machine.cpp

#include "machine.h"
#include <QMetaEnum>
#include <QDebug>
#include <QCoreApplication>
#include "OE_document.h"

Machine::Machine(unsigned msTimeout, unsigned retries) :
    connected(false), sequence(0), sequenceAck(0), loadAck(-1),loadSize(0), msTimeout(msTimeout), retries(retries)
{
	connect(&serial, &QSerialPort::readyRead, this, &Machine::handleReadyRead);
	connect(&serial, &QSerialPort::errorOccurred, this, &Machine::handleError);
	connect(&timerAlive, &QTimer::timeout, this, &Machine::handleAliveTimeout);
}
Machine::~Machine()
{
	disconnect(&serial, &QSerialPort::readyRead, this, &Machine::handleReadyRead);
	disconnect(&serial, &QSerialPort::errorOccurred, this, &Machine::handleError);
}
void Machine::connectPort(QString portname)
{
	if (!portname.isEmpty())
		portName = portname;
	if (serial.isOpen())
		serial.close();
	serial.setPortName(portName);
	serial.open(QIODevice::ReadWrite);
	timerAlive.start(1000);
}
void Machine::disconnectPort()
{
	serial.readAll();
	serial.close();
	timerAlive.stop();
	connected = false;
	emit connectionChanged(connected);
}
static uint16_t crc16(const uint8_t* data, int len)
{
	static uint16_t crctable[] = {0x0000, 0x1189, 0x2312, 0x329B, 0x4624, 0x57AD, 0x6536, 0x74BF,	0x8C48, 0x9DC1, 0xAF5A, 0xBED3, 0xCA6C, 0xDBE5, 0xE97E, 0xF8F7,	0x0919, 0x1890, 0x2A0B, 0x3B82, 0x4F3D, 0x5EB4, 0x6C2F, 0x7DA6,	0x8551, 0x94D8, 0xA643, 0xB7CA, 0xC375, 0xD2FC, 0xE067, 0xF1EE,	0x1232, 0x03BB, 0x3120, 0x20A9, 0x5416, 0x459F, 0x7704, 0x668D,	0x9E7A, 0x8FF3, 0xBD68, 0xACE1, 0xD85E, 0xC9D7, 0xFB4C, 0xEAC5,	0x1B2B, 0x0AA2, 0x3839, 0x29B0, 0x5D0F, 0x4C86, 0x7E1D, 0x6F94,	0x9763, 0x86EA, 0xB471, 0xA5F8, 0xD147, 0xC0CE, 0xF255, 0xE3DC,	0x2464, 0x35ED, 0x0776, 0x16FF, 0x6240, 0x73C9, 0x4152, 0x50DB,	0xA82C, 0xB9A5, 0x8B3E, 0x9AB7, 0xEE08, 0xFF81, 0xCD1A, 0xDC93,	0x2D7D, 0x3CF4, 0x0E6F, 0x1FE6, 0x6B59, 0x7AD0, 0x484B, 0x59C2,	0xA135, 0xB0BC, 0x8227, 0x93AE, 0xE711, 0xF698, 0xC403, 0xD58A,	0x3656, 0x27DF, 0x1544, 0x04CD, 0x7072, 0x61FB, 0x5360, 0x42E9,	0xBA1E, 0xAB97, 0x990C, 0x8885, 0xFC3A, 0xEDB3, 0xDF28, 0xCEA1,	0x3F4F, 0x2EC6, 0x1C5D, 0x0DD4, 0x796B, 0x68E2, 0x5A79, 0x4BF0,	0xB307, 0xA28E, 0x9015, 0x819C, 0xF523, 0xE4AA, 0xD631, 0xC7B8,	0x48C8, 0x5941, 0x6BDA, 0x7A53, 0x0EEC, 0x1F65, 0x2DFE, 0x3C77,	0xC480, 0xD509, 0xE792, 0xF61B, 0x82A4, 0x932D, 0xA1B6, 0xB03F,	0x41D1, 0x5058, 0x62C3, 0x734A, 0x07F5, 0x167C, 0x24E7, 0x356E,	0xCD99, 0xDC10, 0xEE8B, 0xFF02, 0x8BBD, 0x9A34, 0xA8AF, 0xB926,	0x5AFA, 0x4B73, 0x79E8, 0x6861, 0x1CDE, 0x0D57, 0x3FCC, 0x2E45,	0xD6B2, 0xC73B, 0xF5A0, 0xE429, 0x9096, 0x811F, 0xB384, 0xA20D,	0x53E3, 0x426A, 0x70F1, 0x6178, 0x15C7, 0x044E, 0x36D5, 0x275C,	0xDFAB, 0xCE22, 0xFCB9, 0xED30, 0x998F, 0x8806, 0xBA9D, 0xAB14,	0x6CAC, 0x7D25, 0x4FBE, 0x5E37, 0x2A88, 0x3B01, 0x099A, 0x1813,	0xE0E4, 0xF16D, 0xC3F6, 0xD27F, 0xA6C0, 0xB749, 0x85D2, 0x945B,	0x65B5, 0x743C, 0x46A7, 0x572E, 0x2391, 0x3218, 0x0083, 0x110A,	0xE9FD, 0xF874, 0xCAEF, 0xDB66, 0xAFD9, 0xBE50, 0x8CCB, 0x9D42,	0x7E9E, 0x6F17, 0x5D8C, 0x4C05, 0x38BA, 0x2933, 0x1BA8, 0x0A21,	0xF2D6, 0xE35F, 0xD1C4, 0xC04D, 0xB4F2, 0xA57B, 0x97E0, 0x8669,	0x7787, 0x660E, 0x5495, 0x451C, 0x31A3, 0x202A, 0x12B1, 0x0338,	0xFBCF, 0xEA46, 0xD8DD, 0xC954, 0xBDEB, 0xAC62, 0x9EF9, 0x8F70};
	uint16_t crc = 0xFFFF;
	for (int i=0; i<len; i++)
		crc = static_cast<uint16_t>(crc << 8) ^ crctable[((crc >> 8) ^ data[i])];
	return crc;
}
static bool checkcrc(const uint8_t* data)
{
	uint16_t crc = crc16(&data[1], 37-1-2);
	return data[37-2]==((crc>>8)&0xff) and data[37-1]==(crc&0xff);
}
// Serial port management
void Machine::handleReadyRead()
{
	msgBuffer.append(serial.readAll());
	// if data is too old remove it
	if (msgBuffer.size()>=3*37)
		msgBuffer.remove(0, msgBuffer.size()-37);
	while (msgBuffer.size() >= 37)
	{
		// Lock on sfd
		int isfd = msgBuffer.indexOf(0x3A);
		if (isfd == -1)
		{
			msgBuffer.clear();
			continue;
		}
		else if (isfd != 0)
		{
			msgBuffer.remove(0, isfd);
		}
		// Check integrity
		if (msgBuffer.size()>=37 && checkcrc(reinterpret_cast<uint8_t*>(msgBuffer.data())))
		{
			onMsg(reinterpret_cast<uint8_t*>(msgBuffer.data()));
			msgBuffer.remove(0, 37);
		}
		else
		{ // Remove old sfd
			msgBuffer.remove(0, 1);
		}
	}
}
void Machine::handleError(QSerialPort::SerialPortError serialPortError)
{
	const char* strError = QMetaEnum::fromType<QSerialPort::SerialPortError>().key(serialPortError);
	if (serialPortError == QSerialPort::SerialPortError::ResourceError)
	{
		serial.close();
		if (!timerAlive.isActive())
			handleAliveTimeout();
	}
	else if (serialPortError != QSerialPort::SerialPortError::NoError && strError)
		qDebug() << "Machine::handleError: " << strError;
}
void Machine::handleAliveTimeout()
{
	if (connected)
	{
		connected = false;
		emit connectionChanged(connected);
	}
	if (!serial.isOpen())
	{
		serial.setPortName(portName);
		if (!serial.open(QIODevice::ReadWrite))
			timerAlive.start(1000);
	}
}

