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commands.cpp
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commands.cpp
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/*
Copyright 2016 - 2022 Benjamin Vedder [email protected]
This file is part of VESC Tool.
VESC Tool is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
VESC Tool is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "commands.h"
#include "qelapsedtimer.h"
#include <QDebug>
#include <QEventLoop>
Commands::Commands(QObject *parent) : QObject(parent)
{
mSendCan = false;
mCanId = -1;
mIsLimitedMode = false;
mLimitedSupportsFwdAllCan = false;
mLimitedSupportsEraseBootloader = false;
mMaxPowerLossBug = false;
mCheckNextMcConfig = false;
mTimer = new QTimer(this);
mTimer->setInterval(10);
mTimer->start();
mMcConfig = nullptr;
mAppConfig = nullptr;
mTimeoutCount = 100;
mTimeoutFwVer = 0;
mTimeoutMcconf = 0;
mTimeoutAppconf = 0;
mTimeoutValues = 0;
mTimeoutValuesSetup = 0;
mTimeoutImuData = 0;
mTimeoutDecPpm = 0;
mTimeoutDecAdc = 0;
mTimeoutDecChuk = 0;
mTimeoutPingCan = 0;
mTimeoutBmsVal = 0;
mFilePercentage = 0.0;
mFileSpeed = 0.0;
connect(mTimer, SIGNAL(timeout()), this, SLOT(timerSlot()));
}
void Commands::setLimitedMode(bool is_limited)
{
mIsLimitedMode = is_limited;
}
bool Commands::isLimitedMode()
{
return mIsLimitedMode;
}
bool Commands::setSendCan(bool sendCan, int id)
{
if (id >= 0) {
mCanId = id;
}
if (mCanId >= 0) {
mSendCan = sendCan;
} else {
mSendCan = false;
}
return mSendCan == sendCan;
}
bool Commands::getSendCan()
{
return mSendCan;
}
void Commands::setCanSendId(unsigned int id)
{
mCanId = int(id);
}
int Commands::getCanSendId()
{
return mCanId;
}
void Commands::processPacket(QByteArray data)
{
VByteArray vb(data);
COMM_PACKET_ID id = COMM_PACKET_ID(vb.vbPopFrontUint8());
switch (id) {
case COMM_FW_VERSION: {
mTimeoutFwVer = 0;
FW_RX_PARAMS params;
if (vb.size() >= 2) {
params.major = vb.vbPopFrontInt8();
params.minor = vb.vbPopFrontInt8();
params.hw = vb.vbPopFrontString();
}
if (vb.size() >= 12) {
params.uuid.append(vb.left(12));
vb.remove(0, 12);
}
if (vb.size() >= 1) {
params.isPaired = vb.vbPopFrontInt8();
}
if (vb.size() >= 1) {
params.isTestFw = vb.vbPopFrontInt8();
}
if (vb.size() >= 1) {
params.hwType = HW_TYPE(vb.vbPopFrontInt8());
}
if (vb.size() >= 1) {
params.customConfigNum = vb.vbPopFrontInt8();
}
if (vb.size() >= 1) {
params.hasPhaseFilters = vb.vbPopFrontInt8();
}
if (vb.size() >= 2) {
auto qmlHw = vb.vbPopFrontInt8();
auto qmlApp = vb.vbPopFrontInt8();
params.hasQmlHw = qmlHw > 0;
params.qmlHwFullscreen = qmlHw == 2;
params.hasQmlApp = qmlApp > 0;
params.qmlAppFullscreen = qmlApp == 2;
}
if (vb.size() >= 1) {
auto nrfFlags = vb.vbPopFrontUint8();
params.nrfNameSupported = nrfFlags & 1;
params.nrfPinSupported = nrfFlags & 2;
}
if (vb.size() >= 1) {
params.fwName = vb.vbPopFrontString();
}
if (vb.size() >= 4) {
