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vescinterface.cpp
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vescinterface.cpp
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/*
Copyright 2016 - 2020 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 <QDebug>
#include <QHostInfo>
#include <QNetworkDatagram>
#include <QFileInfo>
#include <QThread>
#include <QEventLoop>
#include <cmath>
#include <QRegularExpression>
#include <QDateTime>
#include <QDir>
#include <cmath>
#include "lzokay/lzokay.hpp"
#include "vescinterface.h"
#include "utility.h"
#include "heatshrink/heatshrinkif.h"
#ifdef HAS_SERIALPORT
#include <QSerialPortInfo>
#endif
#ifdef HAS_CANBUS
#include <QCanBus>
#endif
#ifndef VT_INTRO_VERSION
#define VT_INTRO_VERSION 1
#endif
VescInterface::VescInterface(QObject *parent) : QObject(parent)
{
mMcConfig = new ConfigParams(this);
mAppConfig = new ConfigParams(this);
mInfoConfig = new ConfigParams(this);
mFwConfig = new ConfigParams(this);
mCustomConfigsLoaded = false;
mQmlHwLoaded = false;
mQmlAppLoaded = false;
mPacket = new Packet(this);
mCommands = new Commands(this);
// Compatible firmwares
mFwVersionReceived = false;
mFwRetries = 0;
mFwPollCnt = 0;
mFwTxt = "x.x";
mFwPair = qMakePair(-1, -1);
mIsUploadingFw = false;
mIsLastFwBootloader = false;
mFwSupportsConfiguration = false;
mCancelSwdUpload = false;
mCancelFwUpload = false;
mFwUploadStatus = "FW Upload Status";
mFwUploadProgress = -1.0;
mFwIsBootloader = false;
mTimer = new QTimer(this);
mTimer->setInterval(20);
mTimer->start();
mLastConnType = static_cast<conn_t>(mSettings.value("connection_type", CONN_NONE).toInt());
mLastTcpServer = mSettings.value("tcp_server", "127.0.0.1").toString();
mLastTcpPort = mSettings.value("tcp_port", 65102).toInt();
mLastUdpServer = QHostAddress(mSettings.value("udp_server", "127.0.0.1").toString());
mLastUdpPort = mSettings.value("udp_port", 65102).toInt();
mSendCanBefore = false;
mCanIdBefore = 0;
mWasConnected = false;
mAutoconnectOngoing = false;
mAutoconnectProgress = 0.0;
mIgnoreCanChange = false;
mCanTmpFwdActive = false;
mCanTmpFwdSendCanLast = false;
mCanTmpFwdIdLast = -1;
#ifdef Q_OS_ANDROID
QAndroidJniObject activity = QAndroidJniObject::callStaticObjectMethod(
"org/qtproject/qt5/android/QtNative", "activity", "()Landroid/app/Activity;");
if (activity.isValid()) {
QAndroidJniObject serviceName = QAndroidJniObject::getStaticObjectField<jstring>(
"android/content/Context","POWER_SERVICE");
if (serviceName.isValid()) {
QAndroidJniObject powerMgr = activity.callObjectMethod(
"getSystemService", "(Ljava/lang/String;)Ljava/lang/Object;",serviceName.object<jobject>());
if (powerMgr.isValid()) {
jint levelAndFlags = QAndroidJniObject::getStaticField<jint>(
"android/os/PowerManager","PARTIAL_WAKE_LOCK");
QAndroidJniObject tag = QAndroidJniObject::fromString( "VESC Tool" );
mWakeLock = powerMgr.callObjectMethod("newWakeLock",
"(ILjava/lang/String;)Landroid/os/PowerManager$WakeLock;",
levelAndFlags,tag.object<jstring>());
}
}
}
#endif
mWakeLockActive = false;
// Serial
#ifdef HAS_SERIALPORT
mSerialPort = new QSerialPort(this);
mLastSerialPort = mSettings.value("serial_port", "").toString();