bool Machine::ack()
{
	return sequence == sequenceAck;
}

void Machine::deletePoints() { sendCommand(Command::kDeletePoints); }
void Machine::stopMove() { sendCommand(Command::kStopMove); }
void Machine::startMove() { sendCommand(Command::kStartMove); }
void Machine::setParam() { sendCommand(Command::kSetParam); }
void Machine::gotoXY(int16_t x, int16_t y)
{
	//writePosType(sndBuffer, x, 0);
	//writePosType(sndBuffer, y, 1);
	sendCommand(Command::kGotoXY);
}
void Machine::movedXdY(int16_t dx, int16_t dy)
{
	//writePosType(sndBuffer, dx, 0);
	//writePosType(sndBuffer, dy, 1);
	sendCommand(Command::kMovedXdY);
}
void Machine::gotoNextPoint() { sendCommand(Command::kGotoNextPoint); }
void Machine::setNPoint(uint16_t nPoint)
{
	//sndBuffer[0] = nPoint>>8;
	//sndBuffer[1] = nPoint&0xff;
	sendCommand(Command::kSetNPoint);
}
void Machine::setPos(int16_t x, int16_t y)
{
	//writePosType(sndBuffer, x, 0);
	//writePosType(sndBuffer, y, 1);
	sendCommand(Command::kSetPos);
}

