543 lines
16 KiB
C++
543 lines
16 KiB
C++
#include "icsneo/device/idevicesettings.h"
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#include "icsneo/communication/message/filter/main51messagefilter.h"
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#include <cstring>
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using namespace icsneo;
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uint16_t IDeviceSettings::CalculateGSChecksum(const std::vector<uint8_t>& settings) {
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uint16_t gs_crc = 0;
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const uint16_t* p = (const uint16_t*)settings.data();
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size_t words = settings.size();
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if(words % 2 == 1)
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return 0xFFFF; // Somehow settings is not word aligned
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words /= 2;
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while(words--) {
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uint16_t temp = *p;
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for (int i = 0; i < 16; i++) {
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bool iBit = temp & 1;
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int iCrcNxt;
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//CRCNXT = NXTBIT EXOR CRC_RG(15);
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if (gs_crc & (1 << 15))
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iCrcNxt = iBit ^ 1;
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else
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iCrcNxt = iBit;
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iCrcNxt = iCrcNxt & 0x01;
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// CRC_RG(15:1) = CRC_RG(14:0); // shift left by
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gs_crc = gs_crc << 1;
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gs_crc = gs_crc & 0xFFFE;// clear first bit
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if (iCrcNxt)//CRC_RG(14:0) = CRC_RG(14:0) EXOR (4599hex);
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gs_crc = gs_crc ^ 0xa001;
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temp >>= 1;
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}
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p++;
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}
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return gs_crc;
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}
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CANBaudrate IDeviceSettings::GetEnumValueForBaudrate(int64_t baudrate) {
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switch(baudrate) {
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case 20000:
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return BPS20;
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case 33000:
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return BPS33;
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case 50000:
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return BPS50;
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case 62000:
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return BPS62;
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case 83000:
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return BPS83;
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case 100000:
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return BPS100;
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case 125000:
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return BPS125;
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case 250000:
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return BPS250;
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case 500000:
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return BPS500;
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case 800000:
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return BPS800;
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case 1000000:
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return BPS1000;
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case 666000:
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return BPS666;
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case 2000000:
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return BPS2000;
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case 4000000:
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return BPS4000;
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case 5000000:
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return CAN_BPS5000;
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case 6667000:
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return CAN_BPS6667;
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case 8000000:
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return CAN_BPS8000;
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case 10000000:
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return CAN_BPS10000;
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default:
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return (CANBaudrate)-1;
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}
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}
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int64_t IDeviceSettings::GetBaudrateValueForEnum(CANBaudrate enumValue) {
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switch(enumValue) {
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case BPS20:
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return 20000;
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case BPS33:
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return 33000;
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case BPS50:
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return 50000;
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case BPS62:
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return 62000;
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case BPS83:
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return 83000;
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case BPS100:
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return 100000;
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case BPS125:
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return 125000;
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case BPS250:
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return 250000;
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case BPS500:
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return 500000;
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case BPS800:
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return 800000;
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case BPS1000:
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return 1000000;
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case BPS666:
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return 666000;
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case BPS2000:
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return 2000000;
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case BPS4000:
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return 4000000;
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case CAN_BPS5000:
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return 5000000;
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case CAN_BPS6667:
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return 6667000;
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case CAN_BPS8000:
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return 8000000;
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case CAN_BPS10000:
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return 10000000;
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default:
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return -1;
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}
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}
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bool IDeviceSettings::refresh(bool ignoreChecksum) {
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if(disabled) {
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report(APIEvent::Type::SettingsNotAvailable, APIEvent::Severity::Error);
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return false;
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}
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if(disableGSChecksumming)
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ignoreChecksum = true;
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std::vector<uint8_t> rxSettings;
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bool ret = com->getSettingsSync(rxSettings);
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if(!ret) {
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report(APIEvent::Type::SettingsReadError, APIEvent::Severity::Error);
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return false;
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}
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if(rxSettings.size() < 6) { // We need to at least have the header of GLOBAL_SETTINGS
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report(APIEvent::Type::SettingsReadError, APIEvent::Severity::Error);
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return false;
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}
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constexpr size_t gs_size = 3 * sizeof(uint16_t);
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size_t rxLen = rxSettings.size() - gs_size;
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uint16_t gs_version = rxSettings[0] | (rxSettings[1] << 8);
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uint16_t gs_len = rxSettings[2] | (rxSettings[3] << 8);
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uint16_t gs_chksum = rxSettings[4] | (rxSettings[5] << 8);
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rxSettings.erase(rxSettings.begin(), rxSettings.begin() + gs_size);
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if(gs_version != 5) {
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report(APIEvent::Type::SettingsVersionError, APIEvent::Severity::Error);
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return false;
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}
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if(rxLen != gs_len) {
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report(APIEvent::Type::SettingsLengthError, APIEvent::Severity::Error);
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return false;
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}
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if(!ignoreChecksum && gs_chksum != CalculateGSChecksum(rxSettings)) {
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report(APIEvent::Type::SettingsChecksumError, APIEvent::Severity::Error);
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return false;
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}
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settings = std::move(rxSettings);
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settingsInDeviceRAM = settings;
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settingsLoaded = true;
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// TODO Warn user that their API version differs from the device firmware version
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//if(settings.size() != structSize)
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return settingsLoaded;
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}
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bool IDeviceSettings::apply(bool temporary) {
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if(readonly) {
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report(APIEvent::Type::SettingsReadOnly, APIEvent::Severity::Error);
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return false;
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}
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if(disabled) {
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report(APIEvent::Type::SettingsNotAvailable, APIEvent::Severity::Error);
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return false;
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}
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if(!settingsLoaded) {
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report(APIEvent::Type::SettingsReadError, APIEvent::Severity::Error);
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return false;
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}
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std::vector<uint8_t> bytestream;
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bytestream.resize(7 + settings.size());
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bytestream[0] = 0x00;
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bytestream[1] = GS_VERSION;
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bytestream[2] = GS_VERSION >> 8;
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bytestream[3] = (uint8_t)settings.size();
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bytestream[4] = (uint8_t)(settings.size() >> 8);
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uint16_t gs_checksum = CalculateGSChecksum(settings);
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bytestream[5] = (uint8_t)gs_checksum;
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bytestream[6] = (uint8_t)(gs_checksum >> 8);
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memcpy(bytestream.data() + 7, getMutableRawStructurePointer(), settings.size());
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std::shared_ptr<Message> msg = com->waitForMessageSync([this, &bytestream]() {
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return com->sendCommand(Command::SetSettings, bytestream);
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}, Main51MessageFilter(Command::SetSettings), std::chrono::milliseconds(1000));
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if(!msg || msg->data[0] != 1) { // We did not receive a response
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// Attempt to get the settings from the device so we're up to date if possible
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if(refresh()) {
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// refresh succeeded but previously there was an error
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report(APIEvent::Type::NoDeviceResponse, APIEvent::Severity::Error);
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}
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return false;
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}