mLastSerialBaud = mSettings.value("serial_baud", 115200).toInt();
connect(mSerialPort, SIGNAL(readyRead()),
this, SLOT(serialDataAvailable()));
connect(mSerialPort, SIGNAL(error(QSerialPort::SerialPortError)),
this, SLOT(serialPortError(QSerialPort::SerialPortError)));
#endif
// CANbus
#ifdef HAS_CANBUS
mCanDevice = nullptr;
mLastCanDeviceInterface = mSettings.value("CANbusDeviceInterface", "can0").toString();
mLastCanDeviceBitrate = mSettings.value("CANbusDeviceBitrate", 500000).toInt();
mLastCanBackend = mSettings.value("CANbusBackend", "socketcan").toString();
mLastCanDeviceID = mSettings.value("CANbusLastDeviceID", 0).toInt();
mCANbusScanning = false;
#endif
#ifdef HAS_POS
mPosSource = nullptr;
#endif
// TCP
mTcpSocket = new QTcpSocket(this);
mTcpConnected = false;
connect(mTcpSocket, SIGNAL(readyRead()), this, SLOT(tcpInputDataAvailable()));
connect(mTcpSocket, SIGNAL(connected()), this, SLOT(tcpInputConnected()));
connect(mTcpSocket, SIGNAL(disconnected()),
this, SLOT(tcpInputDisconnected()));
connect(mTcpSocket, SIGNAL(error(QAbstractSocket::SocketError)),
this, SLOT(tcpInputError(QAbstractSocket::SocketError)));
// UDP
mUdpSocket = new QUdpSocket(this);
mUdpConnected = false;
connect(mUdpSocket, SIGNAL(readyRead()), this, SLOT(udpInputDataAvailable()));
connect(mUdpSocket, SIGNAL(error(QAbstractSocket::SocketError)),
this, SLOT(udpInputError(QAbstractSocket::SocketError)));
// BLE
#ifdef HAS_BLUETOOTH
mBleUart = new BleUart(this);
mLastBleAddr = mSettings.value("ble_addr").toString();
{
int size = mSettings.beginReadArray("bleNames");
for (int i = 0; i < size; ++i) {
mSettings.setArrayIndex(i);
QString address = mSettings.value("address").toString();
QString name = mSettings.value("name").toString();
mBleNames.insert(address, name);
}
mSettings.endArray();
}
{
int size = mSettings.beginReadArray("blePreferred");
for (int i = 0; i < size; ++i) {
mSettings.setArrayIndex(i);
QString address = mSettings.value("address").toString();
bool pref = mSettings.value("preferred").toBool();
mBlePreferred.insert(address, pref);
}
mSettings.endArray();
}
connect(mBleUart, SIGNAL(dataRx(QByteArray)), this, SLOT(bleDataRx(QByteArray)));
connect(mBleUart, &BleUart::connected, [this]{
setLastConnectionType(CONN_BLE);
mSettings.setValue("ble_addr", mLastBleAddr);
});
#endif
mTcpServer = new TcpServerSimple(this);
mTcpServer->setUsePacket(true);
connect(mTcpServer->packet(), &Packet::packetReceived, [this](QByteArray &packet) {
mPacket->sendPacket(packet);
});
connect(mPacket, &Packet::packetReceived, [this](QByteArray &packet) {
mTcpServer->packet()->sendPacket(packet);
});
mUdpServer = new UdpServerSimple(this);
mUdpServer->setUsePacket(true);
connect(mUdpServer->packet(), &Packet::packetReceived, [this](QByteArray &packet) {
mPacket->sendPacket(packet);
});
connect(mPacket, &Packet::packetReceived, [this](QByteArray &packet) {
mUdpServer->packet()->sendPacket(packet);
});
{
int size = mSettings.beginReadArray("profiles");
for (int i = 0; i < size; ++i) {
mSettings.setArrayIndex(i);
MCCONF_TEMP cfg;
cfg.current_min_scale = mSettings.value("current_min_scale", 1.0).toDouble();
cfg.current_max_scale = mSettings.value("current_max_scale", 1.0).toDouble();