void Machine::sendCommand(Command cmd, uint8_t len, bool async)
{
	uint8_t u8 = ++sequence;
	cmdBuffer.insert(0, '\x3A'); // SFD
	cmdBuffer.insert(1, *reinterpret_cast<char*>(&u8)); // Sequence
	len = len ? (len<=16 ? len-1 : 15) : 0;
	u8 = static_cast<uint8_t>(len<<4) | static_cast<uint8_t>(cmd);
	cmdBuffer.insert(2, *reinterpret_cast<char*>(&u8)); // Length and command
	if (cmdBuffer.size()<35)
		cmdBuffer.append(35-cmdBuffer.size(),'\0');
	uint16_t crc = crc16(reinterpret_cast<uint8_t*>(cmdBuffer.data())+1, 34);
	u8 = static_cast<uint8_t>((crc>>8)&0xff);
	cmdBuffer.append(*reinterpret_cast<char*>(&u8));
	u8 = static_cast<uint8_t>(crc&0xff);
	cmdBuffer.append(*reinterpret_cast<char*>(&u8));
	serial.write(cmdBuffer);
	serial.flush();
	cmdBuffer.clear();

	if (async)
	{
		return;
	}

	struct timespec dt;
	unsigned ms, tries;
	for (tries=0; (tries<retries) && (sequence != sequenceAck); tries++)
	{
		for (ms=0; (ms<msTimeout) && (sequence != sequenceAck); ms++)
		{
			dt.tv_sec = 0;
			dt.tv_nsec = 1000000;
			while(nanosleep(&dt,&dt)<0 && errno==EINTR);
			QCoreApplication::processEvents();
		}
	}
	if (sequence != sequenceAck)
		qDebug() << "Machine command timeout";
}
void Machine::onMsg(uint8_t* buffer)
{
	SlaveInfo oldInfo;
	memcpy(&oldInfo, &info, sizeof(info));
	memcpy(&info, buffer+1/*skip sfd*/, sizeof(info)); // TODO detect if big endian and fallback to something else
	sequenceAck = info.sequence;
	bool wasConnected = connected;
	if (!wasConnected)
	{
		connected = true;
		emit connectionChanged(connected);
	}
	timerAlive.start(1000);
	if (memcmp(&oldInfo, &info, sizeof(info)) || !wasConnected)
	{
		printf("Seq %u, status %u, spaceSize %u, freeSpace %u, pos (%d,%d), nPoint %u\n",
		       info.sequence, info.status, info.spaceSize, info.freeSpace, info.posX, info.posY, info.nPoint);
		emit stateChanged(info);
	}
	// Points stream management
	if (loadAck >= 0 && loadAck==sequenceAck) // TODOOOOOOOOOOOOOOOO add timeout/error management
	{
		loadAck = -1;
		while (loadSize--)
		{
			loadQueue.pop_front();
		}
	}
	if (loadAck < 0 && !loadQueue.isEmpty() && info.freeSpace > 50)
	{
		cmdBuffer.clear();
		auto itLoad = loadQueue.begin();
		uint8_t u;
		while ((cmdBuffer.size()+3 < 37-5) && (cmdBuffer.size() != loadQueue.size()))
		{
			u = *itLoad++;
			cmdBuffer.append(*reinterpret_cast<char*>(&u));
			u = *itLoad++;
			cmdBuffer.append(*reinterpret_cast<char*>(&u));
			u = *itLoad++;
			cmdBuffer.append(*reinterpret_cast<char*>(&u));
		}
		loadSize = static_cast<uint32_t>(cmdBuffer.size());
		sendCommand(Command::kAddPoints, static_cast<uint8_t>(cmdBuffer.size()/3), true);
		loadAck = sequence;
	}
}

void Machine::loadpoints(OE_document* document)
{
	int oldX=0, oldY=0;
	unsigned sndPoint=0;
	uint8_t u1, u2, u3;
	qDebug() << "sendInstPoint" << document->instPoints.size() << "points";
	loadQueue.clear();

	//TODO stopMove();
	//TODO setPos(0, 0);
	//TODO setNPoint(0);
	//TODO deletePoints();

	// TODO update document->curPoint = comm.info.nPoint;
	int x, y, dx, dy;
	cmdBuffer.clear();
	while (sndPoint<document->instPoints.size())
	{
		x = static_cast<int>(roundf( document->instPoints.at(sndPoint).x));
		y = static_cast<int>(roundf(-document->instPoints.at(sndPoint).y));
		dx = x-oldX;
		dy = y-oldY;
		if (dx == 0 && dy == 0)
		{ // Bug in firmware for the "no move" instruction, skipping point instead. TODO fix firmware and remove.
			sndPoint++;
			continue;
		}

		u1 = static_cast<uint8_t>((abs(dx)>>8)<<2) | static_cast<uint8_t>(abs(dy)>>8);
		u2 = abs(dx)&0xff;
		u3 = abs(dy)&0xff;
		if (dx<0)
			u1 |= 0x20;
		if (dy<0)
			u1 |= 0x10;
		cmdBuffer.append(*reinterpret_cast<char*>(&u1));
		cmdBuffer.append(*reinterpret_cast<char*>(&u2));
		cmdBuffer.append(*reinterpret_cast<char*>(&u3));
		loadQueue.append(u1);
		loadQueue.append(u2);
		loadQueue.append(u3);

		sndPoint++;
		oldX = x;
		oldY = y;
	}
}