| /**************************************************************************** |
| ** |
| ** Copyright (C) 2017 The Qt Company Ltd. |
| ** Contact: http://www.qt.io/licensing/ |
| ** |
| ** This file is part of the QtSerialBus module of the Qt Toolkit. |
| ** |
| ** $QT_BEGIN_LICENSE:LGPL3$ |
| ** Commercial License Usage |
| ** Licensees holding valid commercial Qt licenses may use this file in |
| ** accordance with the commercial license agreement provided with the |
| ** Software or, alternatively, in accordance with the terms contained in |
| ** a written agreement between you and The Qt Company. For licensing terms |
| ** and conditions see http://www.qt.io/terms-conditions. For further |
| ** information use the contact form at http://www.qt.io/contact-us. |
| ** |
| ** GNU Lesser General Public License Usage |
| ** Alternatively, this file may be used under the terms of the GNU Lesser |
| ** General Public License version 3 as published by the Free Software |
| ** Foundation and appearing in the file LICENSE.LGPLv3 included in the |
| ** packaging of this file. Please review the following information to |
| ** ensure the GNU Lesser General Public License version 3 requirements |
| ** will be met: https://www.gnu.org/licenses/lgpl.html. |
| ** |
| ** GNU General Public License Usage |
| ** Alternatively, this file may be used under the terms of the GNU |
| ** General Public License version 2.0 or later as published by the Free |
| ** Software Foundation and appearing in the file LICENSE.GPL included in |
| ** the packaging of this file. Please review the following information to |
| ** ensure the GNU General Public License version 2.0 requirements will be |
| ** met: http://www.gnu.org/licenses/gpl-2.0.html. |
| ** |
| ** $QT_END_LICENSE$ |
| ** |
| ****************************************************************************/ |
| |
| #ifndef QCANBUSFRAME_H |
| #define QCANBUSFRAME_H |
| |
| #include <QtCore/qmetatype.h> |
| #include <QtCore/qobject.h> |
| #include <QtSerialBus/qtserialbusglobal.h> |
| |
| QT_BEGIN_NAMESPACE |
| |
| class QDataStream; |
| |
| class Q_SERIALBUS_EXPORT QCanBusFrame |
| { |
| public: |
| class TimeStamp { |
| public: |
| Q_DECL_CONSTEXPR TimeStamp(qint64 s = 0, qint64 usec = 0) Q_DECL_NOTHROW |
| : secs(s), usecs(usec) {} |
| |
| Q_DECL_CONSTEXPR static TimeStamp fromMicroSeconds(qint64 usec) Q_DECL_NOTHROW |
| { return TimeStamp(usec / 1000000, usec % 1000000); } |
| |
| Q_DECL_CONSTEXPR qint64 seconds() const Q_DECL_NOTHROW { return secs; } |
| Q_DECL_CONSTEXPR qint64 microSeconds() const Q_DECL_NOTHROW { return usecs; } |
| |
| private: |
| qint64 secs; |
| qint64 usecs; |
| }; |
| |
| enum FrameType { |
| UnknownFrame = 0x0, |
| DataFrame = 0x1, |
| ErrorFrame = 0x2, |
| RemoteRequestFrame = 0x3, |
| InvalidFrame = 0x4 |
| }; |
| |
| explicit QCanBusFrame(FrameType type = DataFrame) Q_DECL_NOTHROW : |
| isExtendedFrame(0x0), |
| version(Qt_5_10), |
| isFlexibleDataRate(0x0), |
| isBitrateSwitch(0x0), |
| isErrorStateIndicator(0x0), |
| isLocalEcho(0x0), |
| reserved0(0x0) |