cfg.erpm_or_speed_min = mSettings.value("erpm_or_speed_min").toDouble();
cfg.erpm_or_speed_max = mSettings.value("erpm_or_speed_max").toDouble();
cfg.duty_min = mSettings.value("duty_min").toDouble();
cfg.duty_max = mSettings.value("duty_max").toDouble();
cfg.watt_min = mSettings.value("watt_min").toDouble();
cfg.watt_max = mSettings.value("watt_max").toDouble();
cfg.name = mSettings.value("name").toString();
mProfiles.append(QVariant::fromValue(cfg));
}
mSettings.endArray();
}
{
int size = mSettings.beginReadArray("pairedUuids");
for (int i = 0; i < size; ++i) {
mSettings.setArrayIndex(i);
QString uuid = mSettings.value("uuid").toString().toUpper();
mPairedUuids.append(uuid.replace(" ", ""));
}
mSettings.endArray();
}
{
int size = mSettings.beginReadArray("configurationBackups");
for (int i = 0; i < size; ++i) {
CONFIG_BACKUP cfg;
mSettings.setArrayIndex(i);
QString uuid = mSettings.value("uuid").toString();
cfg.vesc_uuid = uuid;
cfg.mcconf_xml_compressed = mSettings.value("mcconf").toString();
cfg.appconf_xml_compressed = mSettings.value("appconf").toString();
cfg.name = mSettings.value("name", QString("")).toString();
mConfigurationBackups.insert(uuid, cfg);
}
mSettings.endArray();
}
mUseImperialUnits = mSettings.value("useImperialUnits", false).toBool();
mKeepScreenOn = mSettings.value("keepScreenOn", true).toBool();
mUseWakeLock = mSettings.value("useWakeLock", false).toBool();
mLoadQmlUiOnConnect = mSettings.value("loadQmlUiOnConnect", true).toBool();
mAllowScreenRotation = mSettings.value("allowScreenRotation", false).toBool();
mSpeedGaugeUseNegativeValues = mSettings.value("speedGaugeUseNegativeValues", true).toBool();
mCommands->setAppConfig(mAppConfig);
mCommands->setMcConfig(mMcConfig);
// Other signals/slots
connect(mTimer, SIGNAL(timeout()), this, SLOT(timerSlot()));
connect(mPacket, SIGNAL(dataToSend(QByteArray&)),
this, SLOT(packetDataToSend(QByteArray&)));
connect(mPacket, SIGNAL(packetReceived(QByteArray&)),
this, SLOT(packetReceived(QByteArray&)));
connect(mCommands, SIGNAL(dataToSend(QByteArray&)),
this, SLOT(cmdDataToSend(QByteArray&)));
connect(mCommands, SIGNAL(fwVersionReceived(FW_RX_PARAMS)),
this, SLOT(fwVersionReceived(FW_RX_PARAMS)));
connect(mCommands, SIGNAL(ackReceived(QString)), this, SLOT(ackReceived(QString)));
connect(mMcConfig, SIGNAL(updated()), this, SLOT(mcconfUpdated()));
connect(mAppConfig, SIGNAL(updated()), this, SLOT(appconfUpdated()));
connect(mCommands, &Commands::valuesSetupReceived, [this](SETUP_VALUES v) {
mLastSetupValues = v;
mLastSetupTime = QDateTime::currentDateTimeUtc();
});
connect(mCommands, &Commands::valuesImuReceived, [this](IMU_VALUES v) {
mLastImuValues = v;
mLastImuTime = QDateTime::currentDateTimeUtc();
});
connect(mCommands, &Commands::valuesReceived, [this](MC_VALUES v) {
if (mRtLogFile.isOpen()) {
int msPos = -1;
double lat = 0.0;
double lon = 0.0;
double alt = 0.0;
double gVel = 0.0;
double vVel = 0.0;
double hAcc = 0.0;
double vAcc = 0.0;
#ifdef HAS_POS
if (mLastPos.isValid() && mLastPosTime.isValid() &&
mLastPosTime.secsTo(QDateTime::currentDateTime()) < 3) {
msPos = mLastPos.timestamp().time().msecsSinceStartOfDay();
lat = mLastPos.coordinate().latitude();
lon = mLastPos.coordinate().longitude();