params.hwConfCrc = vb.vbPopFrontUint32();
}
emit fwVersionReceived(params);
} break;
case COMM_ERASE_NEW_APP:
emit eraseNewAppResReceived(vb.at(0));
break;
case COMM_WRITE_NEW_APP_DATA: {
bool ok = vb.vbPopFrontInt8();
bool hasOffset = false;
quint32 offset = 0;
if (vb.size() >= 4) {
hasOffset = true;
offset = vb.vbPopFrontUint32();
}
emit writeNewAppDataResReceived(ok, hasOffset, offset);
} break;
case COMM_ERASE_BOOTLOADER:
emit eraseBootloaderResReceived(vb.at(0));
break;
case COMM_GET_VALUES:
case COMM_GET_VALUES_SELECTIVE: {
mTimeoutValues = 0;
MC_VALUES values;
uint32_t mask = 0xFFFFFFFF;
if (id == COMM_GET_VALUES_SELECTIVE) {
mask = vb.vbPopFrontUint32();
}
if (mask & (uint32_t(1) << 0)) {
values.temp_mos = vb.vbPopFrontDouble16(1e1);
}
if (mask & (uint32_t(1) << 1)) {
values.temp_motor = vb.vbPopFrontDouble16(1e1);
}
if (mask & (uint32_t(1) << 2)) {
values.current_motor = vb.vbPopFrontDouble32(1e2);
}
if (mask & (uint32_t(1) << 3)) {
values.current_in = vb.vbPopFrontDouble32(1e2);
}
if (mask & (uint32_t(1) << 4)) {
values.id = vb.vbPopFrontDouble32(1e2);
}
if (mask & (uint32_t(1) << 5)) {
values.iq = vb.vbPopFrontDouble32(1e2);
}
if (mask & (uint32_t(1) << 6)) {
values.duty_now = vb.vbPopFrontDouble16(1e3);
}
if (mask & (uint32_t(1) << 7)) {
values.rpm = vb.vbPopFrontDouble32(1e0);
}
if (mask & (uint32_t(1) << 8)) {
values.v_in = vb.vbPopFrontDouble16(1e1);
}
if (mask & (uint32_t(1) << 9)) {
values.amp_hours = vb.vbPopFrontDouble32(1e4);
}
if (mask & (uint32_t(1) << 10)) {
values.amp_hours_charged = vb.vbPopFrontDouble32(1e4);
}
if (mask & (uint32_t(1) << 11)) {
values.watt_hours = vb.vbPopFrontDouble32(1e4);
}
if (mask & (uint32_t(1) << 12)) {
values.watt_hours_charged = vb.vbPopFrontDouble32(1e4);
}
if (mask & (uint32_t(1) << 13)) {
values.tachometer = vb.vbPopFrontInt32();
}
if (mask & (uint32_t(1) << 14)) {
values.tachometer_abs = vb.vbPopFrontInt32();
}
if (mask & (uint32_t(1) << 15)) {
values.fault_code = mc_fault_code(vb.vbPopFrontInt8());
values.fault_str = faultToStr(values.fault_code);
}
if (vb.size() >= 4) {
if (mask & (uint32_t(1) << 16)) {
values.position = vb.vbPopFrontDouble32(1e6);
}
} else {
values.position = -1.0;
}
if (vb.size() >= 1) {
if (mask & (uint32_t(1) << 17)) {
values.vesc_id = vb.vbPopFrontUint8();
}
} else {
values.vesc_id = 255;
}
if (vb.size() >= 6) {
if (mask & (uint32_t(1) << 18)) {
values.temp_mos_1 = vb.vbPopFrontDouble16(1e1);
values.temp_mos_2 = vb.vbPopFrontDouble16(1e1);
values.temp_mos_3 = vb.vbPopFrontDouble16(1e1);
}
}
if (vb.size() >= 8) {
if (mask & (uint32_t(1) << 19)) {
values.vd = vb.vbPopFrontDouble32(1e3);
}
if (mask & (uint32_t(1) << 20)) {
values.vq = vb.vbPopFrontDouble32(1e3);
}
}
if (vb.size() >= 1) {
if (mask & (uint32_t(1) << 21)) {
quint8 status = vb.vbPopFrontUint8();
values.has_timeout = status & 1;
values.kill_sw_active = (status >> 1) & 1;
