0x02)
{
// 中段
slave.append(payload);
}
else if (seg_flag == 0x03)
{
// 尾段
slave.append(payload);
if (slave.get_pack_num() - 1 == seg_num)
{
if (dst_addr == 0){
if (irq_fun)
{
irq_fun(myarray(slave.get_data()));
}
}
qDebug()<<"can recv from:"<<slave_addr<<slave.get_data().toHex(' ');
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}
else
{
qDebug() << "can data from: " << QString::number(slave_addr, 10) << "recv error";
}
}
}
}
int can_host::write(int dst,myarray data)
{
qDebug()<<"can send to:"<<dst<<data.toHex(' ');
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append(dst, 1, data);
return data.size();
}
void can_host::send_data_cb(uint8_t dst, int fun_class, QByteArray data)
{
append(dst, fun_class, data);
}
// 群发消息
void can_host::send_data_mul_cb(QList<uint8_t> dst, int fun_class, QByteArray data)
{
for (int i = 0; i < dst.size(); i++)
append(dst[i], fun_class, data);
}
void can_host::append(uint8_t addr, uint8_t fun_class, QByteArray data)
{
YeCanID_un frameId;
frameId.Exide = 0;
frameId.yecanid.destMACID = addr;
frameId.yecanid.srcMACID = 0;
frameId.yecanid.FunClass = fun_class;
frameId.yecanid.SegFlag = 0;
frameId.yecanid.SegNum = 0;
// 单包发送
if (data.size() <= 8)
{
frameId.yecanid.SegFlag = 0x0;
frameId.yecanid.SegNum = 0;
QCanBusFrame frame = QCanBusFrame(frameId.Exide, data.left(8));
while (can_->writeFrame(frame) != true)
{
can_->waitForFramesWritten(1000);
}
}
else
{
// 按8字节分包发送
for (int i = 0; !data.isEmpty(); i++)
{
if (i == 0)
{
frameId.yecanid.SegFlag = 0x1;
}
else if (data.size() > 8)
{
frameId.yecanid.SegFlag = 0x2;
}
else
{
frameId.yecanid.SegFlag = 0x3;
}
frameId.yecanid.SegNum = (uint8_t)i;
QCanBusFrame frame = QCanBusFrame(frameId.Exide, data.left(8));
while (can_->writeFrame(frame) != true)
{
can_->waitForFramesWritten(1000);
}
data.remove(0, 8);
}
}
}
void can_host::on_error_cb(QCanBusDevice::CanBusError err)
{
switch (err)
{
case QCanBusDevice::ReadError:
qWarning() << "ReadError" << can_->errorString();
break;
case QCanBusDevice::WriteError:
qWarning() << "WriteError" << can_->errorString();
break;
case QCanBusDevice::ConnectionError:
qWarning() << "ConnectionError" << can_->errorString();
break;
case QCanBusDevice::ConfigurationError:
qWarning() << "ConfigurationError" << can_->errorString();
break;
case QCanBusDevice::UnknownError:
qWarning() << "UnknowError" << can_->errorString();
break;
default:
break;
}
}
InterFace *if_can_get()
{
static InterFace *if_ = nullptr;
if (if_ == nullptr)
{
int bsp=200000;
if(syscfg()->can_bitrate!=0){
bsp=syscfg()->can_bitrate;
}
if_ = new can_host(bsp);
QTimer::singleShot(0, if_, &InterFace::init);
}
return if_;
}
if_export(can, if_can_get);