void initCan(void) {
#if EFI_PROD_CODE || defined(__DOXYGEN__)
addConsoleAction("caninfo", canInfo);
if (!engineConfiguration->isCanEnabled)
return;
#endif /* EFI_PROD_CODE */
#if STM32_CAN_USE_CAN2 || defined(__DOXYGEN__)
// CAN1 is required for CAN2
canStart(&CAND1, &canConfig);
canStart(&CAND2, &canConfig);
#else
canStart(&CAND1, &canConfig);
#endif
canStart(&EFI_CAN_DEVICE, &canConfig);
#if EFI_PROD_CODE || defined(__DOXYGEN__)
chThdCreateStatic(canTreadStack, sizeof(canTreadStack), NORMALPRIO, (tfunc_t) canThread, NULL);
mySetPadMode2("CAN TX", boardConfiguration->canTxPin, PAL_MODE_ALTERNATE(EFI_CAN_TX_AF));
mySetPadMode2("CAN RX", boardConfiguration->canRxPin, PAL_MODE_ALTERNATE(EFI_CAN_RX_AF));
#endif /* EFI_PROD_CODE */
}
/*
* Application entry point.
*/
int main(void) {
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
halInit();
chSysInit();
/*
* Activates the CAN driver 1.
*/
canStart(&CAND1, &cancfg);
/*
* Starting the transmitter and receiver threads.
*/
chThdCreateStatic(can_rx_wa, sizeof(can_rx_wa), NORMALPRIO + 7, can_rx, NULL);
chThdCreateStatic(can_tx_wa, sizeof(can_tx_wa), NORMALPRIO + 7, can_tx, NULL);
/*
* Normal main() thread activity, in this demo it does nothing.
*/
while (true) {
chThdSleepMilliseconds(500);
}
return 0;
}
bool TransferItem::queue() {
if (!canStart()) {
return false;
}
foreach (TransferItem *child, m_childItems) {
child->queue();
}
return true;
}
QVariantMap TransferItem::itemDataWithRoleNames() const {
QVariantMap map;
map[roles.value(CanCancelRole)] = canCancel();
map[roles.value(CanPauseRole)] = canPause();
map[roles.value(CanStartRole)] = canStart();
map[roles.value(ExpandedRole)] = expanded();
map[roles.value(ItemTypeRole)] = itemType();
map[roles.value(ItemTypeStringRole)] = itemTypeString();
map[roles.value(RowRole)] = row();
map[roles.value(RowCountRole)] = rowCount();
return map;
}
QMap<int, QVariant> TransferItem::itemData() const {
QMap<int, QVariant> map;
map[CanCancelRole] = canCancel();
map[CanPauseRole] = canPause();
map[CanStartRole] = canStart();
map[ExpandedRole] = expanded();
map[ItemTypeRole] = itemType();
map[ItemTypeStringRole] = itemTypeString();
map[RowRole] = row();
map[RowCountRole] = rowCount();
return map;
}
void BoardDriverStart(void)
{
canStart(&CAND1, &cancfg);
/*CAN1 RX and TX*/
palSetPadMode(GPIOB, 8, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
palSetPadMode(GPIOB, 9, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
sdStart(&SD2, &serialConfig);
palSetPadMode(GPIOA, 0, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
palSetPadMode(GPIOA, 1, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
palSetPadMode(GPIOA, 2, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
palSetPadMode(GPIOA, 3, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
}
void cancom_init(void) {
palSetPadMode(GPIOD, 0,
PAL_MODE_ALTERNATE(GPIO_AF_CAN1) |
PAL_STM32_OTYPE_PUSHPULL |
PAL_STM32_OSPEED_MID1);
palSetPadMode(GPIOD, 1,
PAL_MODE_ALTERNATE(GPIO_AF_CAN1) |
PAL_STM32_OTYPE_PUSHPULL |
PAL_STM32_OSPEED_MID1);
canStart(&CANDx, &cancfg);
chThdCreateStatic(cancom_thread_wa, sizeof(cancom_thread_wa), NORMALPRIO + 1,
cancom_thread, NULL);
}
Thread* CanInitLocal(void){
canInit();
canStart(&CAND1, &cancfg);
can_tp = chThdCreateFromHeap(
&ThdHeap,
sizeof(CanTxThreadWA),