| { |
| Q_UNUSED(reserved0); |
| ::memset(reserved, 0, sizeof(reserved)); |
| setFrameId(0x0); |
| setFrameType(type); |
| } |
| |
| enum FrameError { |
| NoError = 0, |
| TransmissionTimeoutError = (1 << 0), |
| LostArbitrationError = (1 << 1), |
| ControllerError = (1 << 2), |
| ProtocolViolationError = (1 << 3), |
| TransceiverError = (1 << 4), |
| MissingAcknowledgmentError = (1 << 5), |
| BusOffError = (1 << 6), |
| BusError = (1 << 7), |
| ControllerRestartError = (1 << 8), |
| UnknownError = (1 << 9), |
| AnyError = 0x1FFFFFFFU |
| //only 29 bits usable |
| }; |
| Q_DECLARE_FLAGS(FrameErrors, FrameError) |
| Q_FLAGS(FrameErrors) |
| |
| explicit QCanBusFrame(quint32 identifier, const QByteArray &data) : |
| format(DataFrame), |
| isExtendedFrame(0x0), |
| version(Qt_5_10), |
| isFlexibleDataRate(data.length() > 8 ? 0x1 : 0x0), |
| isBitrateSwitch(0x0), |
| isErrorStateIndicator(0x0), |
| isLocalEcho(0x0), |
| reserved0(0x0), |
| load(data) |
| { |
| ::memset(reserved, 0, sizeof(reserved)); |
| setFrameId(identifier); |
| } |
| |
| bool isValid() const Q_DECL_NOTHROW |
| { |
| if (format == InvalidFrame) |
| return false; |
| |
| // long id used, but extended flag not set |
| if (!isExtendedFrame && (canId & 0x1FFFF800U)) |
| return false; |
| |
| if (!isValidFrameId) |
| return false; |
| |
| // maximum permitted payload size in CAN or CAN FD |
| const int length = load.length(); |
| if (isFlexibleDataRate) { |
| if (format == RemoteRequestFrame) |
| return false; |
| |
| return length <= 8 || length == 12 || length == 16 || length == 20 |
| || length == 24 || length == 32 || length == 48 || length == 64; |
| } |
| |
| return length <= 8; |
| } |
| |
| FrameType frameType() const Q_DECL_NOTHROW |
| { |
| switch (format) { |
| case 0x1: return DataFrame; |
| case 0x2: return ErrorFrame; |
| case 0x3: return RemoteRequestFrame; |
| case 0x4: return InvalidFrame; |
| // no default to trigger warning |
| } |
| |
| return UnknownFrame; |
| } |
| |
| void setFrameType(FrameType newFormat) Q_DECL_NOTHROW |
| { |
| switch (newFormat) { |
| case DataFrame: |
| format = 0x1; return; |
| case ErrorFrame: |
| format = 0x2; return; |
| case RemoteRequestFrame: |
| format = 0x3; return; |
| case UnknownFrame: |
| format = 0x0; return; |
| case InvalidFrame: |
| format = 0x4; return; |
| } |
| } |
| |
| bool hasExtendedFrameFormat() const Q_DECL_NOTHROW { return (isExtendedFrame & 0x1); } |
| void setExtendedFrameFormat(bool isExtended) Q_DECL_NOTHROW |
| { |
| isExtendedFrame = (isExtended & 0x1); |
| } |
| |
| quint32 frameId() const Q_DECL_NOTHROW |
| { |
| if (Q_UNLIKELY(format == ErrorFrame)) |
| return 0; |
| return (canId & 0x1FFFFFFFU); |
| } |
| void setFrameId(quint32 newFrameId) |
| { |
| if (Q_LIKELY(newFrameId < 0x20000000U)) { |
| isValidFrameId = true; |
| canId = newFrameId; |
| setExtendedFrameFormat(isExtendedFrame || (newFrameId & 0x1FFFF800U)); |
| } else { |
| isValidFrameId = false; |
| canId = 0; |
| } |
| } |
| |
| void setPayload(const QByteArray &data) |
| { |
| load = data; |
| if (data.length() > 8) |