}
}
emit valuesReceived(values, mask);
} break;
case COMM_PRINT:
emit printReceived(QString::fromLatin1(vb));
break;
case COMM_SAMPLE_PRINT:
emit samplesReceived(vb);
break;
case COMM_ROTOR_POSITION:
emit rotorPosReceived(vb.vbPopFrontDouble32(1e5));
break;
case COMM_EXPERIMENT_SAMPLE: {
QVector<double> samples;
while (!vb.isEmpty()) {
samples.append(vb.vbPopFrontDouble32(1e4));
}
emit experimentSamplesReceived(samples);
} break;
case COMM_GET_MCCONF:
case COMM_GET_MCCONF_DEFAULT:
mTimeoutMcconf = 0;
if (mMcConfig) {
if (mMcConfig->deSerialize(vb)) {
mMcConfig->updateDone();
if (mCheckNextMcConfig) {
mCheckNextMcConfig = false;
emit mcConfigCheckResult(mMcConfig->checkDifference(&mMcConfigLast));
}
} else {
emit deserializeConfigFailed(true, false);
}
}
break;
case COMM_GET_APPCONF:
case COMM_GET_APPCONF_DEFAULT:
mTimeoutAppconf = 0;
if (mAppConfig) {
if (mAppConfig->deSerialize(vb)) {
mAppConfig->updateDone();
} else {
emit deserializeConfigFailed(false, true);
}
}
break;
case COMM_DETECT_MOTOR_PARAM: {
bldc_detect param;
param.cycle_int_limit = vb.vbPopFrontDouble32(1e3);
param.bemf_coupling_k = vb.vbPopFrontDouble32(1e3);
for (int i = 0;i < 8;i++) {
param.hall_table.append(int(vb.vbPopFrontUint8()));
}
param.hall_res = int(vb.vbPopFrontUint8());
emit bldcDetectReceived(param);
} break;
case COMM_DETECT_MOTOR_R_L: {
double r = vb.vbPopFrontDouble32(1e6);
double l = vb.vbPopFrontDouble32(1e3);
double ld_lq_diff = 0.0;
if (vb.size() >= 4) {
ld_lq_diff = vb.vbPopFrontDouble32(1e3);
}
emit motorRLReceived(r, l, ld_lq_diff);
} break;
case COMM_DETECT_MOTOR_FLUX_LINKAGE: {
emit motorLinkageReceived(vb.vbPopFrontDouble32(1e7));
} break;
case COMM_DETECT_ENCODER: {
ENCODER_DETECT_RES res;
res.offset = vb.vbPopFrontDouble32(1e6);
res.ratio = vb.vbPopFrontDouble32(1e6);
res.inverted = vb.vbPopFrontInt8();
res.detect_rx = true;
emit encoderParamReceived(res);
} break;
case COMM_DETECT_HALL_FOC: {
QVector<int> table;
for (int i = 0;i < 8;i++) {
table.append(vb.vbPopFrontUint8());
}
int res = vb.vbPopFrontUint8();
emit focHallTableReceived(table, res);
} break;
case COMM_GET_DECODED_PPM: {
mTimeoutDecPpm = 0;
double dec_ppm = vb.vbPopFrontDouble32(1e6);
double ppm_last_len = vb.vbPopFrontDouble32(1e6);
emit decodedPpmReceived(dec_ppm, ppm_last_len);
} break;
case COMM_GET_DECODED_ADC: {
mTimeoutDecAdc = 0;
double dec_adc = vb.vbPopFrontDouble32(1e6);
double dec_adc_voltage = vb.vbPopFrontDouble32(1e6);
double dec_adc2 = vb.vbPopFrontDouble32(1e6);
double dec_adc_voltage2 = vb.vbPopFrontDouble32(1e6);
emit decodedAdcReceived(dec_adc, dec_adc_voltage, dec_adc2, dec_adc_voltage2);
} break;
case COMM_GET_DECODED_CHUK:
mTimeoutDecChuk = 0;
emit decodedChukReceived(vb.vbPopFrontDouble32(1000000.0));
break;
case COMM_SET_MCCONF:
emit ackReceived("Motor config write OK");
break;
case COMM_SET_APPCONF:
emit ackReceived("App config write OK");