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refresh(true); // Refresh ignoring checksum
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// The device might modify the settings once they are applied, however in this case it does not update the checksum
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// We refresh to get these updates, update the checksum, and send it back so it's all in sync
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gs_checksum = CalculateGSChecksum(settings);
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bytestream[5] = (uint8_t)gs_checksum;
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bytestream[6] = (uint8_t)(gs_checksum >> 8);
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memcpy(bytestream.data() + 7, getMutableRawStructurePointer(), settings.size());
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msg = com->waitForMessageSync([this, &bytestream]() {
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return com->sendCommand(Command::SetSettings, bytestream);
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}, Main51MessageFilter(Command::SetSettings), std::chrono::milliseconds(1000));
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if(!msg || msg->data[0] != 1) {
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// Attempt to get the settings from the device so we're up to date if possible
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if(refresh()) {
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// refresh succeeded but previously there was an error
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report(APIEvent::Type::NoDeviceResponse, APIEvent::Severity::Error);
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}
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return false;
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}
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if(!temporary) {
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msg = com->waitForMessageSync([this]() {
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return com->sendCommand(Command::SaveSettings);
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}, Main51MessageFilter(Command::SaveSettings), std::chrono::milliseconds(5000));
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}
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refresh(); // Refresh our buffer with what the device has, whether we were successful or not
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bool ret = (msg && msg->data[0] == 1); // Device sends 0x01 for success
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if(!ret) {
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report(APIEvent::Type::FailedToWrite, APIEvent::Severity::Error);
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}
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return ret;
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}
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bool IDeviceSettings::applyDefaults(bool temporary) {
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if(disabled) {
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report(APIEvent::Type::SettingsNotAvailable, APIEvent::Severity::Error);
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return false;
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}
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if(readonly) {
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report(APIEvent::Type::SettingsReadOnly, APIEvent::Severity::Error);
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return false;
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}
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std::shared_ptr<Message> msg = com->waitForMessageSync([this]() {
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return com->sendCommand(Command::SetDefaultSettings);
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}, Main51MessageFilter(Command::SetDefaultSettings), std::chrono::milliseconds(1000));
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if(!msg || msg->data[0] != 1) {
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// Attempt to get the settings from the device so we're up to date if possible
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if(refresh()) {
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// refresh succeeded but previously there was an error
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report(APIEvent::Type::NoDeviceResponse, APIEvent::Severity::Error);
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}
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return false;
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}
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// This short wait helps on FIRE devices, otherwise the checksum might be wrong!
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std::this_thread::sleep_for(std::chrono::milliseconds(3));
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refresh(true); // Refresh ignoring checksum
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// The device might modify the settings once they are applied, however in this case it does not update the checksum
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// We refresh to get these updates, update the checksum, and send it back so it's all in sync
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std::vector<uint8_t> bytestream;
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bytestream.resize(7 + settings.size());
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bytestream[0] = 0x00;
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bytestream[1] = GS_VERSION;
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bytestream[2] = GS_VERSION >> 8;
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bytestream[3] = (uint8_t)settings.size();
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bytestream[4] = (uint8_t)(settings.size() >> 8);
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uint16_t gs_checksum = CalculateGSChecksum(settings);
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bytestream[5] = (uint8_t)gs_checksum;
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bytestream[6] = (uint8_t)(gs_checksum >> 8);
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memcpy(bytestream.data() + 7, getMutableRawStructurePointer(), settings.size());
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msg = com->waitForMessageSync([this, &bytestream]() {
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return com->sendCommand(Command::SetSettings, bytestream);
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}, Main51MessageFilter(Command::SetSettings), std::chrono::milliseconds(1000));
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if(!msg || msg->data[0] != 1) {
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// Attempt to get the settings from the device so we're up to date if possible
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if(refresh()) {
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// refresh succeeded but previously there was an error
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report(APIEvent::Type::NoDeviceResponse, APIEvent::Severity::Error);
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}
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return false;
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}
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if(!temporary) {
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msg = com->waitForMessageSync([this]() {
