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/****************************************************************************
**
** Copyright (C) 2015 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/qserialbusglobal.h>
QT_BEGIN_NAMESPACE
class QDataStream;
class 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 qint64 seconds() const Q_DECL_NOTHROW { return secs; }
Q_DECL_CONSTEXPR qint64 microSeconds() const Q_DECL_NOTHROW { return usecs; }
Q_DECL_RELAXED_CONSTEXPR void setSeconds(qint64 s) Q_DECL_NOTHROW { secs = s; }
Q_DECL_RELAXED_CONSTEXPR void setMicroSeconds(qint64 usec) Q_DECL_NOTHROW { usecs = usec; }
private:
qint64 secs;
qint64 usecs;
};
enum FrameType {
UnknownFrame = 0x0,
DataFrame = 0x1,
ErrorFrame = 0x2,
RemoteRequestFrame = 0x3,
InvalidFrame = 0x4
};
explicit QCanBusFrame(QCanBusFrame::FrameType type) :
canId(0x0),
isExtendedFrame(0x0),
version(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 = 0, const QByteArray &data = QByteArray()) :
canId(identifier & 0x1FFFFFFFU),
format(DataFrame),
isExtendedFrame((identifier & 0x1FFFF800U) ? 0x1 : 0x0),
version(0x0),
load(data)
{
Q_UNUSED(extra);
Q_UNUSED(reserved);
}
bool isValid() const
{
if (format == InvalidFrame)
return false;
// long id used, but extended flag not set
if (!isExtendedFrame && (canId & 0x1FFFF800U))
return false;
// maximum permitted payload size in CAN FD
if (load.length() > 64)
return false;
return true;
}
FrameType frameType() const
{
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)
{
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;
}
}
inline bool hasExtendedFrameFormat() const { return (isExtendedFrame & 0x1); }
inline void setExtendedFrameFormat(bool isExtended)
{
isExtendedFrame = (isExtended & 0x1);
}
inline quint32 frameId() const
{
if (format == ErrorFrame)
return 0;
return (canId & 0x1FFFFFFFU);
}
inline void setFrameId(quint32 newFrameId)
{
canId = (newFrameId & 0x1FFFFFFFU);
setExtendedFrameFormat(isExtendedFrame || (newFrameId & 0x1FFFF800U));
}
inline void setPayload(const QByteArray &data) { load = data; }
inline void setTimeStamp(const TimeStamp &ts) { stamp = ts; }
QByteArray payload() const { return load; }
TimeStamp timeStamp() const { return stamp; }
QCanBusFrame::FrameErrors error() const
{
if (format != ErrorFrame)
return QCanBusFrame::FrameErrors(QCanBusFrame::NoError);
return FrameErrors(canId & 0x1FFFFFFFU);
}
void setError(QCanBusFrame::FrameErrors e)
{
if (format != ErrorFrame)
return;
canId = (e & AnyError);
}
QString toString() const
{
const FrameType type = frameType();
if (type == InvalidFrame)
return QStringLiteral("(Invalid)");
if (type == ErrorFrame)
return QStringLiteral("(Error)");
if (type == UnknownFrame)
return QStringLiteral("(Unknown)");
const char *idFormat = hasExtendedFrameFormat() ? "%08X" : " %03X";
const char *dlcFormat = payload().size() < 10 ? " [%d]" : " [%d]";
QString result;
result.append(QString::asprintf(idFormat, static_cast<uint>(frameId())));
result.append(QString::asprintf(dlcFormat, payload().size()));
if (type == RemoteRequestFrame) {
result.append(QLatin1String(" Remote Request"));
} else {
QByteArray data = payload().toHex().toUpper();
for (int i = 0; i < data.size(); i += 3)
data.insert(i, ' ');
result.append(QLatin1String(data));
}
return result;
}
#ifndef QT_NO_DATASTREAM
friend Q_SERIALBUS_EXPORT QDataStream &operator<<(QDataStream &, const QCanBusFrame &);
friend Q_SERIALBUS_EXPORT QDataStream &operator>>(QDataStream &, QCanBusFrame &);
#endif
private:
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 extra: 2; // unused
// reserved for future use
quint8 reserved[3];
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
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