| isFlexibleDataRate = 0x1; |
| } |
| void setTimeStamp(TimeStamp ts) Q_DECL_NOTHROW { stamp = ts; } |
| |
| QByteArray payload() const { return load; } |
| TimeStamp timeStamp() const Q_DECL_NOTHROW { return stamp; } |
| |
| FrameErrors error() const Q_DECL_NOTHROW |
| { |
| if (format != ErrorFrame) |
| return NoError; |
| |
| return FrameErrors(canId & 0x1FFFFFFFU); |
| } |
| void setError(FrameErrors e) |
| { |
| if (format != ErrorFrame) |
| return; |
| canId = (e & AnyError); |
| } |
| |
| QString toString() const; |
| |
| bool hasFlexibleDataRateFormat() const Q_DECL_NOTHROW { return (isFlexibleDataRate & 0x1); } |
| void setFlexibleDataRateFormat(bool isFlexibleData) Q_DECL_NOTHROW |
| { |
| isFlexibleDataRate = (isFlexibleData & 0x1); |
| if (!isFlexibleData) { |
| isBitrateSwitch = 0x0; |
| isErrorStateIndicator = 0x0; |
| } |
| } |
| |
| bool hasBitrateSwitch() const Q_DECL_NOTHROW { return (isBitrateSwitch & 0x1); } |
| void setBitrateSwitch(bool bitrateSwitch) Q_DECL_NOTHROW |
| { |
| isBitrateSwitch = (bitrateSwitch & 0x1); |
| if (bitrateSwitch) |
| isFlexibleDataRate = 0x1; |
| } |
| |
| bool hasErrorStateIndicator() const Q_DECL_NOTHROW { return (isErrorStateIndicator & 0x1); } |
| void setErrorStateIndicator(bool errorStateIndicator) Q_DECL_NOTHROW |
| { |
| isErrorStateIndicator = (errorStateIndicator & 0x1); |
| if (errorStateIndicator) |
| isFlexibleDataRate = 0x1; |
| } |
| bool hasLocalEcho() const Q_DECL_NOTHROW { return (isLocalEcho & 0x1); } |
| void setLocalEcho(bool localEcho) Q_DECL_NOTHROW |
| { |
| isLocalEcho = (localEcho & 0x1); |
| } |
| |
| #ifndef QT_NO_DATASTREAM |
| friend Q_SERIALBUS_EXPORT QDataStream &operator<<(QDataStream &, const QCanBusFrame &); |
| friend Q_SERIALBUS_EXPORT QDataStream &operator>>(QDataStream &, QCanBusFrame &); |
| #endif |
| |
| private: |
| enum Version { |
| Qt_5_8 = 0x0, |
| Qt_5_9 = 0x1, |
| Qt_5_10 = 0x2 |
| }; |
| |
| quint32 canId:29; // acts as container for error codes too |
| quint8 format:3; // max of 8 frame types |
| |
| quint8 isExtendedFrame:1; |
| quint8 version:5; |
| quint8 isValidFrameId:1; |
| quint8 isFlexibleDataRate:1; |
| |
| quint8 isBitrateSwitch:1; |
| quint8 isErrorStateIndicator:1; |
| quint8 isLocalEcho:1; |
| quint8 reserved0:5; |
| |
| // reserved for future use |
| quint8 reserved[2]; |
| |
| QByteArray load; |
| TimeStamp stamp; |
| }; |
| |
| Q_DECLARE_TYPEINFO(QCanBusFrame, Q_MOVABLE_TYPE); |
| Q_DECLARE_TYPEINFO(QCanBusFrame::FrameError, Q_PRIMITIVE_TYPE); |
| Q_DECLARE_TYPEINFO(QCanBusFrame::FrameType, Q_PRIMITIVE_TYPE); |
| Q_DECLARE_TYPEINFO(QCanBusFrame::TimeStamp, Q_PRIMITIVE_TYPE); |
| |
| Q_DECLARE_OPERATORS_FOR_FLAGS(QCanBusFrame::FrameErrors) |
| |
| #ifndef QT_NO_DATASTREAM |
| Q_SERIALBUS_EXPORT QDataStream &operator<<(QDataStream &, const QCanBusFrame &); |
| Q_SERIALBUS_EXPORT QDataStream &operator>>(QDataStream &, QCanBusFrame &); |
| #endif |
| |
| QT_END_NAMESPACE |
| |
| Q_DECLARE_METATYPE(QCanBusFrame::FrameType) |
| Q_DECLARE_METATYPE(QCanBusFrame::FrameErrors) |
| |
| #endif // QCANBUSFRAME_H |
