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# Copyright (C) 2022 The Qt Company Ltd.
# SPDX-License-Identifier: LicenseRef-Qt-Commercial OR BSD-3-Clause
from PySide6.QtCore import QTimer, QUrl, Slot
from PySide6.QtGui import QDesktopServices
from PySide6.QtWidgets import QLabel, QMainWindow
from PySide6.QtSerialBus import QCanBus, QCanBusDevice, QCanBusFrame
from connectdialog import ConnectDialog
from canbusdeviceinfodialog import CanBusDeviceInfoDialog
from ui_mainwindow import Ui_MainWindow
from receivedframesmodel import ReceivedFramesModel
def frame_flags(frame):
result = " --- "
if frame.hasBitrateSwitch():
result[1] = 'B'
if frame.hasErrorStateIndicator():
result[2] = 'E'
if frame.hasLocalEcho():
result[3] = 'L'
return result
def show_help():
url = "http://doc.qt.io/qt-6/qtcanbus-backends.html#can-bus-plugins"
QDesktopServices.openUrl(QUrl(url))
class MainWindow(QMainWindow):
def __init__(self, parent=None):
super().__init__(parent)
self.m_ui = Ui_MainWindow()
self.m_number_frames_written = 0
self.m_number_frames_received = 0
self.m_written = None
self.m_received = None
self.m_can_device = None
self.m_busStatusTimer = QTimer(self)
self.m_ui.setupUi(self)
self.m_connect_dialog = ConnectDialog(self)
self.m_status = QLabel()
self.m_ui.statusBar.addPermanentWidget(self.m_status)
self.m_written = QLabel()
self.m_ui.statusBar.addWidget(self.m_written)
self.m_received = QLabel()
self.m_ui.statusBar.addWidget(self.m_received)
self.m_model = ReceivedFramesModel(self)
self.m_model.set_queue_limit(1000)
self.m_ui.receivedFramesView.set_model(self.m_model)
self.init_actions_connections()
QTimer.singleShot(50, self.m_connect_dialog.show)
self.m_busStatusTimer.timeout.connect(self.bus_status)
self.m_appendTimer = QTimer(self)
self.m_appendTimer.timeout.connect(self.onAppendFramesTimeout)
self.m_appendTimer.start(350)
def init_actions_connections(self):
self.m_ui.actionDisconnect.setEnabled(False)
self.m_ui.actionDeviceInformation.setEnabled(False)
self.m_ui.sendFrameBox.setEnabled(False)
self.m_ui.sendFrameBox.send_frame.connect(self.send_frame)
self.m_ui.actionConnect.triggered.connect(self._action_connect)
self.m_connect_dialog.accepted.connect(self.connect_device)
self.m_ui.actionDisconnect.triggered.connect(self.disconnect_device)
self.m_ui.actionResetController.triggered.connect(self._reset_controller)
self.m_ui.actionQuit.triggered.connect(self.close)
self.m_ui.actionAboutQt.triggered.connect(qApp.aboutQt) # noqa: F821
self.m_ui.actionClearLog.triggered.connect(self.m_model.clear)
self.m_ui.actionPluginDocumentation.triggered.connect(show_help)
self.m_ui.actionDeviceInformation.triggered.connect(self._action_device_information)
@Slot()
def _action_connect(self):
if self.m_can_device:
self.m_can_device.deleteLater()
self.m_can_device = None
self.m_connect_dialog.show()
@Slot()
def _reset_controller(self):
self.m_can_device.resetController()
@Slot()
def _action_device_information(self):
info = self.m_can_device.deviceInfo()
dialog = CanBusDeviceInfoDialog(info, self)
dialog.exec()
@Slot(QCanBusDevice.CanBusError)
def process_errors(self, error):
if error != QCanBusDevice.NoError:
self.m_status.setText(self.m_can_device.errorString())
@Slot()
def connect_device(self):
p = self.m_connect_dialog.settings()
if p.use_model_ring_buffer:
self.m_model.set_queue_limit(p.model_ring_buffer_size)
else:
self.m_model.set_queue_limit(0)
device, error_string = QCanBus.instance().createDevice(
p.plugin_name, p.device_interface_name)
if not device:
self.m_status.setText(
f"Error creating device '{p.plugin_name}', reason: '{error_string}'")
return
self.m_number_frames_written = 0
self.m_can_device = device
self.m_can_device.errorOccurred.connect(self.process_errors)
self.m_can_device.framesReceived.connect(self.process_received_frames)
self.m_can_device.framesWritten.connect(self.process_frames_written)
