/*!
* \brief Rs232DevicePrivate::Rs232DevicePrivate - CTor
* \param info
* \param parent
*/
Rs232DevicePrivate::Rs232DevicePrivate(const QSerialPortInfo &info, QObject *parent) :
QSerialPort(info, parent)
{
m_debug = false;
qDebug() << headDebug << "CTor" << info.portName();
// Faccio partire un timer: se entro il suo timeout non ho trovato il converter mi autodistruggo
connect (&m_timerAutodelete, SIGNAL(timeout()), this, SLOT(deleteLater()));
m_timerAutodelete.start(2000);
connect (&m_timerSendGetId, SIGNAL(timeout()), this, SLOT(sendMsgGetId()));
// Sono riuscito a configurare la porta?
if (configPort())
{
// Si, la porta e' fisica e non virtuale.
m_statoParser = STATO_RS232_DLE_STX;
m_checksum = 0;
connect(this, SIGNAL(error(QSerialPort::SerialPortError)),
this, SLOT(errorSlot(QSerialPort::SerialPortError)));
connect(this, SIGNAL(readyRead()), this, SLOT(fromDeviceSlot()));
// Spedisco il messaggio per sapere se e' collegato un converter
sendMsgGetId();
}
}
bool SerialPort::openPort()
{
if((!_port_is_open)&&(_port_name.c_str()!=NULL))
{
_file_descriptor = open(_port_name.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
}
else if(_port_is_open)
{
ROS_ERROR_STREAM("open port unable to open port : "<< _port_name << " port is already open");
return false;
}
else
{
ROS_ERROR_STREAM("open port unable to open port : no port name is given");
return false;
}
if(_file_descriptor==-1)
{
ROS_ERROR_STREAM("open port unable to open port : "<< _port_name);
return false;
}
else
{
fcntl(_file_descriptor,F_SETFL,0);
_port_is_open = true;
if(configPort())
{
return true;
}
else
{
ROS_ERROR_STREAM("Can't configure the port named :" << _port_name);
return false;
}
}
}
void setupIO(byte clr) {
int idx = 0;
byte firstTime = eeRead(EE_FIRSTTIME);
// all digital I/O
ADCON0 = 0x00;
ADCON1 = 0x0F;
TRISBbits.TRISB6 = 0; /* LED1 */
TRISBbits.TRISB7 = 0; /* LED2 */
TRISBbits.TRISB5 = 0; /* LED3 */
TRISAbits.TRISA2 = 1; /* Push button */
LED1 = 0;
LED2 = 0;
LED3 = 0;
if (firstTime == 0xFF) {
eeWrite(EE_FIRSTTIME, 0);
clr = TRUE;
}
// following presets are written to eeprom if the flim switch is preshed at boot
// preset port 1-8 as output
for (idx = 0; idx < 8; idx++) {
Ports[idx].cfg = PORTCFG_OUT;
Ports[idx].status = 0;
Ports[idx].timedoff = 0;
Ports[idx].timer = 0;
Ports[idx].evtnn = 0;
Ports[idx].addr = idx + 1;
if (clr) {
eeWrite(EE_PORTCFG + idx, Ports[idx].cfg);
eeWriteShort(EE_PORTNN + (2 * idx), Ports[idx].evtnn);
eeWriteShort(EE_PORTADDR + (2 * idx), Ports[idx].addr);
}
}
// preset port 9-16 as input with off delay
for (idx = 8; idx < 16; idx++) {
Ports[idx].cfg = PORTCFG_IN | PORTCFG_OFFDELAY;
Ports[idx].status = 0;
Ports[idx].timedoff = 0;
Ports[idx].timer = 0;
Ports[idx].evtnn = 0;
Ports[idx].addr = idx + 1;
if (clr) {
eeWrite(EE_PORTCFG + idx, Ports[idx].cfg);