LINK_THREADS_PRIO - 2,
CanTxThread,
NULL);
if (can_tp == NULL)
chDbgPanic("Can not allocate memory");
return can_tp;
}
void MigratorBase::start()
{
if (mMigrationState == InProgress) {
qWarning() << "already running";
return;
}
if (!canStart()) {
Q_EMIT message(Error, i18n("Failed to start migration because migrator is not ready"));
Q_EMIT stoppedProcessing();
return;
}
//TODO acquire dbus lock
logMessage(Info, displayName());
Q_EMIT message(Info, i18n("Starting migration..."));
setMigrationState(InProgress);
setProgress(0);
startWork();
}
// 开启server
bool CServerRoot::startServices()
{
showToConsole("<Prepare Game Service...>");
//把自己加入定时器
// 注意：需要先addtimer，再startTimer，因为没有pending事件或active事件，event_base_dispatch会退出循环，导致timer线程提前结束
CTimer::GetSingleton().addTimer(std::bind(&CServerRoot::timerProcess, this), 10);
//启动定时器，创建了一个timer线程，这个线程就是处理消息包的线程
if(!CTimer::GetSingleton().startTimer())
return false;
while(!m_clExitEvent.wait_event(1000))
{
if (canStart())
break;
}
return true;
}
QVariant TransferItem::data(int role) const {
switch (role) {
case CanCancelRole:
return canCancel();
case CanPauseRole:
return canPause();
case CanStartRole:
return canStart();
case ExpandedRole:
return expanded();
case ItemTypeRole:
return itemType();
case ItemTypeStringRole:
return itemTypeString();
case RowRole:
return row();
case RowCountRole:
return rowCount();
default:
return QVariant();
}
}
void move(Train* train_train_quotidien){
pthread_mutex_lock(&mutex);
Voie* nextVoie = getNextVoieTRAIN(train_train_quotidien);
if (nextVoie != NULL) {
if (canStart(train_train_quotidien)) {
printf("Le Train n°%d départ de la voie %d pour aller vers %d\n", train_train_quotidien->id, train_train_quotidien->position->id, nextVoie->id);
// On enlève le train de la voie actuelle
train_train_quotidien->position->nbTrainAct--;
// On enlève la réservation sur la voie qu'on va quitter
train_train_quotidien->position->reserve = false;
train_train_quotidien->position->reserveId = -1;
// On réinitialise le sens courant de la voie
train_train_quotidien->position->currentSens = train_train_quotidien->position->sens;
pthread_cond_broadcast(&train_train_quotidien->position->voieLibre); // le broadcast est une précaution si jamais il y a des trains qui pourraient ne jamais être réveillés.
// ça y est le train a officiellement changé de voie :)
train_train_quotidien->position = nextVoie;
// On adapte le sens de la voie
train_train_quotidien->position->currentSens = train_train_quotidien->sens;
// On ajoute le train dans le décompte de la voie
train_train_quotidien->position->nbTrainAct++;
printf("Le Train n°%d est sur la Voie %d\n", train_train_quotidien->id, train_train_quotidien->position->id);
if (train_train_quotidien->position->id == 4) {
//printf("Nombre train sur 4 : %d\n", train_train_quotidien->position->nbTrainAct);
//printf("########################### Sens train : %d\t\t\tSens Voie : %d\t\t\tSens courant : %d\n", train_train_quotidien->sens,train_train_quotidien->position->sens, train_train_quotidien->position->currentSens);
printf(" !!! Petite PAUSE au Garage !!!\n");
usleep(5000);
}else if (train_train_quotidien->position->id == 2) {
printf(" !!! Petite PAUSE à la Gare !!!\n");
usleep(5000);
}
usleep(50);
}
}
pthread_mutex_unlock(&mutex);
}
/*
* Application entry point.