if p.use_configuration_enabled:
for k, v in p.configurations:
self.m_can_device.setConfigurationParameter(k, v)
if not self.m_can_device.connectDevice():
e = self.m_can_device.errorString()
self.m_status.setText(f"Connection error: {e}")
self.m_can_device = None
else:
self.m_ui.actionConnect.setEnabled(False)
self.m_ui.actionDisconnect.setEnabled(True)
self.m_ui.actionDeviceInformation.setEnabled(True)
self.m_ui.sendFrameBox.setEnabled(True)
config_bit_rate = self.m_can_device.configurationParameter(QCanBusDevice.BitRateKey)
if config_bit_rate > 0:
is_can_fd = bool(self.m_can_device.configurationParameter(QCanBusDevice.CanFdKey))
config_data_bit_rate = self.m_can_device.configurationParameter(
QCanBusDevice.DataBitRateKey)
bit_rate = config_bit_rate / 1000
if is_can_fd and config_data_bit_rate > 0:
data_bit_rate = config_data_bit_rate / 1000
m = (f"Plugin: {p.plugin_name}, connected to {p.device_interface_name} "
f"at {bit_rate} / {data_bit_rate} kBit/s")
self.m_status.setText(m)
else:
m = (f"Plugin: {p.plugin_name}, connected to {p.device_interface_name} "
f"at {bit_rate} kBit/s")
self.m_status.setText(m)
else:
self.m_status.setText(
f"Plugin: {p.plugin_name}, connected to {p.device_interface_name}")
if self.m_can_device.hasBusStatus():
self.m_busStatusTimer.start(2000)
else:
self.m_ui.busStatus.setText("No CAN bus status available.")
def bus_status(self):
if not self.m_can_device or not self.m_can_device.hasBusStatus():
self.m_ui.busStatus.setText("No CAN bus status available.")
self.m_busStatusTimer.stop()
return
state = self.m_can_device.busStatus()
if state == QCanBusDevice.CanBusStatus.Good:
self.m_ui.busStatus.setText("CAN bus status: Good.")
elif state == QCanBusDevice.CanBusStatus.Warning:
self.m_ui.busStatus.setText("CAN bus status: Warning.")
elif state == QCanBusDevice.CanBusStatus.Error:
self.m_ui.busStatus.setText("CAN bus status: Error.")
elif state == QCanBusDevice.CanBusStatus.BusOff:
self.m_ui.busStatus.setText("CAN bus status: Bus Off.")
else:
self.m_ui.busStatus.setText("CAN bus status: Unknown.")
@Slot()
def disconnect_device(self):
if not self.m_can_device:
return
self.m_busStatusTimer.stop()
self.m_can_device.disconnectDevice()
self.m_ui.actionConnect.setEnabled(True)
self.m_ui.actionDisconnect.setEnabled(False)
self.m_ui.actionDeviceInformation.setEnabled(False)
self.m_ui.sendFrameBox.setEnabled(False)
self.m_status.setText("Disconnected")
@Slot(int)
def process_frames_written(self, count):
self.m_number_frames_written += count
self.m_written.setText(f"{self.m_number_frames_written} frames written")
def closeEvent(self, event):
self.m_connect_dialog.close()
event.accept()
@Slot()
def process_received_frames(self):
if not self.m_can_device:
return
while self.m_can_device.framesAvailable():
self.m_number_frames_received = self.m_number_frames_received + 1
frame = self.m_can_device.readFrame()
data = ""
if frame.frameType() == QCanBusFrame.ErrorFrame:
data = self.m_can_device.interpretErrorFrame(frame)
else:
data = frame.payload().toHex(' ').toUpper()
secs = frame.timeStamp().seconds()
microsecs = frame.timeStamp().microSeconds() / 100
time = f"{secs:>10}.{microsecs:0>4}"
flags = frame_flags(frame)
id = f"{frame.frameId():x}"
dlc = f"{frame.payload().size()}"
frame = [f"{self.m_number_frames_received}", time, flags, id, dlc, data]
self.m_model.append_frame(frame)
@Slot(QCanBusFrame)
def send_frame(self, frame):
if self.m_can_device:
self.m_can_device.writeFrame(frame)
@Slot()
def onAppendFramesTimeout(self):
if not self.m_can_device:
return
if self.m_model.need_update():
self.m_model.update()
if self.m_connect_dialog.settings().use_autoscroll:
self.m_ui.receivedFramesView.scrollToBottom()
self.m_received.setText(f"{self.m_number_frames_received} frames received")
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