if (!std::isnan(mLastPos.coordinate().altitude())) {
alt = mLastPos.coordinate().altitude();
}
if (mLastPos.hasAttribute(QGeoPositionInfo::GroundSpeed)) {
gVel = mLastPos.attribute(QGeoPositionInfo::GroundSpeed);
}
if (mLastPos.hasAttribute(QGeoPositionInfo::VerticalSpeed)) {
vVel = mLastPos.attribute(QGeoPositionInfo::VerticalSpeed);
}
if (mLastPos.hasAttribute(QGeoPositionInfo::HorizontalAccuracy)) {
hAcc = mLastPos.attribute(QGeoPositionInfo::HorizontalAccuracy);
}
if (mLastPos.hasAttribute(QGeoPositionInfo::VerticalAccuracy)) {
vAcc = mLastPos.attribute(QGeoPositionInfo::VerticalAccuracy);
}
}
#endif
auto t = QDateTime::currentDateTimeUtc().time();
QTextStream os(&mRtLogFile);
int msSetup = -1;
if (mLastSetupTime.isValid()) {
msSetup = mLastSetupTime.time().msecsSinceStartOfDay();
}
int msImu = -1;
if (mLastImuTime.isValid()) {
msImu = mLastImuTime.time().msecsSinceStartOfDay();
}
os << t.msecsSinceStartOfDay() << ";";
os << v.v_in << ";";
os << v.temp_mos << ";";
os << v.temp_mos_1 << ";";
os << v.temp_mos_2 << ";";
os << v.temp_mos_3 << ";";
os << v.temp_motor << ";";
os << v.current_motor << ";";
os << v.current_in << ";";
os << v.id << ";";
os << v.iq << ";";
os << v.rpm << ";";
os << v.duty_now << ";";
os << v.amp_hours << ";";
os << v.amp_hours_charged << ";";
os << v.watt_hours << ";";
os << v.watt_hours_charged << ";";
os << v.tachometer << ";";
os << v.tachometer_abs << ";";
os << v.position << ";";
os << v.fault_code << ";";
os << v.vesc_id << ";";
os << v.vd << ";";
os << v.vq << ";";
os << msSetup << ";";
os << mLastSetupValues.amp_hours << ";";
os << mLastSetupValues.amp_hours_charged << ";";
os << mLastSetupValues.watt_hours << ";";
os << mLastSetupValues.watt_hours_charged << ";";
os << mLastSetupValues.battery_level << ";";
os << mLastSetupValues.battery_wh << ";";
os << mLastSetupValues.current_in << ";";
os << mLastSetupValues.current_motor << ";";
os << mLastSetupValues.speed << ";";
os << mLastSetupValues.tachometer << ";";
os << mLastSetupValues.tachometer_abs << ";";
os << mLastSetupValues.num_vescs << ";";
os << msImu << ";";
os << mLastImuValues.roll << ";";
os << mLastImuValues.pitch << ";";
os << mLastImuValues.yaw << ";";
os << mLastImuValues.accX << ";";
os << mLastImuValues.accY << ";";
os << mLastImuValues.accZ << ";";
os << mLastImuValues.gyroX << ";";
os << mLastImuValues.gyroY << ";";
os << mLastImuValues.gyroZ << ";";
os << msPos << ";";
os << fixed << qSetRealNumberPrecision(8) << lat << ";";
os << fixed << qSetRealNumberPrecision(8) << lon << ";";
os << alt << ";";
os << gVel << ";";
os << vVel << ";";
os << hAcc << ";";
os << vAcc << ";";
os << "\n";
os.flush();
LOG_DATA d;
d.values = v;
d.setupValues = mLastSetupValues;
d.imuValues = mLastImuValues;
d.valTime = t.msecsSinceStartOfDay();
d.setupValTime = msSetup;
d.imuValTime = msImu;
d.posTime = msPos;
d.lat = lat;
d.lon = lon;
d.alt = alt;
d.gVel = gVel;
d.vVel = vVel;
d.hAcc = hAcc;
d.vAcc = vAcc;
mRtLogData.append(d);
}
});
mDeserialFailedMessageShown = false;
connect(mCommands, &Commands::deserializeConfigFailed, [this](bool isMc, bool isApp) {
if (!mDeserialFailedMessageShown) {
mDeserialFailedMessageShown = true;
QString configName = "unknown";