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return com->sendCommand(Command::SaveSettings);
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}, Main51MessageFilter(Command::SaveSettings), std::chrono::milliseconds(5000));
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}
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refresh(); // Refresh our buffer with what the device has, whether we were successful or not
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bool ret = (msg && msg->data[0] == 1); // Device sends 0x01 for success
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if(!ret) {
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report(APIEvent::Type::FailedToWrite, APIEvent::Severity::Error);
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}
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return ret;
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}
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int64_t IDeviceSettings::getBaudrateFor(Network net) const {
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if(disabled) {
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report(APIEvent::Type::SettingsNotAvailable, APIEvent::Severity::Error);
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return -1;
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}
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if(!settingsLoaded) {
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report(APIEvent::Type::SettingsReadError, APIEvent::Severity::Error);
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return -1;
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}
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switch(net.getType()) {
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case Network::Type::CAN: {
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const CAN_SETTINGS* cfg = getCANSettingsFor(net);
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if(cfg == nullptr) {
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report(APIEvent::Type::CANFDSettingsNotAvailable, APIEvent::Severity::Error);
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return -1;
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}
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int64_t baudrate = GetBaudrateValueForEnum((CANBaudrate)cfg->Baudrate);
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if(baudrate == -1) {
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report(APIEvent::Type::BaudrateNotFound, APIEvent::Severity::Error);
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return -1;
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}
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return baudrate;
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}
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default:
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report(APIEvent::Type::UnexpectedNetworkType, APIEvent::Severity::Error);
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return -1;
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}
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}
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bool IDeviceSettings::setBaudrateFor(Network net, int64_t baudrate) {
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if(disabled) {
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report(APIEvent::Type::SettingsNotAvailable, APIEvent::Severity::Error);
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return false;
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}
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if(!settingsLoaded) {
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report(APIEvent::Type::SettingsReadError, APIEvent::Severity::Error);
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return false;
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}
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if(readonly) {
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report(APIEvent::Type::SettingsReadOnly, APIEvent::Severity::Error);
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return false;
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}
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switch(net.getType()) {
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case Network::Type::CAN: {
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if(baudrate > 1000000) { // This is an FD baudrate. Use setFDBaudrateFor instead.
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report(APIEvent::Type::CANFDSettingsNotAvailable, APIEvent::Severity::Error);
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return false;
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}
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CAN_SETTINGS* cfg = getMutableCANSettingsFor(net);
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if(cfg == nullptr) {
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report(APIEvent::Type::CANSettingsNotAvailable, APIEvent::Severity::Error);
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return false;
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}
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CANBaudrate newBaud = GetEnumValueForBaudrate(baudrate);
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if(newBaud == (CANBaudrate)-1) {
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report(APIEvent::Type::BaudrateNotFound, APIEvent::Severity::Error);
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return false;
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}
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cfg->Baudrate = (uint8_t)newBaud;
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cfg->auto_baud = false;
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cfg->SetBaudrate = AUTO; // Device will use the baudrate value to set the TQ values
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return true;
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}
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case Network::Type::LSFTCAN: {
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CAN_SETTINGS* cfg = getMutableLSFTCANSettingsFor(net);
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if(cfg == nullptr) {
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report(APIEvent::Type::LSFTCANSettingsNotAvailable, APIEvent::Severity::Error);
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return false;
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}
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CANBaudrate newBaud = GetEnumValueForBaudrate(baudrate);
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if(newBaud == (CANBaudrate)-1) {
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report(APIEvent::Type::BaudrateNotFound, APIEvent::Severity::Error);
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return false;
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}
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cfg->Baudrate = (uint8_t)newBaud;
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cfg->auto_baud = false;
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cfg->SetBaudrate = AUTO; // Device will use the baudrate value to set the TQ values
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return true;
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}
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case Network::Type::SWCAN: {
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SWCAN_SETTINGS* cfg = getMutableSWCANSettingsFor(net);