break;
case COMM_SET_APPCONF_NO_STORE:
emit ackReceived("App config set OK");
break;
case COMM_CUSTOM_APP_DATA:
emit customAppDataReceived(vb);
break;
case COMM_CUSTOM_HW_DATA:
emit customHwDataReceived(vb);
break;
case COMM_NRF_START_PAIRING:
emit nrfPairingRes(NRF_PAIR_RES(vb.vbPopFrontInt8()));
break;
case COMM_GPD_BUFFER_NOTIFY:
emit gpdBufferNotifyReceived();
break;
case COMM_GPD_BUFFER_SIZE_LEFT:
emit gpdBufferSizeLeftReceived(vb.vbPopFrontInt16());
break;
case COMM_GET_VALUES_SETUP:
case COMM_GET_VALUES_SETUP_SELECTIVE: {
mTimeoutValuesSetup = 0;
SETUP_VALUES values;
uint32_t mask = 0xFFFFFFFF;
if (id == COMM_GET_VALUES_SETUP_SELECTIVE) {
mask = vb.vbPopFrontUint32();
}
if (mask & (uint32_t(1) << 0)) {
values.temp_mos = vb.vbPopFrontDouble16(1e1);
}
if (mask & (uint32_t(1) << 1)) {
values.temp_motor = vb.vbPopFrontDouble16(1e1);
}
if (mask & (uint32_t(1) << 2)) {
values.current_motor = vb.vbPopFrontDouble32(1e2);
}
if (mask & (uint32_t(1) << 3)) {
values.current_in = vb.vbPopFrontDouble32(1e2);
}
if (mask & (uint32_t(1) << 4)) {
values.duty_now = vb.vbPopFrontDouble16(1e3);
}
if (mask & (uint32_t(1) << 5)) {
values.rpm = vb.vbPopFrontDouble32(1e0);
}
if (mask & (uint32_t(1) << 6)) {
values.speed = vb.vbPopFrontDouble32(1e3);
}
if (mask & (uint32_t(1) << 7)) {
values.v_in = vb.vbPopFrontDouble16(1e1);
}
if (mask & (uint32_t(1) << 8)) {
values.battery_level = vb.vbPopFrontDouble16(1e3);
}
if (mask & (uint32_t(1) << 9)) {
values.amp_hours = vb.vbPopFrontDouble32(1e4);
}
if (mask & (uint32_t(1) << 10)) {
values.amp_hours_charged = vb.vbPopFrontDouble32(1e4);
}
if (mask & (uint32_t(1) << 11)) {
values.watt_hours = vb.vbPopFrontDouble32(1e4);
}
if (mask & (uint32_t(1) << 12)) {
values.watt_hours_charged = vb.vbPopFrontDouble32(1e4);
}
if (mask & (uint32_t(1) << 13)) {
values.tachometer = vb.vbPopFrontDouble32(1e3);
}
if (mask & (uint32_t(1) << 14)) {
values.tachometer_abs = vb.vbPopFrontDouble32(1e3);
}
if (mask & (uint32_t(1) << 15)) {
values.position = vb.vbPopFrontDouble32(1e6);
}
if (mask & (uint32_t(1) << 16)) {
values.fault_code = mc_fault_code(vb.vbPopFrontInt8());
values.fault_str = faultToStr(values.fault_code);
}
if (mask & (uint32_t(1) << 17)) {
values.vesc_id = vb.vbPopFrontUint8();
}
if (mask & (uint32_t(1) << 18)) {
values.num_vescs = vb.vbPopFrontUint8();
}
if (mask & (uint32_t(1) << 19)) {
values.battery_wh = vb.vbPopFrontDouble32(1e3);
}
if (mask & (uint32_t(1) << 20)) {
values.odometer = vb.vbPopFrontUint32();
}
if (mask & (uint32_t(1) << 21)) {
values.uptime_ms = vb.vbPopFrontUint32();
}
emit valuesSetupReceived(values, mask);
} break;
case COMM_SET_MCCONF_TEMP:
emit ackReceived("COMM_SET_MCCONF_TEMP Write OK");
break;
case COMM_SET_MCCONF_TEMP_SETUP:
emit ackReceived("COMM_SET_MCCONF_TEMP_SETUP Write OK");
break;
case COMM_DETECT_MOTOR_FLUX_LINKAGE_OPENLOOP:
emit motorLinkageReceived(vb.vbPopFrontDouble32(1e7));
break;
case COMM_DETECT_APPLY_ALL_FOC:
emit detectAllFocReceived(vb.vbPopFrontInt16());
break;
case COMM_PING_CAN: {
mTimeoutPingCan = 0;
QVector<int> devs;
while(vb.size() > 0) {
devs.append(vb.vbPopFrontUint8());
}
emit pingCanRx(devs, false);
} break;
case COMM_GET_IMU_DATA: {
mTimeoutImuData = 0;
IMU_VALUES values;
uint32_t mask = vb.vbPopFrontUint16();
if (mask & (uint32_t(1) << 0)) {
values.roll = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 1)) {
values.pitch = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 2)) {
values.yaw = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 3)) {
values.accX = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 4)) {
values.accY = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 5)) {
values.accZ = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 6)) {
values.gyroX = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 7)) {
values.gyroY = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 8)) {
values.gyroZ = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 9)) {
values.magX = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 10)) {
values.magY = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 11)) {
values.magZ = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 12)) {
values.q0 = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 13)) {
values.q1 = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 14)) {
values.q2 = vb.vbPopFrontDouble32Auto();
}
if (mask & (uint32_t(1) << 15)) {
values.q3 = vb.vbPopFrontDouble32Auto();
}
if (vb.size() >= 1) {
values.vesc_id = vb.vbPopFrontUint8();
}
emit valuesImuReceived(values, mask);
} break;
case COMM_GET_IMU_CALIBRATION: {
QVector<double> cal;
for (int i = 0;i < 9;i++) {
cal.append(vb.vbPopFrontDouble32(1e6));
}
emit imuCalibrationReceived(cal);
} break;
case COMM_BM_CONNECT:
emit bmConnRes(vb.vbPopFrontInt16());
break;
case COMM_BM_ERASE_FLASH_ALL:
emit bmEraseFlashAllRes(vb.vbPopFrontInt16());
break;
case COMM_BM_WRITE_FLASH:
case COMM_BM_WRITE_FLASH_LZO:
emit bmWriteFlashRes(vb.vbPopFrontInt16());
break;
case COMM_BM_REBOOT:
emit bmRebootRes(vb.vbPopFrontInt16());
break;
case COMM_BM_DISCONNECT:
emit ackReceived("COMM_BM_DISCONNECT OK");
break;
case COMM_BM_MAP_PINS_DEFAULT:
emit bmMapPinsDefaultRes(vb.vbPopFrontInt16());
break;
case COMM_BM_MAP_PINS_NRF5X:
emit bmMapPinsNrf5xRes(vb.vbPopFrontInt16());
break;
case COMM_PLOT_INIT: {
QString xL = vb.vbPopFrontString();
QString yL = vb.vbPopFrontString();
emit plotInitReceived(xL, yL);
} break;
case COMM_PLOT_DATA: {
double x = vb.vbPopFrontDouble32Auto();
double y = vb.vbPopFrontDouble32Auto();
emit plotDataReceived(x, y);
} break;
case COMM_PLOT_ADD_GRAPH: {
emit plotAddGraphReceived(vb.vbPopFrontString());
} break;
case COMM_PLOT_SET_GRAPH: {
emit plotSetGraphReceived(vb.vbPopFrontInt8());
} break;