if (isMc) {
configName = "motor";
} else if (isApp) {
configName = "app";
}
#if VT_IS_TEST_VERSION
emitMessageDialog("Deserializing " + configName + " configuration failed",
"Could not deserialize " + configName +
" configuration. You probably need to update the VESC firmware, as "
"a new iteration of the test version has been made.",
false, false);
#else
emitMessageDialog("Deserializing " + configName + " configuration failed",
"Could not deserialize " + configName +
" configuration. This probably means "
"that something is wrong with your firmware, or this VESC Tool version.",
false, false);
#endif
}
});
#if VT_IS_TEST_VERSION
QTimer::singleShot(1000, [this]() {
emitMessageDialog("VESC Tool Test Version",
"Warning: This is a test version of VESC Tool. The included firmwares are NOT compatible with "
"released firmwares and should only be used with this test version. When using a release version "
"of VESC Tool, the firmware must be upgraded even if the version number is the same.",
false);
});
#endif
}
VescInterface::~VescInterface()
{
storeSettings();
closeRtLogFile();
if (mWakeLockActive) {
setWakeLock(false);
}
Utility::stopGnssForegroundService();
}
Commands *VescInterface::commands() const
{
return mCommands;
}
ConfigParams *VescInterface::mcConfig()
{
return mMcConfig;
}
ConfigParams *VescInterface::appConfig()
{
return mAppConfig;
}
ConfigParams *VescInterface::infoConfig()
{
return mInfoConfig;
}
ConfigParams *VescInterface::fwConfig()
{
return mFwConfig;
}
QStringList VescInterface::getSupportedFirmwares()
{
QList<QPair<int, int> > fwPairs = getSupportedFirmwarePairs();
QStringList fws;
for (int i = 0;i < fwPairs.size();i++) {
fws.append(QString("%1.%2").arg(fwPairs.at(i).first).arg(fwPairs.at(i).second, 2, 10, QLatin1Char('0')));
}
return fws;
}
QList<QPair<int, int> > VescInterface::getSupportedFirmwarePairs()
{
QList<QPair<int, int> > fws;
ConfigParam *p = mInfoConfig->getParam("fw_version");
if (p) {
QStringList strs = p->enumNames;
for (int i = 0;i < strs.size();i++) {
QStringList mami = strs.at(i).split(".");
QPair<int, int> fw = qMakePair(mami.at(0).toInt(), mami.at(1).toInt());
fws.append(fw);
}
}
return fws;
}
QString VescInterface::getFirmwareNow()
{
return mFwTxt;
}
QPair<int, int> VescInterface::getFirmwareNowPair()
{
return mFwPair;
}
void VescInterface::emitStatusMessage(const QString &msg, bool isGood)
{
emit statusMessage(msg, isGood);
}
void VescInterface::emitMessageDialog(const QString &title, const QString &msg, bool isGood, bool richText)
{
emit messageDialog(title, msg, isGood, richText);
}
bool VescInterface::fwRx()
{
return mFwVersionReceived;
}
void VescInterface::storeSettings()
{
mSettings.remove("bleNames");
{
mSettings.beginWriteArray("bleNames");
QHashIterator<QString, QString> i(mBleNames);
int ind = 0;
while (i.hasNext()) {
i.next();
mSettings.setArrayIndex(ind);
mSettings.setValue("address", i.key());
mSettings.setValue("name", i.value());
ind++;
}
mSettings.endArray();
}
mSettings.remove("blePreferred");
{
mSettings.beginWriteArray("blePreferred");
QHashIterator<QString, bool> i(mBlePreferred);
int ind = 0;
while (i.hasNext()) {
i.next();
mSettings.setArrayIndex(ind);
mSettings.setValue("address", i.key());