*/
int main(void) {
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
* and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread and the
* RTOS is active.
*/
halInit();
chSysInit();
oca_led_init();
oca_usb_init();
canStart(&CAND1, &cancfg);
//set_led(led_act, led_blink_250);
oca_led_set(oca_led_stat, oca_led_blink_500);
//set_led(led_err, led_blink_1000);
/*
* Creates the blinker thread.
*/
chThdCreateStatic(can_rx_wa, sizeof(can_rx_wa), NORMALPRIO + 5, can_rx, NULL);
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
chThdCreateStatic(can_tx_wa, sizeof(can_tx_wa), NORMALPRIO, can_tx, NULL);
/*
* Normal main() thread activity, in this demo it does nothing except
* sleeping in a loop and check the button state.
*/
while (true) {
chThdSleepSeconds(1);
}
}
int main(void)
{
/*
* Start OS and HAL
*/
halInit();
chSysInit();
setupIPC();
DEBUGEN(printf("App Mode\n"));
usbDisconnectBus(&USBD1);
/*
* Initialize extra driver objects.
*/
sduObjectInit(&SDU1);
sduObjectInit(&SDU2);
/*
* Start peripherals
*/
sdStart(&SD1, &uart1Cfg);
sdStart(&SD2, &uart2Cfg);
sdStart(&SD3, &uart3Cfg);
usbStart(&USBD1, &usbcfg);
sduStart(&SDU1, &serusbcfg1);
sduStart(&SDU2, &serusbcfg2);
canStart(&CAND1, &cancfg);
dacStart(&DACD1, &dac1cfg1);
adcStart(&ADCD1, NULL);
adcStart(&ADCD3, NULL);
timcapStart(&TIMCAPD3, &tc_conf);
pwmStart(&PWMD_LED2, &pwmcfg);
eeInit();
// Compare and update versions in EEprom if needed.
version_t v;
if (readVersionFromEE(VERSION_IDX_APP, &v) == 0 && memcmp(&versions, &v, sizeof(version_t)) != 0) {
writeVersionToEE(VERSION_IDX_APP, &versions[VERSION_IDX_APP]);
}
if (readVersionFromEE(VERSION_IDX_BL, &v) == 0 ) {
memcpy(&versions[VERSION_IDX_BL], &v, sizeof(version_t));
}
/*
* Creates the threads.
*/
chThdCreateStatic(waThreadBDU, sizeof(waThreadBDU), NORMALPRIO+5, ThreadBDU, NULL);
chThdCreateStatic(waThreadSDU, sizeof(waThreadSDU), NORMALPRIO+2, ThreadSDU, NULL);
chThdCreateStatic(waThreadADC, sizeof(waThreadADC), NORMALPRIO, ThreadADC, NULL);
chThdCreateStatic(waThreadKnock, sizeof(waThreadKnock), NORMALPRIO, ThreadKnock, NULL);
chThdCreateStatic(waThreadCAN, sizeof(waThreadCAN), NORMALPRIO, ThreadCAN, NULL);
chThdCreateStatic(waThreadSER1, sizeof(waThreadSER1), NORMALPRIO, ThreadSER1, NULL);
chThdCreateStatic(waThreadRecord, sizeof(waThreadRecord), NORMALPRIO+1, ThreadRecord, NULL);
chThdCreateStatic(waThreadWdg, sizeof(waThreadWdg), HIGHPRIO, ThreadWdg, NULL);
/* Create last as it uses pointers from above */
chThdCreateStatic(waThreadMonitor, sizeof(waThreadMonitor), NORMALPRIO+10, ThreadMonitor, NULL);
while (TRUE)
{
while(USBD1.state != USB_READY) chThdSleepMilliseconds(10);
chThdSleepMilliseconds(100);
if (usbConnected())
{
usbConnectBus(&USBD1);
}
else
{
usbDisconnectBus(&USBD1);
}
}
}