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115 lines
3.3 KiB
115 lines
3.3 KiB
#include "tools/cabana/streams/socketcanstream.h"
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#include <QDebug>
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#include <QFormLayout>
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#include <QHBoxLayout>
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#include <QMessageBox>
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#include <QPushButton>
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#include <QThread>
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SocketCanStream::SocketCanStream(QObject *parent, SocketCanStreamConfig config_) : config(config_), LiveStream(parent) {
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if (!available()) {
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throw std::runtime_error("SocketCAN plugin not available");
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}
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qDebug() << "Connecting to SocketCAN device" << config.device;
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if (!connect()) {
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throw std::runtime_error("Failed to connect to SocketCAN device");
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}
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}
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bool SocketCanStream::available() {
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return QCanBus::instance()->plugins().contains("socketcan");
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}
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bool SocketCanStream::connect() {
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// Connecting might generate some warnings about missing socketcan/libsocketcan libraries
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// These are expected and can be ignored, we don't need the advanced features of libsocketcan
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QString errorString;
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device.reset(QCanBus::instance()->createDevice("socketcan", config.device, &errorString));
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if (!device) {
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qDebug() << "Failed to create SocketCAN device" << errorString;
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return false;
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}
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if (!device->connectDevice()) {
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qDebug() << "Failed to connect to device";
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return false;
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}
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return true;
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}
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void SocketCanStream::streamThread() {
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while (!QThread::currentThread()->isInterruptionRequested()) {
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QThread::msleep(1);
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auto frames = device->readAllFrames();
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if (frames.size() == 0) continue;
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MessageBuilder msg;
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auto evt = msg.initEvent();
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auto canData = evt.initCan(frames.size());
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for (uint i = 0; i < frames.size(); i++) {
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if (!frames[i].isValid()) continue;
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canData[i].setAddress(frames[i].frameId());
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canData[i].setSrc(0);
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auto payload = frames[i].payload();
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canData[i].setDat(kj::arrayPtr((uint8_t*)payload.data(), payload.size()));
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}
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handleEvent(capnp::messageToFlatArray(msg));
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}
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}
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AbstractOpenStreamWidget *SocketCanStream::widget(AbstractStream **stream) {
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return new OpenSocketCanWidget(stream);
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}
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OpenSocketCanWidget::OpenSocketCanWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
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QVBoxLayout *main_layout = new QVBoxLayout(this);
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main_layout->addStretch(1);
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QFormLayout *form_layout = new QFormLayout();
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QHBoxLayout *device_layout = new QHBoxLayout();
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device_edit = new QComboBox();
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device_edit->setFixedWidth(300);
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device_layout->addWidget(device_edit);
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QPushButton *refresh = new QPushButton(tr("Refresh"));
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refresh->setFixedWidth(100);
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device_layout->addWidget(refresh);
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form_layout->addRow(tr("Device"), device_layout);
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main_layout->addLayout(form_layout);
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main_layout->addStretch(1);
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QObject::connect(refresh, &QPushButton::clicked, this, &OpenSocketCanWidget::refreshDevices);
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QObject::connect(device_edit, &QComboBox::currentTextChanged, this, [=]{ config.device = device_edit->currentText(); });
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// Populate devices
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refreshDevices();
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}
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void OpenSocketCanWidget::refreshDevices() {
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device_edit->clear();
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for (auto device : QCanBus::instance()->availableDevices(QStringLiteral("socketcan"))) {
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device_edit->addItem(device.name());
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}
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}
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bool OpenSocketCanWidget::open() {
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try {
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*stream = new SocketCanStream(qApp, config);
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} catch (std::exception &e) {
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QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to SocketCAN device: '%1'").arg(e.what()));
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return false;
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}
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return true;
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}
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