mSettings.setValue("preferred", i.value());
ind++;
}
mSettings.endArray();
}
mSettings.remove("profiles");
mSettings.beginWriteArray("profiles");
for (int i = 0; i < mProfiles.size(); ++i) {
MCCONF_TEMP cfg = mProfiles.value(i).value<MCCONF_TEMP>();
mSettings.setArrayIndex(i);
mSettings.setValue("current_min_scale", cfg.current_min_scale);
mSettings.setValue("current_max_scale", cfg.current_max_scale);
mSettings.setValue("erpm_or_speed_min", cfg.erpm_or_speed_min);
mSettings.setValue("erpm_or_speed_max", cfg.erpm_or_speed_max);
mSettings.setValue("duty_min", cfg.duty_min);
mSettings.setValue("duty_max", cfg.duty_max);
mSettings.setValue("watt_min", cfg.watt_min);
mSettings.setValue("watt_max", cfg.watt_max);
mSettings.setValue("name", cfg.name);
}
mSettings.endArray();
mSettings.beginWriteArray("pairedUuids");
for (int i = 0;i < mPairedUuids.size();i++) {
mSettings.setArrayIndex(i);
mSettings.setValue("uuid", mPairedUuids.at(i));
}
mSettings.endArray();
mSettings.remove("configurationBackups");
{
mSettings.beginWriteArray("configurationBackups");
QHashIterator<QString, CONFIG_BACKUP> i(mConfigurationBackups);
int ind = 0;
while (i.hasNext()) {
i.next();
mSettings.setArrayIndex(ind);
mSettings.setValue("uuid", i.key());
mSettings.setValue("mcconf", i.value().mcconf_xml_compressed);
mSettings.setValue("appconf", i.value().appconf_xml_compressed);
mSettings.setValue("name", i.value().name);
ind++;
}
mSettings.endArray();
}
mSettings.setValue("useImperialUnits", mUseImperialUnits);
mSettings.setValue("keepScreenOn", mKeepScreenOn);
mSettings.setValue("useWakeLock", mUseWakeLock);
mSettings.setValue("loadQmlUiOnConnect", mLoadQmlUiOnConnect);
mSettings.setValue("darkMode", Utility::isDarkMode());
mSettings.setValue("allowScreenRotation", mAllowScreenRotation);
mSettings.setValue("speedGaugeUseNegativeValues", mSpeedGaugeUseNegativeValues);
mSettings.sync();
}
QVariantList VescInterface::getProfiles()
{
return mProfiles;
}
void VescInterface::addProfile(QVariant profile)
{
mProfiles.append(profile);
emit profilesUpdated();
}
void VescInterface::clearProfiles()
{
mProfiles.clear();
emit profilesUpdated();
}
void VescInterface::deleteProfile(int index)
{
if (index >= 0 && mProfiles.length() > index) {
mProfiles.removeAt(index);
emit profilesUpdated();
}
}
void VescInterface::moveProfileUp(int index)
{
if (index > 0 && index < mProfiles.size()) {
mProfiles.swap(index, index - 1);
emit profilesUpdated();
}
}
void VescInterface::moveProfileDown(int index)
{
if (index >= 0 && index < (mProfiles.size() - 1)) {
mProfiles.swap(index, index + 1);
emit profilesUpdated();
}
}
MCCONF_TEMP VescInterface::getProfile(int index)
{
MCCONF_TEMP conf = createMcconfTemp();
if (index >= 0 && mProfiles.length() > index) {
conf = mProfiles.value(index).value<MCCONF_TEMP>();
}
return conf;
}
void VescInterface::updateProfile(int index, QVariant profile)
{
if (index >= 0 && mProfiles.length() > index) {
mProfiles[index] = profile;
emit profilesUpdated();
}
}
bool VescInterface::isProfileInUse(int index)
{
MCCONF_TEMP conf = getProfile(index);
bool res = true;
if (!Utility::almostEqual(conf.current_max_scale,
mMcConfig->getParamDouble("l_current_max_scale"), 0.0001)) {
