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hriboard.cpp
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Created
Mon, May 6, 07:28
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8 KB
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text/x-c
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Wed, May 8, 07:28 (2 d)
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blob
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Handle
17485417
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R2671 HHRI-software
hriboard.cpp
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#include "hriboard.h"
#include <QDebug>
#include <QSerialPortInfo>
#include <stdexcept>
const
int
SYNCVAR_LIST_ITEM_SIZE
=
SYNCVAR_NAME_SIZE
+
3
;
/**
* @brief Constructor.
*/
HriBoard
::
HriBoard
()
{
}
/**
* @brief Establish the link with the board.
* Establish the link with the board, then stops the streaming and requests the
* variables list.
* @param comPortName serial port name, in the format "COM1" on Windows, or
* "/dev/ttyO1" on UNIX.
* @throws A runtime_error is thrown if the serial port could not be opened.
*/
void
HriBoard
::
openLink
(
QString
comPortName
)
{
streamID
=
0
;
// Setup the serial port.
serial
.
setPortName
(
comPortName
);
serial
.
setBaudRate
(
UART_BAUDRATE
);
serial
.
setDataBits
(
QSerialPort
::
Data8
);
serial
.
setFlowControl
(
QSerialPort
::
NoFlowControl
);
serial
.
setParity
(
QSerialPort
::
NoParity
);
connect
(
&
serial
,
SIGNAL
(
readyRead
()),
this
,
SLOT
(
onReceivedData
()));
qDebug
()
<<
"Opening the serial COM port..."
;
if
(
serial
.
open
(
QIODevice
::
ReadWrite
))
qDebug
()
<<
"COM port opened successfully."
;
else
throw
std
::
runtime_error
(
"Can't open the COM port."
);
// Stop the streaming, in case it was enabled.
QByteArray
ba
;
ba
.
append
((
char
)
0
);
sendPacket
(
PC_MESSAGE_SET_STREAMED_VAR
,
ba
);
// Request the variables list.
sendPacket
(
PC_MESSAGE_GET_VARS_LIST
);
}
/**
* @brief Sets the SyncVars to stream.
* @param varsToStream list of the SyncVars to stream.
*/
void
HriBoard
::
setStreamedVars
(
QList
<
SyncVarPointerBase
*>
varsToStream
)
{
// Copy the list of variables to stream, and compute the size of a streaming
// packet.
streamedVars
.
clear
();
streamPacketSize
=
sizeof
(
quint8
)
+
sizeof
(
quint32
);
// Stream ID + timestamp.
for
(
SyncVarPointerBase
*
svpb
:
varsToStream
)
{
streamedVars
.
append
(
&
syncVars
[
svpb
->
getVar
()
->
getIndex
()]);
streamPacketSize
+=
svpb
->
getVar
()
->
getSize
();
}
//
streamID
++
;
QByteArray
ba
;
ba
.
append
((
quint8
)
varsToStream
.
size
());
ba
.
append
(
streamID
);
for
(
SyncVarPointerBase
*
svpb
:
varsToStream
)
{
int
varIndex
=
svpb
->
getVar
()
->
getIndex
();
ba
.
append
((
quint8
)
varIndex
);
}
sendPacket
(
PC_MESSAGE_SET_STREAMED_VAR
,
ba
);
}
/**
* @brief Associates a SyncVarPointer to an actual SyncVar, from its name.
* @param svp the SyncVarPointer to the SyncVar.
* @param name the name of the SyncVar to associate to the pointer.
* @return true if a variable with the given name was found, false otherwise.
*/
bool
HriBoard
::
associate
(
SyncVarPointerBase
&
svp
,
QString
name
)
{
for
(
SyncVar
&
sv
:
syncVars
)
{
if
(
sv
.
getName
()
==
name
&&
sv
.
getType
()
==
svp
.
getType
())
{
svp
.
associate
(
this
,
&
sv
);
return
true
;
}
}
svp
.
associate
(
this
,
nullptr
);
return
false
;
}
/**
* @brief Updates a SyncVar on the board with the value of the local SyncVar.
* @param var the SyncVar to synchronize.
*/
void
HriBoard
::
writeRemoteVar
(
SyncVar
*
var
)
{
QByteArray
ba
;
ba
.
append
(
var
->
getIndex
());
ba
.
append
(
var
->
getData
());
sendPacket
(
PC_MESSAGE_SET_VAR
,
ba
);
}
/**
* @brief Updates a local SyncVar with the value of the SyncVar on the board.
* @param var the SyncVar to synchronize.
*/
void
HriBoard
::
readRemoteVar
(
SyncVar
*
var
)
{
QByteArray
ba
;
ba
.
append
(
var
->
getIndex
());
sendPacket
(
PC_MESSAGE_GET_VAR
,
ba
);
}
/**
* @brief Makes a list of all the candidate serial ports.
* @return a list of all the serial port that use the right USB-to-UART chip.
*/
QStringList
HriBoard
::
getComPorts
()
{
QList
<
QSerialPortInfo
>
ports
=
QSerialPortInfo
::
availablePorts
();
for
(
int
i
=
ports
.
size
()
-
1
;
i
>=
0
;
i
--
)
{
// Remove from the list all the serial COM ports that are not the CP210x
// USB-to-serial chip.
if
(
!
ports
[
i
].
description
().
contains
(
"CP210x"
))
ports
.
removeAt
(
i
);
}
// Make a list of the COM ports names.