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if(cfg == nullptr) {
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report(APIEvent::Type::SWCANSettingsNotAvailable, APIEvent::Severity::Error);
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return false;
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}
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CANBaudrate newBaud = GetEnumValueForBaudrate(baudrate);
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if(newBaud == (CANBaudrate)-1) {
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report(APIEvent::Type::BaudrateNotFound, APIEvent::Severity::Error);
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return false;
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}
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cfg->Baudrate = (uint8_t)newBaud;
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cfg->auto_baud = false;
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cfg->SetBaudrate = AUTO; // Device will use the baudrate value to set the TQ values
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return true;
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}
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default:
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report(APIEvent::Type::UnexpectedNetworkType, APIEvent::Severity::Error);
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return false;
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}
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}
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int64_t IDeviceSettings::getFDBaudrateFor(Network net) const {
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if(disabled) {
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report(APIEvent::Type::SettingsNotAvailable, APIEvent::Severity::Error);
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}
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if(!settingsLoaded) {
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report(APIEvent::Type::SettingsReadError, APIEvent::Severity::Error);
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return -1;
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}
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switch(net.getType()) {
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case Network::Type::CAN: {
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const CANFD_SETTINGS* cfg = getCANFDSettingsFor(net);
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if(cfg == nullptr) {
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report(APIEvent::Type::CANFDSettingsNotAvailable, APIEvent::Severity::Error);
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return -1;
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}
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int64_t baudrate = GetBaudrateValueForEnum((CANBaudrate)cfg->FDBaudrate);
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if(baudrate == -1) {
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report(APIEvent::Type::BaudrateNotFound, APIEvent::Severity::Error);
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return -1;
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}
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return baudrate;
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}
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default:
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report(APIEvent::Type::UnexpectedNetworkType, APIEvent::Severity::Error);
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return -1;
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}
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}
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bool IDeviceSettings::setFDBaudrateFor(Network net, int64_t baudrate) {
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if(!settingsLoaded) {
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report(APIEvent::Type::SettingsReadError, APIEvent::Severity::Error);
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return false;
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}
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if(disabled) {
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report(APIEvent::Type::SettingsNotAvailable, APIEvent::Severity::Error);
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return false;
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}
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if(readonly) {
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report(APIEvent::Type::SettingsReadOnly, APIEvent::Severity::Error);
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return false;
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}
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switch(net.getType()) {
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case Network::Type::CAN: {
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CANFD_SETTINGS* cfg = getMutableCANFDSettingsFor(net);
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if(cfg == nullptr) {
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report(APIEvent::Type::CANFDSettingsNotAvailable, APIEvent::Severity::Error);
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return false;
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}
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CANBaudrate newBaud = GetEnumValueForBaudrate(baudrate);
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if(newBaud == (CANBaudrate)-1) {
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report(APIEvent::Type::BaudrateNotFound, APIEvent::Severity::Error);
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return false;
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}
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cfg->FDBaudrate = (uint8_t)newBaud;
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return true;
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}
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default:
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report(APIEvent::Type::UnexpectedNetworkType, APIEvent::Severity::Error);
|
|
return false;
|
|
}
|
|
}
|
|
|
|
template<typename T> bool IDeviceSettings::applyStructure(const T& newStructure) {
|
|
if(!settingsLoaded) {
|
|
report(APIEvent::Type::SettingsReadError, APIEvent::Severity::Error);
|
|
return false;
|
|
}
|
|
|
|
if(disabled) {
|
|
report(APIEvent::Type::SettingsNotAvailable, APIEvent::Severity::Error);
|
|
return false;
|
|
}
|
|
|
|
if(readonly) {
|
|
report(APIEvent::Type::SettingsReadOnly, APIEvent::Severity::Error);
|
|
return false;
|
|
}
|
|
|
|
// This function is only called from C++ so the caller's structure size and ours should never differ
|
|
if(sizeof(T) != structSize) {
|
|
report(APIEvent::Type::SettingsStructureMismatch, APIEvent::Severity::Error);
|
|
return false; // The wrong structure was passed in for the current device
|
|
}
|
|
size_t copySize = sizeof(T);
|
|
if(copySize > settings.size()) {
|
|
report(APIEvent::Type::SettingsStructureTruncated, APIEvent::Severity::EventWarning);
|
|
copySize = settings.size(); // TODO Warn user that their structure is truncated
|
|
}
|
|
// Warn user that the device firmware doesn't support all the settings in the current API
|
|
if(copySize < settings.size())
|
|
report(APIEvent::Type::DeviceFirmwareOutOfDate, APIEvent::Severity::EventWarning);
|
|
|
|
memcpy(settings.data(), &newStructure, structSize);
|
|
return apply();
|
|
} |