eeWriteShort(EE_PORTNN + (2 * idx), Ports[idx].evtnn);
eeWriteShort(EE_PORTADDR + (2 * idx), Ports[idx].addr);
}
}
if (clr) {
eeWrite(EE_PORTSTAT + 0, 0);
eeWrite(EE_PORTSTAT + 1, 0);
}
for (idx = 0; idx < 16; idx++) {
Ports[idx].cfg = eeRead(EE_PORTCFG + idx);
if ((Ports[idx].cfg & PORTCFG_IO) == PORTCFG_OUT)
Ports[idx].status = eeRead(EE_PORTSTAT + idx);
Ports[idx].timedoff = 0;
Ports[idx].timer = 0;
Ports[idx].evtnn = eeReadShort(EE_PORTNN + (2 * idx));
Ports[idx].addr = eeReadShort(EE_PORTADDR + (2 * idx));
}
for (idx = 0; idx < 16; idx++)
configPort(idx);
}
unsigned char parseCmd(CANMsg *cmsg) {
unsigned char txed = 0;
//mode_word.s_full = 0;
switch (cmsg->b[d0]) {
case OPC_ASRQ:
{
int addr = cmsg->b[d3] * 256 + cmsg->b[d4];
if (SOD == addr && doSOD == 0) {
ioIdx = 0;
doSOD = 1;
}
break;
}
case OPC_ACON:
case OPC_ASON:
{
ushort nn = cmsg->b[d1] * 256 + cmsg->b[d2];
ushort addr = cmsg->b[d3] * 256 + cmsg->b[d4];
setOutput(nn, addr, 1);
break;
}
case OPC_ACOF:
case OPC_ASOF:
{
ushort nn = cmsg->b[d1] * 256 + cmsg->b[d2];
ushort addr = cmsg->b[d3] * 256 + cmsg->b[d4];
setOutput(nn, addr, 0);
break;
}
case OPC_RQNPN:
// Request to read a parameter
if (thisNN(cmsg) == 1) {
doRqnpn((unsigned int) cmsg->b[d3]);
}
break;
case OPC_SNN:
{
if (Wait4NN) {
unsigned char nnH = cmsg->b[d1];
unsigned char nnL = cmsg->b[d2];
NN_temp = nnH * 256 + nnL;
eeWrite(EE_NN, nnH);
eeWrite(EE_NN + 1, nnL);
Wait4NN = 0;
LED2 = 0;
}
break;
}
case OPC_RQNP:
if (Wait4NN) {
CANMsg canmsg;
canmsg.b[d0] = OPC_PARAMS;
canmsg.b[d1] = params[0];
canmsg.b[d2] = params[1];
canmsg.b[d3] = params[2];
canmsg.b[d4] = params[3];
canmsg.b[d5] = params[4];
canmsg.b[d6] = params[5];
canmsg.b[d7] = params[6];
canmsg.b[dlc] = 8;
canbusSend(&canmsg);
txed = 1;
}
break;
case OPC_BOOT:
// Enter bootloader mode if NN matches
if (thisNN(cmsg) == 1) {
eeWrite((unsigned char) (&bootflag), 0xFF);
Reset();
}
break;
case OPC_RTOF:
if (NV1 & CFG_SAVEOUTPUT) {
saveOutputStates();
}
break;
case OPC_NNCLR:
if (thisNN(cmsg) && isLearning) {
setupIO(TRUE);
}
break;
case OPC_QNN:
{
CANMsg canmsg;
canmsg.b[d0] = OPC_PNN;
canmsg.b[d1] = (NN_temp / 256) & 0xFF;
canmsg.b[d2] = (NN_temp % 256) & 0xFF;
canmsg.b[d3] = params[0];
canmsg.b[d4] = params[2];
canmsg.b[d5] = NV1;
canmsg.b[dlc] = 6;
canbusSend(&canmsg);
}
//LED2 = 1;
txed = 1;
break;
case OPC_RTON:
pnnCount = 0;
/*
setOutput(0, 9, (pnnCount & 0x01) ? 1:0);
setOutput(0, 10, (pnnCount & 0x02) ? 1:0);
setOutput(0, 11, (pnnCount & 0x04) ? 1:0);
setOutput(0, 12, (pnnCount & 0x08) ? 1:0);
setOutput(0, 13, (pnnCount & 0x10) ? 1:0);
setOutput(0, 14, (pnnCount & 0x20) ? 1:0);
setOutput(0, 15, (pnnCount & 0x40) ? 1:0);
setOutput(0, 16, (pnnCount & 0x80) ? 1:0);
*/
break;
case OPC_PNN:
pnnCount++;
/*
setOutput(0, 9, (pnnCount & 0x01) ? 1:0);
setOutput(0, 10, (pnnCount & 0x02) ? 1:0);
setOutput(0, 11, (pnnCount & 0x04) ? 1:0);