QStringList
portsNames
;
for
(
QSerialPortInfo
comInfo
:
ports
)
portsNames
<<
comInfo
.
portName
();
return
portsNames
;
}
/**
* @brief Interprets the received bytes, and reacts accordingly.
*/
void
HriBoard
::
onReceivedData
()
{
QByteArray
rxData
=
serial
.
readAll
();
//qDebug() << "RX:" << rxData;
for
(
int
i
=
0
;
i
<
rxData
.
size
();
i
++
)
{
quint8
rxByte
=
rxData
[
i
];
if
(
rxByte
&
(
1
<<
7
))
// The start byte has the most significant bit high.
{
rxCurrentMessageType
=
(
rxByte
&
~
(
1
<<
7
));
// Remove the start bit.
rxBytesCount
=
0
;
}
else
// The data bytes have the most significant byte low.
rxBytesCount
++
;
if
(
rxBytesCount
%
2
==
1
)
// First half of the data byte has been received.
firstHalfByte
=
rxByte
;
// Store it until the second half arrives.
else
// Second half of the data byte has been received.
{
int
dataBytesReady
=
rxBytesCount
/
2
;
if
(
dataBytesReady
>
0
)
rxDataBytesBuffer
[
dataBytesReady
-
1
]
=
(
firstHalfByte
<<
4
)
+
(
rxByte
&
0xf
);
switch
(
rxCurrentMessageType
)
{
case
STM_MESSAGE_START_INFO:
if
(
dataBytesReady
==
0
)
{
// Request variables list.
sendPacket
(
PC_MESSAGE_GET_VARS_LIST
);
}
break
;
case
STM_MESSAGE_VAR:
if
(
dataBytesReady
>=
1
)
{
quint8
varIndex
=
rxDataBytesBuffer
[
0
];
if
(
dataBytesReady
==
1
+
syncVars
[
varIndex
].
getSize
())
{
QByteArray
ba
((
char
*
)
&
rxDataBytesBuffer
[
1
],
syncVars
[
varIndex
].
getSize
());
syncVars
[
varIndex
].
setData
(
ba
);
}
}
break
;
case
STM_MESSAGE_VARS_LIST:
if
(
dataBytesReady
>=
1
)
{
quint8
nVars
=
rxDataBytesBuffer
[
0
];
if
(
dataBytesReady
==
1
+
nVars
*
SYNCVAR_LIST_ITEM_SIZE
)
{
syncVars
.
clear
();
quint8
*
p
=
&
rxDataBytesBuffer
[
1
];
for
(
int
i
=
0
;
i
<
nVars
;
i
++
)
{
QString
varName
((
char
*
)
p
);
p
+=
SYNCVAR_NAME_SIZE
;
VarType
varType
=
(
VarType
)
*
p
;
p
++
;
VarAccess
varAccess
=
(
VarAccess
)
*
p
;
p
++
;
//int varSize = (int)*p; // Size is ignored.
p
++
;
SyncVar
sv
(
i
,
varName
,
varType
,
varAccess
);
syncVars
.
append
(
sv
);
}
emit
syncVarsListReceived
(
syncVars
);
}
}
break
;
case
STM_MESSAGE_STREAMING_PACKET:
if
(
dataBytesReady
==
streamPacketSize
)
{
if
(
rxDataBytesBuffer
[
0
]
==
(
quint8
)
streamID
)
{
// Decode the timestamp.
quint32
timestamp
;
memcpy
(
&
timestamp
,
&
rxDataBytesBuffer
[
1
],
sizeof
(
timestamp
));
// Decode the variables values.
quint8
const
*
p
=
&
rxDataBytesBuffer
[
5
];
for
(
int
i
=
0
;
i
<
streamedVars
.
size
();
i
++
)
{
QByteArray
value
((
char
*
)
p
,
streamedVars
[
i
]
->
getSize
());
streamedVars
[
i
]
->
setData
(
value
);
p
+=
streamedVars
[
i
]
->
getSize
();
}
emit
syncVarsUpdated
();
}
}
break
;
case
STM_MESSAGE_DEBUG_TEXT:
if
(
dataBytesReady
>
0
&&
rxDataBytesBuffer
[
dataBytesReady
-
1
]
==
'\0'
)
{
qDebug
()
<<
QString
((
const
char
*
)
rxDataBytesBuffer
);
rxCurrentMessageType
=
0
;
}
break
;
default
:
// Ignore.
break
;
}
}
}
}
/**
* @brief Sends a communication packet to the board.
* @param messageType the type of the message.
* @param dataBytes the data that will be part of the packet, which is
* type-specific. If omitted, there will be no data in the message, so it will
* contain only the type.
*/
void
HriBoard
::
sendPacket
(
comm_PcMessage
messageType
,
QByteArray
dataBytes
)
{
QByteArray
txBuffer
;
txBuffer
.
append
((
1
<<
7
)
+
(
uint8_t
)
messageType
);
for
(
int
i
=
0
;
i
<
dataBytes
.
size
();
i
++
)
{
txBuffer
.
append
(((
quint8
)
dataBytes
[
i
])
>>
4
);
// MSB.
txBuffer
.
append
(((
quint8
)
dataBytes
[
i
])
&
0xf
);
// LSB.
}
serial
.
write
(
txBuffer
);
serial
.
waitForBytesWritten
(
-
1
);
}
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