/qtserialbus/examples/serialbus/can/mainwindow.cpp

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#include "mainwindow.h"

#include "ui_mainwindow.h"

#include "connectdialog.h"



#include <QCanBus>

#include <QCanBusFrame>

#include <QCloseEvent>

#include <QDesktopServices>

#include <QTimer>



MainWindow::MainWindow(QWidget *parent) :

    QMainWindow(parent),

    m_ui(new Ui::MainWindow)

{

    m_ui->setupUi(this);



    m_connectDialog = new ConnectDialog;



    m_status = new QLabel;

    m_ui->statusBar->addPermanentWidget(m_status);



    m_written = new QLabel;

    m_ui->statusBar->addWidget(m_written);



    initActionsConnections();

    QTimer::singleShot(50, m_connectDialog, &ConnectDialog::show);

}



MainWindow::~MainWindow()

{

    delete m_canDevice;



    delete m_connectDialog;

    delete m_ui;

}



void MainWindow::initActionsConnections()

{

    m_ui->actionDisconnect->setEnabled(false);

    m_ui->sendFrameBox->setEnabled(false);



    connect(m_ui->sendFrameBox, &SendFrameBox::sendFrame, this, &MainWindow::sendFrame);

    connect(m_ui->actionConnect, &QAction::triggered, m_connectDialog, &ConnectDialog::show);

    connect(m_connectDialog, &QDialog::accepted, this, &MainWindow::connectDevice);

    connect(m_ui->actionDisconnect, &QAction::triggered, this, &MainWindow::disconnectDevice);

    connect(m_ui->actionQuit, &QAction::triggered, this, &QWidget::close);

    connect(m_ui->actionAboutQt, &QAction::triggered, qApp, &QApplication::aboutQt);

    connect(m_ui->actionClearLog, &QAction::triggered, m_ui->receivedMessagesEdit, &QTextEdit::clear);

    connect(m_ui->actionPluginDocumentation, &QAction::triggered, this, []() {

        QDesktopServices::openUrl(QUrl("http://doc.qt.io/qt-5/qtcanbus-backends.html#can-bus-plugins"));

    });

}



void MainWindow::processErrors(QCanBusDevice::CanBusError error) const

{

    switch (error) {

    case QCanBusDevice::ReadError:

    case QCanBusDevice::WriteError:

    case QCanBusDevice::ConnectionError:

    case QCanBusDevice::ConfigurationError:

    case QCanBusDevice::UnknownError:

        m_status->setText(m_canDevice->errorString());

        break;

    default:

        break;

    }

}



void MainWindow::connectDevice()

{

    const ConnectDialog::Settings p = m_connectDialog->settings();



    QString errorString;

    m_canDevice = QCanBus::instance()->createDevice(p.pluginName, p.deviceInterfaceName,

                                                    &errorString);

    if (!m_canDevice) {

        m_status->setText(tr("Error creating device '%1', reason: '%2'")

                          .arg(p.pluginName).arg(errorString));

        return;

    }



    m_numberFramesWritten = 0;



    connect(m_canDevice, &QCanBusDevice::errorOccurred, this, &MainWindow::processErrors);

    connect(m_canDevice, &QCanBusDevice::framesReceived, this, &MainWindow::processReceivedFrames);

    connect(m_canDevice, &QCanBusDevice::framesWritten, this, &MainWindow::processFramesWritten);



    if (p.useConfigurationEnabled) {

        for (const ConnectDialog::ConfigurationItem &item : p.configurations)

            m_canDevice->setConfigurationParameter(item.first, item.second);

    }



    if (!m_canDevice->connectDevice()) {

        m_status->setText(tr("Connection error: %1").arg(m_canDevice->errorString()));



        delete m_canDevice;

        m_canDevice = nullptr;

    } else {

        m_ui->actionConnect->setEnabled(false);

        m_ui->actionDisconnect->setEnabled(true);



        m_ui->sendFrameBox->setEnabled(true);



        QVariant bitRate = m_canDevice->configurationParameter(QCanBusDevice::BitRateKey);

        if (bitRate.isValid()) {

            m_status->setText(tr("Plugin: %1, connected to %2 at %3 kBit/s")

                    .arg(p.pluginName).arg(p.deviceInterfaceName)

                    .arg(bitRate.toInt() / 1000));

        } else {

            m_status->setText(tr("Plugin: %1, connected to %2")

                    .arg(p.pluginName).arg(p.deviceInterfaceName));

        }

    }

}



void MainWindow::disconnectDevice()

{

    if (!m_canDevice)

        return;



    m_canDevice->disconnectDevice();

    delete m_canDevice;

    m_canDevice = nullptr;



    m_ui->actionConnect->setEnabled(true);

    m_ui->actionDisconnect->setEnabled(false);



    m_ui->sendFrameBox->setEnabled(false);



    m_status->setText(tr("Disconnected"));

}



void MainWindow::processFramesWritten(qint64 count)

{

    m_numberFramesWritten += count;

    m_written->setText(tr("%1 frames written").arg(m_numberFramesWritten));

}



void MainWindow::closeEvent(QCloseEvent *event)

{

    m_connectDialog->close();

    event->accept();

}



static QString frameFlags(const QCanBusFrame &frame)

{

    QString result = QLatin1String(" --- ");



    if (frame.hasBitrateSwitch())

        result[1] = QLatin1Char('B');

    if (frame.hasErrorStateIndicator())

        result[2] = QLatin1Char('E');

    if (frame.hasLocalEcho())

        result[3] = QLatin1Char('L');



    return result;

}



void MainWindow::processReceivedFrames()

{

    if (!m_canDevice)

        return;



    while (m_canDevice->framesAvailable()) {

        const QCanBusFrame frame = m_canDevice->readFrame();



        QString view;

        if (frame.frameType() == QCanBusFrame::ErrorFrame)

            view = m_canDevice->interpretErrorFrame(frame);

        else

            view = frame.toString();



        const QString time = QString::fromLatin1("%1.%2  ")

                .arg(frame.timeStamp().seconds(), 10, 10, QLatin1Char(' '))

                .arg(frame.timeStamp().microSeconds() / 100, 4, 10, QLatin1Char('0'));



        const QString flags = frameFlags(frame);



        m_ui->receivedMessagesEdit->append(time + flags + view);

    }

}



void MainWindow::sendFrame(const QCanBusFrame &frame) const

{

    if (!m_canDevice)

        return;



    m_canDevice->writeFrame(frame);

}