BionxControl/bctransmitter.cpp

#include <QThread>
#include <QDebug>

#include <bctransmitter.h>


BCTransmitter::BCTransmitter(QObject *parent)
  : QObject(parent), _isBusy(false)
{
}


void BCTransmitter::onToggleConnectionState( bool connect )
{
  if( connect )
  {
    if( _canDriver.getState() != BCCanDriver::DriverState::Ready )
      _canDriver.onStartDriver();

    uint32_t hwVersion = _canDriver.readRawValue( BCDevice::ID::Console, BC::ID::Cons_Rev_Hw);

    if(!hwVersion)
    {
      qDebug() << "Console not responding";
    }
    else
    {
      /*
      swVersion = getValue(CONSOLE, CONSOLE_REF_SW);
      printf( "Console information:" _NL
             " hardware version ........: %02d" _NL
             " software version ........: %02d" _NL
             " assistance level ........: %d" _NL,
             hwVersion, swVersion,
             getValue(CONSOLE, CONSOLE_ASSIST_INITLEVEL)
             );

      if (!gNoSerialNumbers)
        printf( " part number .............: %05d" _NL
               " item number .............: %05d" _NL _NL,
               ((getValue(CONSOLE, CONSOLE_SN_PN_HI) << 8) + getValue(CONSOLE, CONSOLE_SN_PN_LO)),
               ((getValue(CONSOLE, CONSOLE_SN_ITEM_HI) << 8) + getValue(CONSOLE, CONSOLE_SN_ITEM_LO))
               );
      */

    }

    qDebug() << " ---HAIL to the kings: " << hwVersion;
  }
}


void BCTransmitter::enqueueValueOp(BC::OpID opID, const BCDataItem* value)
{
  QMutexLocker locker(&_mutex);
  _valueQueue.enqueue( value );

  // Logging (Thread-safe via Signal)
  //emit messageLogged(QString("Command %1 queued.").arg(cmd.label));

  // wir wollen nicht den ganzen Value verschicken, erstrecht
  // wollen wir den Value in verschiedenen Threads gleichzeitig
  // in die Hand nehmen, also hantieren wir nur mit den Inidizes.

  // Trigger processing im Event-Loop des Worker Threads
  // invokeMethod mit QueuedConnection entkoppelt den Aufruf,
  // damit enqueueValueOp sofort zurückkehrt (non-blocking für den Aufrufer).

  //QMetaObject::invokeMethod(this, "processValueOp", Qt::QueuedConnection);
  QMetaObject::invokeMethod(this, [this, opID]()
  {
    this->processValueOp(opID);
  }, Qt::QueuedConnection );
}

void BCTransmitter::processValueOp( BC::OpID opID )
{

  if (_isBusy)
    return;

  _isBusy = true;

  while (true)
  {
    const BCDataItem* currentValue{};
    {
      QMutexLocker locker(&_mutex);
      if (_valueQueue.isEmpty())
      {
        _isBusy = false;
        break; // Schleife verlassen, warten auf neue Events
      }
      currentValue =_valueQueue.dequeue();
    } // Mutex wird hier freigegeben! WICHTIG: Execute ohne Lock!


    if( opID == BC::OpID::ReadValue )
      currentValue->readRawValue( *this );
    else if( opID == BC::OpID::WriteValue )
      currentValue->writeRawValue( *this );


    //emit commandFinished(cmd.id, true);
    //emit commandFinished(0, true);
  }
}

uint32_t BCTransmitter::readRawValue( BCDevice::ID deviceID, BC::ID registerID ) const
{
  try
  {
    return _canDriver.readRawValue( deviceID, registerID );
  }
  catch ( BCException& exception )
  {
     qDebug() << " -- OUCH: read exception: " << exception.what();
  }

}

void BCTransmitter::writeRawValue( BCDevice::ID deviceID, BC::ID registerID, uint8_t value ) const
{
  try
  {
  _canDriver.writeRawValue( deviceID, registerID, value );
  }
  catch ( BCException& exception )
  {
    qDebug() << " -- OUCH: write exception: " << exception.what();
  }

}