setOutput(0, 12, (pnnCount & 0x08) ? 1:0);
setOutput(0, 13, (pnnCount & 0x10) ? 1:0);
setOutput(0, 14, (pnnCount & 0x20) ? 1:0);
setOutput(0, 15, (pnnCount & 0x40) ? 1:0);
setOutput(0, 16, (pnnCount & 0x80) ? 1:0);
*/
break;
case OPC_NVRD:
if (thisNN(cmsg)) {
CANMsg canmsg;
byte nvnr = cmsg->b[d3];
if (nvnr == 1) {
canmsg.b[d0] = OPC_NVANS;
canmsg.b[d1] = (NN_temp / 256) & 0xFF;
canmsg.b[d2] = (NN_temp % 256) & 0xFF;
canmsg.b[d3] = nvnr;
canmsg.b[d4] = NV1;
canmsg.b[dlc] = 5;
canbusSend(&canmsg);
txed = 1;
} else if (nvnr < 18) {
canmsg.b[d0] = OPC_NVANS;
canmsg.b[d1] = (NN_temp / 256) & 0xFF;
canmsg.b[d2] = (NN_temp % 256) & 0xFF;
canmsg.b[d3] = nvnr;
canmsg.b[d4] = Ports[nvnr - 2].cfg;
canmsg.b[dlc] = 5;
canbusSend(&canmsg);
txed = 1;
} else if (nvnr == 18) {
canmsg.b[d0] = OPC_NVANS;
canmsg.b[d1] = (NN_temp / 256) & 0xFF;
canmsg.b[d2] = (NN_temp % 256) & 0xFF;
canmsg.b[d3] = nvnr;
canmsg.b[d4] = getPortStates(0); // port status 1-8
canmsg.b[dlc] = 5;
canbusSend(&canmsg);
txed = 1;
} else if (nvnr == 19) {
canmsg.b[d0] = OPC_NVANS;
canmsg.b[d1] = (NN_temp / 256) & 0xFF;
canmsg.b[d2] = (NN_temp % 256) & 0xFF;
canmsg.b[d3] = nvnr;
canmsg.b[d4] = getPortStates(1); // port status 9-16
canmsg.b[dlc] = 5;
canbusSend(&canmsg);
txed = 1;
} else if (nvnr == 20) {
canmsg.b[d0] = OPC_NVANS;
canmsg.b[d1] = (NN_temp / 256) & 0xFF;
canmsg.b[d2] = (NN_temp % 256) & 0xFF;
canmsg.b[d3] = nvnr;
canmsg.b[d4] = CANID;
canmsg.b[dlc] = 5;
canbusSend(&canmsg);
txed = 1;
}
}
break;
case OPC_NVSET:
if (thisNN(cmsg)) {
byte nvnr = cmsg->b[d3];
if (nvnr == 1) {
NV1 = cmsg->b[d4];
eeWrite(EE_NV, NV1);
} else if (nvnr < 18) {
Ports[nvnr - 2].cfg = cmsg->b[d4];
eeWrite(EE_PORTCFG + (nvnr - 2), Ports[nvnr - 2].cfg);
configPort(nvnr - 2);
} else if (nvnr == 20) {
CANID = cmsg->b[d4];
eeWrite(EE_CANID, CANID);
}
}
break;
case OPC_NNLRN:
if (thisNN(cmsg)) {
isLearning = TRUE;
}
break;
case OPC_NNULN:
if (thisNN(cmsg)) {
isLearning = FALSE;
LED2 = PORT_OFF;
}
break;
case OPC_EVLRN:
if (isLearning) {
ushort evtnn = cmsg->b[d1] * 256 + cmsg->b[d2];
ushort addr = cmsg->b[d3] * 256 + cmsg->b[d4];
byte idx = cmsg->b[d5];
byte val = cmsg->b[d6];
if (idx < 16) {
Ports[idx].evtnn = evtnn;
Ports[idx].addr = addr;
eeWriteShort(EE_PORTNN + (2 * idx), evtnn);
eeWriteShort(EE_PORTADDR + (2 * idx), addr);
}
if (idx == 16) {
SOD = addr;
eeWrite(EE_SOD, addr / 256);
eeWrite(EE_SOD + 1, addr % 256);
}
}
break;
case OPC_NERD:
if (thisNN(cmsg)) {
doEV = 1;
evIdx = 0;
// start of day event
{
CANMsg canmsg;
canmsg.b[d0] = OPC_ENRSP;
canmsg.b[d1] = (NN_temp / 256) & 0xFF;
canmsg.b[d2] = (NN_temp % 256) & 0xFF;
canmsg.b[d3] = 0;
canmsg.b[d4] = 0;
canmsg.b[d5] = SOD / 256;
canmsg.b[d6] = SOD % 256;
canmsg.b[d7] = 16;
canmsg.b[dlc] = 8;
canbusSend(&canmsg);
}
txed = 1;
}
break;
default: break;
}
return txed;
}