case COMM_BM_MEM_READ: {
int res = vb.vbPopFrontInt16();
emit bmReadMemRes(res, vb);
} break;
case COMM_CAN_FWD_FRAME: {
quint32 id = vb.vbPopFrontUint32();
bool isExtended = vb.vbPopFrontInt8();
emit canFrameRx(vb, id, isExtended);
} break;
case COMM_SET_BATTERY_CUT:
emit ackReceived("COMM_SET_BATTERY_CUT Write OK");
break;
case COMM_BMS_GET_VALUES: {
mTimeoutBmsVal = 0;
BMS_VALUES val;
val.v_tot = vb.vbPopFrontDouble32(1e6);
val.v_charge = vb.vbPopFrontDouble32(1e6);
val.i_in = vb.vbPopFrontDouble32(1e6);
val.i_in_ic = vb.vbPopFrontDouble32(1e6);
val.ah_cnt = vb.vbPopFrontDouble32(1e3);
val.wh_cnt = vb.vbPopFrontDouble32(1e3);
int cells = vb.vbPopFrontUint8();
for (int i = 0;i < cells;i++) {
val.v_cells.append(vb.vbPopFrontDouble16(1e3));
}
for (int i = 0;i < cells;i++) {
val.is_balancing.append(vb.vbPopFrontUint8());
}
int sensors = vb.vbPopFrontUint8();
for (int i = 0;i < sensors;i++) {
val.temps.append(vb.vbPopFrontDouble16(1e2));
}
val.temp_ic = vb.vbPopFrontDouble16(1e2);
val.temp_hum_sensor = vb.vbPopFrontDouble16(1e2);
val.humidity = vb.vbPopFrontDouble16(1e2);
val.temp_cells_highest = vb.vbPopFrontDouble16(1e2);
if (vb.size() >= 2) {
val.soc = vb.vbPopFrontDouble16(1e3);
}
if (vb.size() >= 2) {
val.soh = vb.vbPopFrontDouble16(1e3);
}
if (vb.size() >= 1) {
val.can_id = vb.vbPopFrontUint8();
}
if (vb.size() >= 16) {
val.ah_cnt_chg_total = vb.vbPopFrontDouble32Auto();
val.wh_cnt_chg_total = vb.vbPopFrontDouble32Auto();
val.ah_cnt_dis_total = vb.vbPopFrontDouble32Auto();
val.wh_cnt_dis_total = vb.vbPopFrontDouble32Auto();
}
if (vb.size() >= 2) {
val.pressure = vb.vbPopFrontDouble16(1e-1);
}
val.updateTimeStamp();
emit bmsValuesRx(val);
} break;
case COMM_SET_CUSTOM_CONFIG: {
int confId = vb.vbPopFrontUint8();
emit customConfigAckReceived(confId);
} break;
case COMM_GET_CUSTOM_CONFIG:
case COMM_GET_CUSTOM_CONFIG_DEFAULT: {
int confInd = vb.vbPopFrontInt8();
if (mTimeoutCustomConf.size() > confInd) {
mTimeoutCustomConf[confInd] = 0;
}
emit customConfigRx(confInd, vb);
} break;
case COMM_GET_CUSTOM_CONFIG_XML: {
int confInd = vb.vbPopFrontInt8();
int confSize = vb.vbPopFrontInt32();
int offset = vb.vbPopFrontInt32();
emit customConfigChunkRx(confInd, confSize, offset, vb);
} break;
case COMM_PSW_GET_STATUS: {
PSW_STATUS stat;
stat.id = vb.vbPopFrontInt16();
stat.psws_num = vb.vbPopFrontInt16();
stat.age_seconds = vb.vbPopFrontDouble32Auto();
stat.v_in = vb.vbPopFrontDouble32Auto();
stat.v_out = vb.vbPopFrontDouble32Auto();
stat.temp = vb.vbPopFrontDouble32Auto();
stat.is_out_on = vb.vbPopFrontInt8();
stat.is_pch_on = vb.vbPopFrontInt8();
stat.is_dsc_on = vb.vbPopFrontInt8();
emit pswStatusRx(stat);
} break;
case COMM_BMS_FWD_CAN_RX: {
int id = vb.vbPopFrontUint8();
CAN_PACKET_ID cmd = CAN_PACKET_ID(vb.vbPopFrontUint8());
BMS_VALUES &val = mBmsValues[id];
switch (cmd) {
case CAN_PACKET_BMS_SOC_SOH_TEMP_STAT: {