res = false;
}
if (!Utility::almostEqual(conf.current_min_scale,
mMcConfig->getParamDouble("l_current_min_scale"), 0.0001)) {
res = false;
}
if (!Utility::almostEqual(conf.duty_max,
mMcConfig->getParamDouble("l_max_duty"), 0.0001)) {
res = false;
}
if (!Utility::almostEqual(conf.duty_min,
mMcConfig->getParamDouble("l_min_duty"), 0.0001)) {
res = false;
}
if (!Utility::almostEqual(conf.watt_max,
mMcConfig->getParamDouble("l_watt_max"), 0.0001)) {
res = false;
}
if (!Utility::almostEqual(conf.watt_min,
mMcConfig->getParamDouble("l_watt_min"), 0.0001)) {
res = false;
}
double speedFact = ((mMcConfig->getParamInt("si_motor_poles") / 2.0) * 60.0 *
mMcConfig->getParamDouble("si_gear_ratio")) /
(mMcConfig->getParamDouble("si_wheel_diameter") * M_PI);
if (!Utility::almostEqual(conf.erpm_or_speed_max * speedFact,
mMcConfig->getParamDouble("l_max_erpm"), 0.0001)) {
res = false;
}
if (!Utility::almostEqual(conf.erpm_or_speed_min * speedFact,
mMcConfig->getParamDouble("l_min_erpm"), 0.0001)) {
res = false;
}
return res;
}
MCCONF_TEMP VescInterface::createMcconfTemp()
{
MCCONF_TEMP conf;
conf.name = "Unnamed Profile";
conf.current_min_scale = 1.0;
conf.current_max_scale = 1.0;
conf.duty_min = 0.05;
conf.duty_max = 0.95;
conf.erpm_or_speed_min = -5.0;
conf.erpm_or_speed_max = 5.0;
conf.watt_min = -500.0;
conf.watt_max = 500.0;
return conf;
}
void VescInterface::updateMcconfFromProfile(MCCONF_TEMP profile)
{
double speedFact = ((double(mMcConfig->getParamInt("si_motor_poles")) / 2.0) * 60.0 *
mMcConfig->getParamDouble("si_gear_ratio")) /
(mMcConfig->getParamDouble("si_wheel_diameter") * M_PI);
mMcConfig->updateParamDouble("l_current_min_scale", profile.current_min_scale);
mMcConfig->updateParamDouble("l_current_max_scale", profile.current_max_scale);
mMcConfig->updateParamDouble("l_watt_min", profile.watt_min);
mMcConfig->updateParamDouble("l_watt_max", profile.watt_max);
mMcConfig->updateParamDouble("l_min_erpm", profile.erpm_or_speed_min * speedFact);
mMcConfig->updateParamDouble("l_max_erpm", profile.erpm_or_speed_max * speedFact);
mMcConfig->updateParamDouble("l_min_duty", profile.duty_min);
mMcConfig->updateParamDouble("l_max_duty", profile.duty_max);
}
QStringList VescInterface::getPairedUuids()
{
return mPairedUuids;
}
bool VescInterface::addPairedUuid(QString uuid)
{
bool res = false;
uuid = uuid.replace(" ", "").toUpper();
QRegularExpression hexMatcher("^[0-9A-F]{24}$",
QRegularExpression::CaseInsensitiveOption);
QRegularExpressionMatch match = hexMatcher.match(uuid);
if (!match.hasMatch()) {
emitMessageDialog("Add VESC",
"The UUID must consist of 24 hexadecimal characters.",
false, false);
return false;
}
if (hasPairedUuid(uuid)) {
emitMessageDialog("Add VESC",
"This VESC already is in your paired UUID list.",
true, false);
} else {
mPairedUuids.append(uuid);
emit pairingListUpdated();
res = true;
}
return res;
}
bool VescInterface::deletePairedUuid(QString uuid)
{
bool res = false;
uuid = uuid.replace(" ", "").toUpper();
for (int i = 0;i < mPairedUuids.size();i++) {
QString str = mPairedUuids.at(i);
if (str.replace(" ", "").toUpper() == uuid) {
mPairedUuids.removeAt(i);
emit pairingListUpdated();
res = true;
break;
}
}
return res;
}
