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Reworked driver code, part II

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This commit is contained in:
DIASPORA\chris
2026-01-01 01:58:54 +01:00
parent 3ed3511f50
commit 550382207e
5 changed files with 55 additions and 87 deletions
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10
bcdriver.cpp
View File

@@ -100,20 +100,14 @@ BCDriverDummy::BCDriverDummy( QObject* parent )
{
}
BCDriver::DriverState BCDriverDummy::loadAndInitDriver()
{
return BCDriver::DriverState::Ready;
}
uint32_t BCDriverDummy::readRawByte( uint32_t deviceID, uint8_t registerID ) const
{
//if( getState() != DriverState::Ready)
// throw BCException( "readRawValue error: driver not loaded." );
if( getState() != DriverState::Ready)
throw BCException( "readRawValue error: driver not loaded." );
uint32_t myRandomByte = static_cast<uint32_t>(QRandomGenerator::global()->bounded(256));
return myRandomByte;
}
void BCDriverDummy::writeRawByte( uint32_t deviceID, uint8_t registerID, uint8_t value ) const

4
bcdriver.h
View File

@@ -96,7 +96,7 @@ public:
Error,
Loaded,
Initialized,
Opended, // bis hierher: dll vorhanden, Treiber geladen
Opened, // bis hierher: dll vorhanden, Treiber geladen
Ready // hier: devices connectable
};
Q_ENUM(DriverState)
@@ -115,7 +115,7 @@ public slots:
signals:
void driverStateChanged( DriverState state, const QString& message="" );
void driverStateChanged( DriverState state, const QString& message="" ) const;
protected:

95
bcdrivertinycan.cpp
View File

@@ -46,6 +46,14 @@ BCDriverTinyCan::BCDriverTinyCan( QObject* parent )
}
void BCDriverTinyCan::onStartDriver()
{
if( _driverState < DriverState::Opened)
loadDriver();
if( _driverState == DriverState::Opened)
_driverState = connectDriver();
}
void BCDriverTinyCan::loadDriver()
{
@@ -71,12 +79,7 @@ void BCDriverTinyCan::loadDriver()
Q_UNUSED(state)
if( ::CanDeviceOpen( 0, NULL ) < 0 )
return std::unexpected(QString("Driver Error: 'DeviceOpen'"));
return DriverState::Opended;
};
auto callSetDeviceMode = [](DriverState state) -> Result
{
Q_UNUSED(state)
::TDeviceStatus deviceStatus;
::CanSetSpeed( 0, CAN_125K_BIT );
@@ -84,20 +87,19 @@ void BCDriverTinyCan::loadDriver()
::CanGetDeviceStatus( 0, &deviceStatus );
if( deviceStatus.DrvStatus < DRV_STATUS_CAN_OPEN )
std::unexpected(QString("Driver Error: could not open device." ));
return std::unexpected(QString("Driver Error: could not open device." ));
if( deviceStatus.CanStatus == CAN_STATUS_BUS_OFF )
{
::CanSetMode( 0, OP_CAN_RESET, CAN_CMD_NONE );
std::unexpected(QString("Driver Error: CAN Status 'BusOff'" ));
return std::unexpected(QString("Driver Error: CAN Status 'BusOff'" ));
}
return BCDriver::DriverState::Ready;
return DriverState::Opened;
};
auto newDriverState = callLoadDriver()
.and_then( callInitDriver )
.and_then( callOpenDevice )
.and_then( callSetDeviceMode );
.and_then( callOpenDevice );
_driverState = DriverState::Error;
QString message("Driver Ready.");
@@ -110,8 +112,37 @@ void BCDriverTinyCan::loadDriver()
emit driverStateChanged( _driverState, message );
}
void BCDriverTinyCan::initDriver()
// __fix
BCDriver::DriverState BCDriverTinyCan::connectDriver()
{
uint32_t console = static_cast<uint32_t>(BCDevice::ID::Console);
uint8_t slaveFlag = static_cast<uint8_t>(BC::ID::Cons_Status_Slave);
qDebug() << "XXX BCDriverTinyCan::Driver Init: putting Console in slave mode ... ";
// Console already in slave mode. good!
if( readRawByte( console, slaveFlag ) )
return DriverState::Ready;
qDebug() << "BCDriverTinyCan::BCDriverTinyCan::XXX Driver Init: putting Console in slave mode ... ";
unsigned int retry = cTimeOuts;
emit driverStateChanged( _driverState, "Driver Init: putting Console in slave mode ... " );
uint32_t isSlave = 0;
do
{
writeRawByte( console, slaveFlag, 1 );
isSlave = readRawByte( console, slaveFlag );
bc::delay_millis( 200 );
} while( retry-- && !isSlave );
bc::delay_millis( 500 ); // give the Console some time to settle
//if( !isSlave )
//emit statusHint( QString("putting Console in slave mode ") + (isSlave ? "done" : "failed") );
// ist das jetzt irgendwie schlimm, wenn wir keine slave Console haben
return isSlave ? DriverState::Ready : DriverState::Opened;
}
@@ -119,58 +150,20 @@ void BCDriverTinyCan::initDriver()
/*
try
{
loadAndInitDriver();
initBCDevice::ID::Console();
}
catch( std::exception& except )
{
::CanDownDriver();
::UnloadAndInitDriver();
::UnloadDriver();
// re-throw
throw BCException( except.what() );
}
*/
/*
BCDriver::DriverState BCDriverTinyCan::initDriver()
{
uint32_t console = static_cast<uint32_t>(BCDevice::ID::Console);
uint8_t slaveFlag = static_cast<uint8_t>(BC::ID::Cons_Status_Slave);
qDebug() << "XXX BCDriverTinyCan::Driver Init: putting BCDevice::ID::Console in slave mode ... ";
// BCDevice::ID::Console already in slave mode. good!
if( readRawByte( console, slaveFlag ) )
return DriverState::Ready;
qDebug() << "BCDriverTinyCan::BCDriverTinyCan::XXX Driver Init: putting BCDevice::ID::Console in slave mode ... ";
unsigned int retry = cTimeOuts;
emit statusHint( "Driver Init: putting BCDevice::ID::Console in slave mode ... " );
uint32_t isSlave = 0;
do
{
writeRawByte( console, slaveFlag, 1 );
isSlave = readRawByte( console, slaveFlag );
bc::delay_millis( 200 );
} while( retry-- && !isSlave );
bc::delay_millis( 500 ); // give the Console some time to settle
//if( !isSlave )
emit statusHint( QString("putting BCDevice::ID::Console in slave mode ") + (isSlave ? "done" : "failed") );
// ist das jetzt irgendwie schlimm, wenn wir keine slave BCDevice::ID::Console haben
//return isSlave ? BCDriver::connected
return DriverState::Ready;
}
*/
uint32_t BCDriverTinyCan::readRawByte( uint32_t deviceID, uint8_t registerID ) const
{
@@ -263,7 +256,7 @@ void BCDriverTinyCan::writeRawByte( uint32_t deviceID, uint8_t registerID ,uint8
bc::delay_millis( cTIMEOUT_MS );
if( timeout_count == -1 )
emit statusHint( QString( "error: could not send value to %1" ).arg( deviceID ) );
emit driverStateChanged( _driverState, QString( "error: could not send value to %1" ).arg( deviceID ) );
}

13
bcdrivertinycan.h
View File

@@ -49,26 +49,23 @@ public:
QString getNodeName( unsigned char id );
public slots:
void onStartDriver() override;
protected:
void loadDriver();
void initDriver();
// typen?
//void setValue( unsigned char receipient, unsigned char reg, unsigned char value );
//unsigned int getValue( unsigned char receipient, unsigned char reg );
DriverState connectDriver();
//const char* CBCDLL_LIN = "libmhstcan.so";
//const char* CBCDLL_WIN = "mhstcan.dll";
static constexpr int cRetries = 5;
static constexpr int cTimeOuts = 20;
static constexpr int cTIMEOUT_MS = 10; // 10ms
static constexpr int cTIMEOUT_COUNT = 10;
//const unsigned int BATTERY = 0x010;
//const unsigned int MOTOR = 0x020;
const unsigned int BIB = 0x048;

18
bctransmitter.cpp
View File

@@ -50,7 +50,7 @@ void BCTransmitter::onToggleConnectionState( bool connect )
if( _canDriver->getState() != BCDriver::DriverState::Ready )
_canDriver->onStartDriver();
// fix!
// __fix!
uint32_t hwVersion = _canDriver->readRawByte( (uint32_t)BCDevice::ID::Console, (uint8_t)BC::ID::Cons_Rev_Hw);
if(!hwVersion)
@@ -59,23 +59,7 @@ void BCTransmitter::onToggleConnectionState( bool connect )
}
else
{
/*
swVersion = getValue(CONSOLE, CONSOLE_REF_SW);
printf( "Console information:" _NL
" hardware version ........: %02d" _NL
" software version ........: %02d" _NL
" assistance level ........: %d" _NL,
hwVersion, swVersion,
getValue(CONSOLE, CONSOLE_ASSIST_INITLEVEL)
);
if (!gNoSerialNumbers)
printf( " part number .............: %05d" _NL
" item number .............: %05d" _NL _NL,
((getValue(CONSOLE, CONSOLE_SN_PN_HI) << 8) + getValue(CONSOLE, CONSOLE_SN_PN_LO)),
((getValue(CONSOLE, CONSOLE_SN_ITEM_HI) << 8) + getValue(CONSOLE, CONSOLE_SN_ITEM_LO))
);
*/
}