vb.vbPopFrontDouble16(1e3); // V_CELL_MIN
vb.vbPopFrontDouble16(1e3); // V_CELL_MAX
val.can_id = id;
val.soc = double(vb.vbPopFrontUint8()) / 255.0;
val.soh = double(vb.vbPopFrontUint8()) / 255.0;
val.temp_cells_highest = double(vb.vbPopFrontUint8());
val.updateTimeStamp();
} break;
case CAN_PACKET_BMS_V_TOT: {
val.can_id = id;
val.v_tot = vb.vbPopFrontDouble32Auto();
val.v_charge = vb.vbPopFrontDouble32Auto();
val.updateTimeStamp();
} break;
case CAN_PACKET_BMS_I: {
val.can_id = id;
val.i_in = vb.vbPopFrontDouble32Auto();
val.i_in_ic = vb.vbPopFrontDouble32Auto();
val.updateTimeStamp();
} break;
case CAN_PACKET_BMS_AH_WH: {
val.can_id = id;
val.ah_cnt = vb.vbPopFrontDouble32Auto();
val.wh_cnt = vb.vbPopFrontDouble32Auto();
val.updateTimeStamp();
} break;
case CAN_PACKET_BMS_V_CELL: {
val.can_id = id;
int ofs = vb.vbPopFrontUint8();
val.v_cells.resize(vb.vbPopFrontUint8());
while (vb.size() > 1) {
val.v_cells[ofs++] = vb.vbPopFrontDouble16(1e3);
}
val.updateTimeStamp();
} break;
case CAN_PACKET_BMS_BAL: {
val.can_id = id;
uint64_t bal_state_0 = vb.vbPopFrontUint32();
int cell_num = (bal_state_0 >> 24) & 0xFF;
bal_state_0 &= 0x00FFFFFF;
uint64_t bal_state_1 = vb.vbPopFrontUint32();
uint64_t bal_state = bal_state_0 << 32 | bal_state_1;
int32_t ind = 0;
val.is_balancing.resize(cell_num);
while (ind < cell_num) {
val.is_balancing[ind] = (bal_state >> ind) & 1;
ind++;
}
val.updateTimeStamp();
} break;
case CAN_PACKET_BMS_TEMPS: {
val.can_id = id;
unsigned int ofs = vb.vbPopFrontUint8();
val.temps.resize(vb.vbPopFrontUint8());
while (vb.size() > 1) {
val.temps[ofs++] = vb.vbPopFrontDouble16(1e2);
}
val.updateTimeStamp();
} break;
case CAN_PACKET_BMS_HUM: {
val.can_id = id;
val.temp_hum_sensor = vb.vbPopFrontDouble16(1e2);
val.humidity = vb.vbPopFrontDouble16(1e2);
val.temp_ic = vb.vbPopFrontDouble16(1e2);
val.updateTimeStamp();
} break;
case CAN_PACKET_BMS_AH_WH_CHG_TOTAL: {
val.can_id = id;
val.ah_cnt_chg_total = vb.vbPopFrontDouble32Auto();
val.wh_cnt_chg_total = vb.vbPopFrontDouble32Auto();
val.updateTimeStamp();
} break;
case CAN_PACKET_BMS_AH_WH_DIS_TOTAL: {
val.can_id = id;
val.ah_cnt_dis_total = vb.vbPopFrontDouble32Auto();
val.wh_cnt_dis_total = vb.vbPopFrontDouble32Auto();
val.updateTimeStamp();
} break;
default:
break;
}
} break;
case COMM_GET_QML_UI_HW: {
int qmlSize = vb.vbPopFrontInt32();
int offset = vb.vbPopFrontInt32();
emit qmluiHwRx(qmlSize, offset, vb);
} break;
case COMM_GET_QML_UI_APP: {
int qmlSize = vb.vbPopFrontInt32();
int offset = vb.vbPopFrontInt32();
emit qmluiAppRx(qmlSize, offset, vb);
} break;
case COMM_QMLUI_ERASE:
emit eraseQmluiResReceived(vb.at(0));
break;
case COMM_QMLUI_WRITE: {
bool ok = vb.vbPopFrontInt8();
quint32 offset = vb.vbPopFrontUint32();
emit writeQmluiResReceived(ok, offset);
} break;
case COMM_IO_BOARD_GET_ALL: {
IO_BOARD_VALUES val;
val.id = vb.vbPopFrontInt16();
while (vb.size() > 0) {