void VescInterface::clearPairedUuids()
{
mPairedUuids.clear();
emit pairingListUpdated();
}
bool VescInterface::hasPairedUuid(QString uuid)
{
bool res = false;
uuid = uuid.replace(" ", "").toUpper();
for (int i = 0;i < mPairedUuids.size();i++) {
QString str = mPairedUuids.at(i);
if (str.replace(" ", "").toUpper() == uuid) {
res = true;
break;
}
}
return res;
}
QString VescInterface::getConnectedUuid()
{
QString res;
if (isPortConnected()) {
res = mUuidStr;
}
return res;
}
bool VescInterface::isIntroDone()
{
if (mSettings.contains("introVersion")) {
if (mSettings.value("introVersion").toInt() != VT_INTRO_VERSION) {
mSettings.setValue("intro_done", false);
}
} else {
mSettings.setValue("intro_done", false);
}
return mSettings.value("intro_done", false).toBool();
}
void VescInterface::setIntroDone(bool done)
{
mSettings.setValue("introVersion", VT_INTRO_VERSION);
mSettings.setValue("intro_done", done);
}
QString VescInterface::getLastTcpServer() const
{
return mLastTcpServer;
}
int VescInterface::getLastTcpPort() const
{
return mLastTcpPort;
}
QString VescInterface::getLastUdpServer() const
{
return mLastUdpServer.toString();
}
int VescInterface::getLastUdpPort() const
{
return mLastUdpPort;
}
bool VescInterface::swdEraseFlash()
{
auto waitBmEraseRes = [this]() {
int res = -10;
QEventLoop loop;
QTimer timeoutTimer;
timeoutTimer.setSingleShot(true);
timeoutTimer.start(20000);
auto conn = connect(mCommands, &Commands::bmEraseFlashAllRes, [&res,&loop](int erRes) {
res = erRes;
loop.quit();
});
connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
loop.exec();
disconnect(conn);
return res;
};
mCommands->bmEraseFlashAll();
emit fwUploadStatus("Erasing flash...", 0.0, true);
int erRes = waitBmEraseRes();
if (erRes != 1) {
QString msg = "Unknown failure";
if (erRes == -10) {
msg = "Erase timed out";
} else if (erRes == -3) {
msg = "Erase failed";
} else if (erRes == -2) {
msg = "Could not recognize target";
} else if (erRes == -1) {
msg = "Not connected to target";
}
emitMessageDialog("SWD Upload", msg, false, false);
emit fwUploadStatus(msg, 0.0, false);
return false;
}
emit fwUploadStatus("Erase done", 0.0, false);
return true;
}
bool VescInterface::swdUploadFw(QByteArray newFirmware, uint32_t startAddr,
bool verify, bool isLzo)
{
bool supportsLzo = mCommands->getLimitedCompatibilityCommands().
contains(int(COMM_BM_WRITE_FLASH_LZO));
if (mLastFwParams.hwType != HW_TYPE_VESC) {
supportsLzo = false;
}
auto waitBmWriteRes = [this]() {
int res = -10;
QEventLoop loop;
QTimer timeoutTimer;
timeoutTimer.setSingleShot(true);
timeoutTimer.start(3000);
auto conn = connect(mCommands, &Commands::bmWriteFlashRes, [&res,&loop](int wrRes) {
res = wrRes;
loop.quit();
});
connect(&timeoutTimer, SIGNAL(timeout()), &loop, SLOT(quit()));
loop.exec();
disconnect(conn);
return res;
};
auto writeChunk = [this, &waitBmWriteRes, &verify]
(uint32_t addr, QByteArray chunk, QByteArray chunkLzo) {
for (int i = 0;i < 3;i++) {
if (chunkLzo.isEmpty()) {
mCommands->bmWriteFlash(addr, chunk);
} else {
mCommands->bmWriteFlashLzo(addr, quint16(chunk.size()), chunkLzo);
}
int res = waitBmWriteRes();
if (verify && (!mCommands->isLimitedMode() ||
mCommands->getLimitedCompatibilityCommands().