int type = vb.vbPopFrontInt8();
switch (type) {
case 1: {
val.adc_1_4_age = vb.vbPopFrontDouble32Auto();
val.adc_1_4.append(vb.vbPopFrontDouble16(1e2));
val.adc_1_4.append(vb.vbPopFrontDouble16(1e2));
val.adc_1_4.append(vb.vbPopFrontDouble16(1e2));
val.adc_1_4.append(vb.vbPopFrontDouble16(1e2));
} break;
case 2: {
val.adc_5_8_age = vb.vbPopFrontDouble32Auto();
val.adc_5_8.append(vb.vbPopFrontDouble16(1e2));
val.adc_5_8.append(vb.vbPopFrontDouble16(1e2));
val.adc_5_8.append(vb.vbPopFrontDouble16(1e2));
val.adc_5_8.append(vb.vbPopFrontDouble16(1e2));
} break;
case 3: {
val.digital_age = vb.vbPopFrontDouble32Auto();
uint64_t hi = vb.vbPopFrontUint32();
uint64_t lo = vb.vbPopFrontUint32();
uint64_t combined = (hi << 32) | lo;
for (int i = 0;i < 64;i++) {
val.digital.append((combined >> i) & 1);
}
} break;
default:
break;
}
}
emit ioBoardValRx(val);
} break;
case COMM_GET_STATS: {
mTimeoutStats = 0;
STAT_VALUES values;
uint32_t mask = vb.vbPopFrontUint32();
if (mask & ((uint32_t)1 << 0)) { values.speed_avg = vb.vbPopFrontDouble32Auto(); }
if (mask & ((uint32_t)1 << 1)) { values.speed_max = vb.vbPopFrontDouble32Auto(); }
if (mask & ((uint32_t)1 << 2)) { values.power_avg = vb.vbPopFrontDouble32Auto(); }
if (mask & ((uint32_t)1 << 3)) { values.power_max = vb.vbPopFrontDouble32Auto(); }
if (mask & ((uint32_t)1 << 4)) { values.current_avg = vb.vbPopFrontDouble32Auto(); }
if (mask & ((uint32_t)1 << 5)) { values.current_max = vb.vbPopFrontDouble32Auto(); }
if (mask & ((uint32_t)1 << 6)) { values.temp_mos_avg = vb.vbPopFrontDouble32Auto(); }
if (mask & ((uint32_t)1 << 7)) { values.temp_mos_max = vb.vbPopFrontDouble32Auto(); }
if (mask & ((uint32_t)1 << 8)) { values.temp_motor_avg = vb.vbPopFrontDouble32Auto(); }
if (mask & ((uint32_t)1 << 9)) { values.temp_motor_max = vb.vbPopFrontDouble32Auto(); }
if (mask & ((uint32_t)1 << 10)) { values.count_time = vb.vbPopFrontDouble32Auto(); }
emit statsRx(values, mask);
} break;
case COMM_LISP_READ_CODE: {
int qmlSize = vb.vbPopFrontInt32();
int offset = vb.vbPopFrontInt32();
emit lispReadCodeRx(qmlSize, offset, vb);
} break;
case COMM_LISP_ERASE_CODE:
emit lispEraseCodeRx(vb.at(0));
break;
case COMM_LISP_WRITE_CODE: {
bool ok = vb.vbPopFrontInt8();
quint32 offset = vb.vbPopFrontUint32();
emit lispWriteCodeRx(ok, offset);
} break;
case COMM_LISP_PRINT:
emit lispPrintReceived(QString::fromLatin1(vb));
break;
case COMM_LISP_GET_STATS: {
LISP_STATS stats;
stats.cpu_use = vb.vbPopFrontDouble16(1e2);
stats.heap_use = vb.vbPopFrontDouble16(1e2);
stats.mem_use = vb.vbPopFrontDouble16(1e2);
stats.stack_use = vb.vbPopFrontDouble16(1e2);
stats.done_ctx_r = vb.vbPopFrontString();
while (vb.size() > 0) {
auto name = vb.vbPopFrontString();
auto num = vb.vbPopFrontDouble32Auto();
stats.number_bindings.append(qMakePair(name, num));
}
emit lispStatsRx(stats);
} break;
case COMM_LISP_SET_RUNNING: