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@@ -23,8 +23,6 @@
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#endif
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// ========================================
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-#define CAN_SLEEP_TIME 50
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-
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// 十六进制转字符串
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std::string hexToString(uint8_t hex) {
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return QString("%1").arg(hex, 2, 16, QChar('0')).toUpper().toStdString();
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@@ -70,12 +68,12 @@ CANClient::CANClient(QObject *parent)
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#elif defined(CAN_MODE_PHYSICAL)
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qInfo() << "[CAN] 模式: 物理CAN (生产环境)";
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// 物理CAN：需要完整配置
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- system("ifconfig can0 down");
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- system("ip link set up can0 type can bitrate 1000000 restart-ms 100");
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+ system("sudo ifconfig can0 down");
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+ system("sudo ip link set up can0 type can bitrate 1000000 restart-ms 100");
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#else
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qWarning() << "[CAN] 警告: 未选择CAN模式，使用默认物理CAN配置";
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- system("ifconfig can0 down");
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- system("ip link set up can0 type can bitrate 1000000 restart-ms 100");
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+ system("sudo ifconfig can0 down");
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+ system("sudo ip link set up can0 type can bitrate 1000000 restart-ms 100");
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#endif
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// 初始化插件
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@@ -85,30 +83,6 @@ CANClient::CANClient(QObject *parent)
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connectDevice();
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-// m_readControlTimer = new QTimer(this);
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-// m_readControlTimer->setInterval(300);
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-// connect(m_readControlTimer, &QTimer::timeout, this, [this]() {
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-// readKeyBaseControlStatusAsync();
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-// msleep(CAN_SLEEP_TIME);
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-// readLockControlStatusAsync();
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-// msleep(CAN_SLEEP_TIME);
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-// });
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-// m_readControlTimer->start();
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-
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-// m_readStatusTimer = new QTimer(this);
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-// m_readStatusTimer->setInterval(200);
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-// connect(m_readStatusTimer, &QTimer::timeout, this, [this]() {
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-// readKeyRFIDStatusAsync();
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-// msleep(CAN_SLEEP_TIME);
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-// readLockRFIDStatusAsync();
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-// msleep(CAN_SLEEP_TIME);
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-// readKeyBaseStatusAsync();
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-// msleep(CAN_SLEEP_TIME);
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-// readLockStatusAsync();
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-// msleep(CAN_SLEEP_TIME);
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-// });
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-// m_readStatusTimer->start();
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-
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connect(this, &CANClient::workingKeyChanged, this, &CANClient::slotWorkingKeyChanged);
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connect(this, &CANClient::workingLocksChanged, this, &CANClient::slotWorkingLocksChanged);
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@@ -177,23 +151,23 @@ void CANClient::run()
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qInfo() << "CAN监听线程启动！";
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while (m_threadstatus) {
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- for (int i = 0; i < 10; i++) {
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+ for (int i = 0; i < 20; i++) {
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readDeviceInfoAsync(i);
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msleep(CAN_SLEEP_TIME);
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}
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- readKeyBaseStatusAsync();
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+ readAllKeyBaseStatusAsync();
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msleep(CAN_SLEEP_TIME);
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- readLockStatusAsync();
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+ readAllLocksStatusAsync();
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msleep(CAN_SLEEP_TIME);
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- readKeyBaseControlStatusAsync();
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+ readAllKeyBaseControlStatusAsync();
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msleep(CAN_SLEEP_TIME);
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- readLockControlStatusAsync();
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+ readAllLocksControlStatusAsync();
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msleep(CAN_SLEEP_TIME);
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- readKeyRFIDStatusAsync();
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+ readAllKeyRFIDStatusAsync();
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msleep(CAN_SLEEP_TIME);
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- readLockRFIDStatusAsync();
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+ readAllLocksRFIDStatusAsync();
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msleep(CAN_SLEEP_TIME);
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}
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qInfo() << "CAN监听线程退出！";
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@@ -416,6 +390,7 @@ void CANClient::slotUpdateKeyBaseControl(quint8 nodeId, const CANKeyBaseControlS
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bool isWrite = false;
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CANKeyBaseChargeStatus writeStatus;
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+ writeStatus.nodeId = nodeId;
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if (m_keyBaseStatus[nodeId].leftHasKey && !status.leftLocked) {
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writeStatus.leftLocked = true;
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@@ -430,13 +405,13 @@ void CANClient::slotUpdateKeyBaseControl(quint8 nodeId, const CANKeyBaseControlS
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emit signalReturnKey();
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}
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}
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-// else if (!m_keyBaseStatus[nodeId].leftHasKey && status.leftLocked) {
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-// writeStatus.leftLocked = false;
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-// writeStatus.leftWorking = true;
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-// writeStatus.leftChargeEnable = false;
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-// writeStatus.leftChargeState = ChargeState::Charging;
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-// isWrite = true;
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-// }
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+ else if (!m_keyBaseStatus[nodeId].leftHasKey && status.leftLocked) {
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+ writeStatus.leftLocked = false;
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+ writeStatus.leftWorking = true;
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+ writeStatus.leftChargeEnable = false;
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+ writeStatus.leftChargeState = ChargeState::Charging;
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+ isWrite = true;
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+ }
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if (m_keyBaseStatus[nodeId].rightHasKey && !status.rightLocked) {
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writeStatus.rightLocked = true;
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writeStatus.rightWorking = true;
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@@ -450,13 +425,13 @@ void CANClient::slotUpdateKeyBaseControl(quint8 nodeId, const CANKeyBaseControlS
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emit signalReturnKey();
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}
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}
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-// else if (!m_keyBaseStatus[nodeId].rightHasKey && status.rightLocked) {
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-// writeStatus.rightLocked = false;
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-// writeStatus.rightWorking = true;
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-// writeStatus.rightChargeEnable = false;
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-// writeStatus.rightChargeState = ChargeState::Charging;
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-// isWrite = true;
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-// }
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+ else if (!m_keyBaseStatus[nodeId].rightHasKey && status.rightLocked) {
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+ writeStatus.rightLocked = false;
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+ writeStatus.rightWorking = true;
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+ writeStatus.rightChargeEnable = false;
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+ writeStatus.rightChargeState = ChargeState::Charging;
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+ isWrite = true;
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+ }
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if (isWrite) {
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writeKeyBaseChargeControlAsync(writeStatus);
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@@ -474,6 +449,8 @@ void CANClient::slotUpdateLockedStatus(quint8 nodeId, const CANLocksControl &sta
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bool isWrite = false;
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CANLocksControl writeStatus;
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+ writeStatus.nodeId = nodeId;
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+
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for (int i = 0; i < status.lockNums.length(); i++) {
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int lockNum = status.lockNums[i];
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QMap<int, bool> lockHasKeyMap = m_locksControlStatus[nodeId].lockHasKeyMap;
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@@ -493,10 +470,17 @@ void CANClient::slotUpdateLockedStatus(quint8 nodeId, const CANLocksControl &sta
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}
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}
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}
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-// else if ((lockHasKeyMap.find(lockNum) != lockHasKeyMap.end() && !lockHasKeyMap[lockNum]) &&
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-// (lockLockedMap.find(lockNum) != lockLockedMap.end() && lockLockedMap[lockNum])) {
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+ else if ((lockHasKeyMap.find(lockNum) != lockHasKeyMap.end() && !lockHasKeyMap[lockNum]) &&
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+ (lockLockedMap.find(lockNum) != lockLockedMap.end() && lockLockedMap[lockNum])) {
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+ writeStatus.lockNums.append(lockNum);
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+ writeStatus.lockLockedMap.insert(lockNum, false);
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+ writeStatus.lockWorkMap.insert(lockNum, true);
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+ isWrite = true;
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+ }
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+// if ((lockHasKeyMap.find(lockNum) != lockHasKeyMap.end() && !lockHasKeyMap[lockNum]) &&
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+// (lockLockedMap.find(lockNum) != lockLockedMap.end() && !lockLockedMap[lockNum])) {
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// writeStatus.lockNums.append(lockNum);
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-// writeStatus.lockLockedMap.insert(lockNum, false);
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+// writeStatus.lockLockedMap.insert(lockNum, true);
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// writeStatus.lockWorkMap.insert(lockNum, true);
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// isWrite = true;
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// }
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@@ -682,20 +666,36 @@ QString CANClient::parseRFIDCard(const QByteArray& data)
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return cardStr;
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}
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-bool CANClient::verifyNodeID(quint8 deviceNodeId, quint8& returnNodeId)
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+//bool CANClient::verifyNodeID(quint8 deviceNodeId, quint8& returnNodeId)
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+//{
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+// if (!m_deviceOfNodeId.values().contains(deviceNodeId)) {
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+// return false;
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+// }
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+
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+// quint8 nodeId = 0;
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+// for (auto iter = m_deviceOfNodeId.begin(); iter != m_deviceOfNodeId.end(); ++iter) {
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+// if (iter.value() == deviceNodeId) {
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+// nodeId = iter.key();
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+// break;
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+// }
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+// }
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+// returnNodeId = nodeId;
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+// return true;
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+//}
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+
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+bool CANClient::verifyAllNodeID(quint8 deviceNodeId, QList<quint8> &returnNodeId)
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{
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if (!m_deviceOfNodeId.values().contains(deviceNodeId)) {
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return false;
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}
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- quint8 nodeId = 0;
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+ QList<quint8> nodeIds;
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for (auto iter = m_deviceOfNodeId.begin(); iter != m_deviceOfNodeId.end(); ++iter) {
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if (iter.value() == deviceNodeId) {
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- nodeId = iter.key();
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- break;
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+ nodeIds.append(iter.key());
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}
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}
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- returnNodeId = nodeId;
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+ returnNodeId = nodeIds;
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return true;
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}
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@@ -789,16 +789,23 @@ void CANClient::readDeviceInfoAsync(quint8 nodeId)
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});
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}
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-void CANClient::readKeyBaseStatusAsync()
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+void CANClient::readAllKeyBaseStatusAsync()
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{
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- quint8 nodeId = 0;
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-
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- if (!verifyNodeID(CAN_DEVICE_EKEY_NODEID, nodeId)) {
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+ QList<quint8> nodeIds;
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+ if (!verifyAllNodeID(CAN_DEVICE_EKEY_NODEID, nodeIds)) {
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CANKeyBaseStatus emptyStatus;
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- emit keyBaseStatusRead(nodeId, emptyStatus);
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+ emit keyBaseStatusRead(-1, emptyStatus);
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return;
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}
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+ for (int i = 0; i < nodeIds.count(); i++) {
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+ readKeyBaseStatusAsync(nodeIds[i]);
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+ msleep(CAN_SLEEP_TIME);
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+ }
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+}
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+
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+void CANClient::readKeyBaseStatusAsync(quint8 nodeId)
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+{
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QCanBusFrame frame = buildReadFrame(nodeId, CAN_EKEY_STATUS_INDEX, CAN_EKEY_STATUS_SUBINDEX);
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// qDebug() << "发送readKeyBaseStatusAsync帧 FrameId: 0x" << QString::number(frame.frameId(), 16) << "Data：" << frame.payload().toHex().toUpper();
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sendFrameAsync(frame, [this, nodeId](const QCanBusFrame& respFrame) {
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@@ -828,43 +835,6 @@ void CANClient::readKeyBaseStatusAsync()
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// << "，左充电：" << (status.leftCharging ? "充电中" : "未充电")
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// << "; 右钥匙：" << (status.rightHasKey ? "有" : "无")
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// << "，右充电：" << (status.rightCharging ? "充电中" : "未充电");
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- QMutexLocker locker(&m_insertDataMutex);
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-
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-// bool prevLeftHasKey = false, prevRightHasKey = false;
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-// if (m_keyBaseStatus.find(nodeId) != m_keyBaseStatus.end()) {
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-// prevLeftHasKey = m_keyBaseStatus[nodeId].leftHasKey;
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-// prevRightHasKey = m_keyBaseStatus[nodeId].rightHasKey;
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-// }
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-
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-// if (!m_keyBaseStatus.isEmpty()) {
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-// if (!prevLeftHasKey && status.leftHasKey) {
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-// qInfo() << "[归还检测] 检测到左钥匙插入！";
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-
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-// if (m_keyRFIDStatus.find(nodeId) != m_keyRFIDStatus.end() &&
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-// !m_keyRFIDStatus[nodeId].leftKeyRFID.isEmpty() &&
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-// m_keyRFIDStatus[nodeId].leftKeyRFID != "00000000") {
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-// qInfo() << "[归还检测] 左钥匙：NFC卡号:" << m_keyRFIDStatus[nodeId].leftKeyRFID;
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-
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-//// emit nfcDeviceDetected(m_keyRFIDStatus[nodeId].leftKeyRFID, "key", 0);
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-// } else {
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-// qWarning() << "[归还检测] 左钥匙存在但无法读取NFC";
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-// emit nfcDeviceError("key", 0);
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-// }
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-// }
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-// else if (prevLeftHasKey && !status.leftHasKey) {
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-// qInfo() << "[取出检测] 检测到左钥匙取出！";
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-// if (m_keyRFIDStatus.find(nodeId) != m_keyRFIDStatus.end() &&
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-// !m_keyRFIDStatus[nodeId].leftKeyRFID.isEmpty() &&
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-// m_keyRFIDStatus[nodeId].leftKeyRFID != "00000000") {
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-// qInfo() << "[取出检测] 左钥匙：NFC卡号:" << m_keyRFIDStatus[nodeId].leftKeyRFID;
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-
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-// emit signalPopDevices(m_keyRFIDStatus[nodeId].leftKeyRFID, "key", 0);
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-// } else {
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-// qWarning() << "[取出检测] 左钥匙存在但无法读取NFC";
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-// emit nfcDeviceError("key", 0);
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-// }
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-// }
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-// }
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}
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else {
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qWarning() << "[KeyBase] 读取状态失败";
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@@ -875,16 +845,23 @@ void CANClient::readKeyBaseStatusAsync()
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});
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}
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-void CANClient::readKeyBaseControlStatusAsync()
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+void CANClient::readAllKeyBaseControlStatusAsync()
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{
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- quint8 nodeId = 0;
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-
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- if (!verifyNodeID(CAN_DEVICE_EKEY_NODEID, nodeId)) {
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+ QList<quint8> nodeIds;
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+ if (!verifyAllNodeID(CAN_DEVICE_EKEY_NODEID, nodeIds)) {
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CANKeyBaseControlStatus emptyStatus;
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- emit keyBaseControlStatusRead(nodeId, emptyStatus);
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+ emit keyBaseControlStatusRead(-1, emptyStatus);
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return;
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}
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+ for (int i = 0; i < nodeIds.count(); i++) {
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+ readKeyBaseControlStatusAsync(nodeIds[i]);
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+ msleep(CAN_SLEEP_TIME);
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+ }
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+}
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+
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+void CANClient::readKeyBaseControlStatusAsync(quint8 nodeId)
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+{
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QCanBusFrame frame = buildReadFrame(nodeId, CAN_FASTENER_CONTROL_INDEX, CAN_FASTENER_CONTROL_SUBINDEX);
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sendFrameAsync(frame, [this, nodeId](const QCanBusFrame& respFrame) {
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CANKeyBaseControlStatus status;
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@@ -914,29 +891,6 @@ void CANClient::readKeyBaseControlStatusAsync()
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status.success = true;
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-// bool prevLeftHasKey = false, prevRightHasKey = false;
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-// if (m_keyBaseControlStatus.find(nodeId) != m_keyBaseControlStatus.end()) {
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-// prevLeftHasKey = m_keyBaseControlStatus[nodeId].leftLocked;
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-// prevRightHasKey = m_keyBaseControlStatus[nodeId].rightLocked;
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-// }
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-
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-// if (!m_keyBaseControlStatus.isEmpty()) {
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-// if (!prevLeftHasKey && status.leftLocked) {
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-// qInfo() << "[归还检测] 检测到左钥匙插入！";
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-
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-// if (m_keyRFIDStatus.find(nodeId) != m_keyRFIDStatus.end() &&
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-// !m_keyRFIDStatus[nodeId].leftKeyRFID.isEmpty() &&
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-// m_keyRFIDStatus[nodeId].leftKeyRFID != "00000000") {
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-// qInfo() << "[归还检测] 左钥匙：NFC卡号:" << m_keyRFIDStatus[nodeId].leftKeyRFID;
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-
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-// emit nfcDeviceDetected(m_keyRFIDStatus[nodeId].leftKeyRFID, "key", 0);
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-// } else {
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-// qWarning() << "[归还检测] 左钥匙存在但无法读取NFC";
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-// emit nfcDeviceError("key", 0);
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-// }
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-// }
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-// }
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-
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// qInfo() << "[KeyBase] 左钥匙：" << (status.leftLocked ? "锁住" : "未锁")
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// << "，左充电：" << (status.leftCharging ? "充电中" : "未充电") << (status.leftBuckleFault ? "故障" : "正常")
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// << "; 右钥匙：" << (status.rightLocked ? "锁住" : "未锁")
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@@ -951,15 +905,23 @@ void CANClient::readKeyBaseControlStatusAsync()
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});
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}
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-void CANClient::readLockStatusAsync()
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+void CANClient::readAllLocksStatusAsync()
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{
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- quint8 nodeId = 0;
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-
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- if (!verifyNodeID(CAN_DEVICE_LOCK_NODEID, nodeId)) {
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- emit lockStatusRead(nodeId, CANLockControlStatus());
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+ QList<quint8> nodeIds;
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+ if (!verifyAllNodeID(CAN_DEVICE_LOCK_NODEID, nodeIds)) {
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+ CANLockControlStatus emptyStatus;
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+ emit lockStatusRead(-1, emptyStatus);
|
|
|
return;
|
|
|
}
|
|
|
|
|
|
+ for (int i = 0; i < nodeIds.count(); i++) {
|
|
|
+ readLockStatusAsync(nodeIds[i]);
|
|
|
+ msleep(CAN_SLEEP_TIME);
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+void CANClient::readLockStatusAsync(quint8 nodeId)
|
|
|
+{
|
|
|
// 构建SDO读帧：索引0x6010（锁状态），子索引0x00，1字节数据
|
|
|
QCanBusFrame frame = buildReadFrame(nodeId, CAN_LOCK_STATUS_INDEX, CAN_LOCK_STATUS_SUBINDEX);
|
|
|
|
|
|
@@ -991,55 +953,7 @@ void CANClient::readLockStatusAsync()
|
|
|
}
|
|
|
// qDebug() << "FrameId: 0x" << QString::number(respFrame.frameId(), 16) << "Data：" << respFrame.payload().toHex().toUpper();
|
|
|
status.success = true;
|
|
|
-
|
|
|
-// // ========== 检测锁插入（用于归还流程） ==========
|
|
|
-// QMutexLocker locker(&m_insertDataMutex);
|
|
|
-
|
|
|
-// // 获取之前的锁状态
|
|
|
-// QMap<int, bool> prevLockHasKeyMap;
|
|
|
-// if (m_locksControlStatus.find(nodeId) != m_locksControlStatus.end()) {
|
|
|
-// prevLockHasKeyMap = m_locksControlStatus[nodeId].lockHasKeyMap;
|
|
|
-// }
|
|
|
-// if (!m_locksControlStatus.isEmpty()) {
|
|
|
-// // 检测每个锁位的插入（从无到有）
|
|
|
-// for (int i = 0; i < 5; i++) {
|
|
|
-// bool prevHasLock = prevLockHasKeyMap.contains(i) ? prevLockHasKeyMap[i] : false;
|
|
|
-// bool currHasLock = status.lockHasKeyMap.contains(i) ? status.lockHasKeyMap[i] : false;
|
|
|
-
|
|
|
-// if (!prevHasLock && currHasLock) {
|
|
|
-// qInfo() << "[归还检测] 检测到" << (i+1) << "号锁插入！";
|
|
|
-// // 锁插入，获取NFC卡号
|
|
|
-// if (m_locksRFIDStatus.find(nodeId) != m_locksRFIDStatus.end() &&
|
|
|
-// m_locksRFIDStatus[nodeId].lockRFIDMap.contains(i) &&
|
|
|
-// !m_locksRFIDStatus[nodeId].lockRFIDMap[i].isEmpty() &&
|
|
|
-// m_locksRFIDStatus[nodeId].lockRFIDMap[i] != "00000000") {
|
|
|
-// qInfo() << "[归还检测]" << (i+1) << "号锁NFC卡号:" << m_locksRFIDStatus[nodeId].lockRFIDMap[i];
|
|
|
-
|
|
|
-// emit nfcDeviceDetected(m_locksRFIDStatus[nodeId].lockRFIDMap[i], "lock", i);
|
|
|
-// emit signalLockNfcDeviceDetected(m_locksRFIDStatus[nodeId].lockRFIDMap[i]);
|
|
|
-// } else {
|
|
|
-// qWarning() << "[归还检测]" << (i+1) << "号锁存在但无法读取NFC";
|
|
|
-// emit nfcDeviceError("lock", i);
|
|
|
-// }
|
|
|
-// }
|
|
|
-// else if (prevHasLock && !currHasLock) {
|
|
|
-// qInfo() << "[取出检测] 检测到" << (i+1) << "号锁取出！";
|
|
|
-// qDebug() << m_locksRFIDStatus[nodeId].lockRFIDMap[i];
|
|
|
-// if (m_locksRFIDStatus.find(nodeId) != m_locksRFIDStatus.end() &&
|
|
|
-// m_locksRFIDStatus[nodeId].lockRFIDMap.contains(i) &&
|
|
|
-// !m_locksRFIDStatus[nodeId].lockRFIDMap[i].isEmpty() &&
|
|
|
-// m_locksRFIDStatus[nodeId].lockRFIDMap[i] != "00000000") {
|
|
|
-// qInfo() << "[取出检测]" << (i+1) << "号锁NFC卡号:" << m_locksRFIDStatus[nodeId].lockRFIDMap[i];
|
|
|
-
|
|
|
-// emit signalPopDevices(m_locksRFIDStatus[nodeId].lockRFIDMap[i], "lock", i);
|
|
|
-// } else {
|
|
|
-// qWarning() << "[取出检测]" << (i+1) << "号锁存在但无法读取NFC";
|
|
|
-// emit nfcDeviceError("lock", i);
|
|
|
-// }
|
|
|
-// }
|
|
|
-// }
|
|
|
-// }
|
|
|
-// // ====================================================
|
|
|
+ status.nodeId = nodeId;
|
|
|
|
|
|
if (m_locksControlStatus.find(nodeId) == m_locksControlStatus.end()) {
|
|
|
m_locksControlStatus.insert(nodeId, status);
|
|
|
@@ -1057,15 +971,23 @@ void CANClient::readLockStatusAsync()
|
|
|
});
|
|
|
}
|
|
|
|
|
|
-void CANClient::readLockControlStatusAsync()
|
|
|
+void CANClient::readAllLocksControlStatusAsync()
|
|
|
{
|
|
|
- quint8 nodeId = 0;
|
|
|
-
|
|
|
- if (!verifyNodeID(CAN_DEVICE_LOCK_NODEID, nodeId)) {
|
|
|
- emit lockControlStatusRead(nodeId, CANLocksControl());
|
|
|
+ QList<quint8> nodeIds;
|
|
|
+ if (!verifyAllNodeID(CAN_DEVICE_LOCK_NODEID, nodeIds)) {
|
|
|
+ CANLocksControl emptyStatus;
|
|
|
+ emit lockControlStatusRead(-1, emptyStatus);
|
|
|
return;
|
|
|
}
|
|
|
|
|
|
+ for (int i = 0; i < nodeIds.count(); i++) {
|
|
|
+ readLockControlStatusAsync(nodeIds[i]);
|
|
|
+ msleep(CAN_SLEEP_TIME * 2);
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+void CANClient::readLockControlStatusAsync(quint8 nodeId)
|
|
|
+{
|
|
|
QCanBusFrame frame = buildReadFrame(nodeId, CAN_LOCK_CONTROL_INDEX, CAN_LOCK_CONTROL_SUBINDEX);
|
|
|
sendFrameAsync(frame, [this, nodeId](const QCanBusFrame& respFrame) {
|
|
|
CANLocksControl status;
|
|
|
@@ -1103,11 +1025,7 @@ void CANClient::readLockControlStatusAsync()
|
|
|
|
|
|
void CANClient::writeSingleLockBuckleAsync(const CANSingleLockStatus& status)
|
|
|
{
|
|
|
- quint8 nodeId = 0;
|
|
|
-
|
|
|
- if (!verifyNodeID(CAN_DEVICE_LOCK_NODEID, nodeId)) {
|
|
|
- return;
|
|
|
- }
|
|
|
+ quint8 nodeId = status.nodeId;
|
|
|
|
|
|
if (!checkLockNumValid(status.lockNum)) {
|
|
|
emit lockBuckleWrite(false, status.lockNum, status.isLocked);
|
|
|
@@ -1148,11 +1066,7 @@ void CANClient::writeSingleLockBuckleAsync(const CANSingleLockStatus& status)
|
|
|
|
|
|
void CANClient::writeLockBuckleAsync(const CANLocksControl &status)
|
|
|
{
|
|
|
- quint8 nodeId = 0;
|
|
|
-
|
|
|
- if (!verifyNodeID(CAN_DEVICE_LOCK_NODEID, nodeId)) {
|
|
|
- return;
|
|
|
- }
|
|
|
+ quint8 nodeId = status.nodeId;
|
|
|
|
|
|
uint8_t dataByte = 0x00;
|
|
|
uint8_t workByte = 0x00;
|
|
|
@@ -1208,14 +1122,8 @@ void CANClient::writeLockBuckleAsync(const CANLocksControl &status)
|
|
|
});
|
|
|
}
|
|
|
|
|
|
-void CANClient::readTemperatureAsync()
|
|
|
+void CANClient::readTemperatureAsync(quint8 nodeId)
|
|
|
{
|
|
|
- quint8 nodeId = 0;
|
|
|
-
|
|
|
- if (!verifyNodeID(CAN_DEVICE_EKEY_NODEID, nodeId)) {
|
|
|
- return;
|
|
|
- }
|
|
|
-
|
|
|
QCanBusFrame frame = buildReadFrame(nodeId, CAN_EKEY_TEMPERATURE_INDEX, CAN_EKEY_TEMPERATURE_SUBINDEX);
|
|
|
sendFrameAsync(frame, [this, nodeId](const QCanBusFrame& respFrame) {
|
|
|
double leftTemp = 0.0, rightTemp = 0.0;
|
|
|
@@ -1248,16 +1156,24 @@ void CANClient::readTemperatureAsync()
|
|
|
});
|
|
|
}
|
|
|
|
|
|
-void CANClient::readKeyRFIDStatusAsync()
|
|
|
+void CANClient::readAllKeyRFIDStatusAsync()
|
|
|
{
|
|
|
- quint8 nodeId = 0;
|
|
|
-
|
|
|
- if (!verifyNodeID(CAN_DEVICE_EKEY_NODEID, nodeId)) {
|
|
|
+ QList<quint8> nodeIds;
|
|
|
+ if (!verifyAllNodeID(CAN_DEVICE_EKEY_NODEID, nodeIds)) {
|
|
|
return;
|
|
|
}
|
|
|
|
|
|
+ for (int i = 0; i < nodeIds.count(); i++) {
|
|
|
+ readKeyRFIDStatusAsync(nodeIds[i]);
|
|
|
+ msleep(CAN_SLEEP_TIME);
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+void CANClient::readKeyRFIDStatusAsync(quint8 nodeId)
|
|
|
+{
|
|
|
// 初始化钥匙RFID状态
|
|
|
CANKeyRFIDStatus keyStatus;
|
|
|
+ keyStatus.nodeId = nodeId;
|
|
|
keyStatus.leftKeyRFID = "";
|
|
|
keyStatus.rightKeyRFID = "";
|
|
|
keyStatus.leftKeyReadSuccess = false;
|
|
|
@@ -1299,7 +1215,7 @@ void CANClient::readKeyRFIDStatusAsync()
|
|
|
emit nfcDeviceDetected(currHasLock, "key", 0);
|
|
|
}
|
|
|
else if (prevLeftHasKey != currHasLock && (currHasLock.isEmpty() || currHasLock == "00000000")) {
|
|
|
- qInfo() << "[取出检测] 左钥匙：NFC卡号:" << currHasLock;
|
|
|
+ qInfo() << "[取出检测] 左钥匙：NFC卡号:" << prevLeftHasKey;
|
|
|
|
|
|
emit signalPopDevices(prevLeftHasKey, "key", 0);
|
|
|
}
|
|
|
@@ -1388,14 +1304,21 @@ void CANClient::readKeyRFIDStatusAsync()
|
|
|
msleep(CAN_SLEEP_TIME);
|
|
|
}
|
|
|
|
|
|
-void CANClient::readSingleKeyRFIDAsync(bool isLeftKey)
|
|
|
+void CANClient::readAllLocksRFIDStatusAsync()
|
|
|
{
|
|
|
- quint8 nodeId = 0;
|
|
|
-
|
|
|
- if (!verifyNodeID(CAN_DEVICE_EKEY_NODEID, nodeId)) {
|
|
|
+ QList<quint8> nodeIds;
|
|
|
+ if (!verifyAllNodeID(CAN_DEVICE_LOCK_NODEID, nodeIds)) {
|
|
|
return;
|
|
|
}
|
|
|
|
|
|
+ for (int i = 0; i < nodeIds.count(); i++) {
|
|
|
+ readLockRFIDStatusAsync(nodeIds[i]);
|
|
|
+ msleep(CAN_SLEEP_TIME);
|
|
|
+ }
|
|
|
+}
|
|
|
+
|
|
|
+void CANClient::readSingleKeyRFIDAsync(quint8 nodeId, bool isLeftKey)
|
|
|
+{
|
|
|
quint16 rfidIndex = isLeftKey ? CAN_LEFT_EKEY_CARD_INDEX : CAN_RIGHT_EKEY_CARD_INDEX;
|
|
|
quint8 rfidSubIndex = isLeftKey ? CAN_LEFT_EKEY_CARD_SUBINDEX: CAN_RIGHT_EKEY_CARD_SUBINDEX;
|
|
|
QCanBusFrame frame = buildReadFrame(nodeId, rfidIndex, rfidSubIndex);
|
|
|
@@ -1426,16 +1349,11 @@ void CANClient::readSingleKeyRFIDAsync(bool isLeftKey)
|
|
|
});
|
|
|
}
|
|
|
|
|
|
-void CANClient::readLockRFIDStatusAsync()
|
|
|
+void CANClient::readLockRFIDStatusAsync(quint8 nodeId)
|
|
|
{
|
|
|
- quint8 nodeId = 0;
|
|
|
-
|
|
|
- if (!verifyNodeID(CAN_DEVICE_LOCK_NODEID, nodeId)) {
|
|
|
- return;
|
|
|
- }
|
|
|
-
|
|
|
// 初始化锁RFID状态
|
|
|
CANLockRFIDStatus lockStatus;
|
|
|
+ lockStatus.nodeId = nodeId;
|
|
|
for (int i = 0; i < 5; i++) {
|
|
|
lockStatus.lockRFIDMap.insert(i, "");
|
|
|
lockStatus.lockReadSuccessMap.insert(i, false);
|
|
|
@@ -1494,7 +1412,7 @@ void CANClient::readLockRFIDStatusAsync()
|
|
|
}
|
|
|
else if (prevHasLock != currHasLock && (currHasLock.isEmpty() || currHasLock == "00000000")) {
|
|
|
qInfo() << "[取出检测] 检测到" << (lockNum+1) << "号锁被取出！";
|
|
|
- qInfo() << "[取出检测]" << (lockNum+1) << "号锁NFC卡号:" << currHasLock;
|
|
|
+ qInfo() << "[取出检测]" << (lockNum+1) << "号锁NFC卡号:" << prevHasLock;
|
|
|
emit signalPopDevices(prevHasLock, "lock", lockNum);
|
|
|
}
|
|
|
}
|
|
|
@@ -1529,14 +1447,8 @@ void CANClient::readLockRFIDStatusAsync()
|
|
|
}
|
|
|
}
|
|
|
|
|
|
-void CANClient::readSingleLockRFIDAsync(int lockNum)
|
|
|
+void CANClient::readSingleLockRFIDAsync(quint8 nodeId, int lockNum)
|
|
|
{
|
|
|
- quint8 nodeId = 0;
|
|
|
-
|
|
|
- if (!verifyNodeID(CAN_DEVICE_LOCK_NODEID, nodeId)) {
|
|
|
- return;
|
|
|
- }
|
|
|
-
|
|
|
if (!checkLockNumValid(lockNum)) {
|
|
|
emit singleLockRFIDRead(lockNum, false, "");
|
|
|
return;
|
|
|
@@ -1571,15 +1483,10 @@ void CANClient::readSingleLockRFIDAsync(int lockNum)
|
|
|
});
|
|
|
}
|
|
|
|
|
|
-void CANClient::readKeyBaseChargeStatusAsync()
|
|
|
+void CANClient::readKeyBaseChargeStatusAsync(quint8 nodeId)
|
|
|
{
|
|
|
- quint8 nodeId = 0;
|
|
|
-
|
|
|
- if (!verifyNodeID(CAN_DEVICE_EKEY_NODEID, nodeId)) {
|
|
|
- return;
|
|
|
- }
|
|
|
-
|
|
|
CANKeyBaseChargeStatus chargeStatus;
|
|
|
+ chargeStatus.nodeId = nodeId;
|
|
|
chargeStatus.leftChargeEnable = false;
|
|
|
chargeStatus.rightChargeEnable = false;
|
|
|
chargeStatus.leftChargeState = ChargeState::Uncharged;
|
|
|
@@ -1625,11 +1532,13 @@ bool CANClient::openEKey(QString& keyNFC)
|
|
|
|
|
|
for (auto iter = m_keyBaseStatus.begin(); iter != m_keyBaseStatus.end(); ++iter) {
|
|
|
if (iter->leftHasKey) {
|
|
|
+ chargeStatus.nodeId = iter.key();
|
|
|
chargeStatus.leftLocked = true;
|
|
|
chargeStatus.leftWorking = true;
|
|
|
chargeStatus.leftChargeEnable = true;
|
|
|
chargeStatus.leftChargeState = ChargeState::Charging;
|
|
|
|
|
|
+ unlockStatus.nodeId = iter.key();
|
|
|
unlockStatus.leftLocked = true;
|
|
|
unlockStatus.leftWorking = true;
|
|
|
unlockStatus.leftChargeEnable = false;
|
|
|
@@ -1641,11 +1550,13 @@ bool CANClient::openEKey(QString& keyNFC)
|
|
|
break;
|
|
|
}
|
|
|
if (iter->rightHasKey) {
|
|
|
+ chargeStatus.nodeId = iter.key();
|
|
|
chargeStatus.rightLocked = true;
|
|
|
chargeStatus.rightWorking = true;
|
|
|
chargeStatus.rightChargeEnable = true;
|
|
|
chargeStatus.rightChargeState = ChargeState::Charging;
|
|
|
|
|
|
+ unlockStatus.nodeId = iter.key();
|
|
|
unlockStatus.rightLocked = true;
|
|
|
unlockStatus.rightWorking = true;
|
|
|
unlockStatus.rightChargeEnable = false;
|
|
|
@@ -1668,6 +1579,7 @@ bool CANClient::unlockEKey()
|
|
|
{
|
|
|
CANKeyBaseChargeStatus chargeStatus;
|
|
|
for (auto iter = m_keyBaseStatus.begin(); iter != m_keyBaseStatus.end(); ++iter) {
|
|
|
+ chargeStatus.nodeId = iter.key();
|
|
|
if (iter->leftHasKey) {
|
|
|
chargeStatus.leftLocked = false;
|
|
|
chargeStatus.leftWorking = true;
|
|
|
@@ -1734,6 +1646,7 @@ bool CANClient::unlockLocks(const QList<int>& lockNums)
|
|
|
for (auto iter = m_locksControlStatus.begin(); iter != m_locksControlStatus.end(); ++iter) {
|
|
|
for (auto hasKeyIter = iter->lockHasKeyMap.begin(); hasKeyIter != iter->lockHasKeyMap.end(); ++hasKeyIter) {
|
|
|
if (hasKeyIter.value() && lockNums.contains(hasKeyIter.key())) {
|
|
|
+ lockStatus.nodeId = iter.key();
|
|
|
lockStatus.lockNums.append(hasKeyIter.key());
|
|
|
lockStatus.lockLockedMap.insert(hasKeyIter.key(), false);
|
|
|
lockStatus.lockWorkMap.insert(hasKeyIter.key(), true);
|
|
|
@@ -1755,35 +1668,12 @@ bool CANClient::unlockLocks(const QList<int>& lockNums)
|
|
|
return true;
|
|
|
}
|
|
|
|
|
|
-bool CANClient::lockingEKey(quint8 nodeId, bool leftKey, bool rightKey)
|
|
|
-{
|
|
|
- Q_UNUSED(nodeId);
|
|
|
- CANKeyBaseChargeStatus chargeStatus;
|
|
|
-
|
|
|
- if (leftKey) {
|
|
|
- chargeStatus.leftLocked = true;
|
|
|
- chargeStatus.leftWorking = true;
|
|
|
- chargeStatus.leftChargeEnable = true;
|
|
|
- chargeStatus.leftChargeState = ChargeState::Charging;
|
|
|
-
|
|
|
- }
|
|
|
- if (rightKey) {
|
|
|
- chargeStatus.rightLocked = true;
|
|
|
- chargeStatus.rightWorking = true;
|
|
|
- chargeStatus.rightChargeEnable = true;
|
|
|
- chargeStatus.rightChargeState = ChargeState::Charging;
|
|
|
- }
|
|
|
- writeKeyBaseChargeControlAsync(chargeStatus);
|
|
|
- msleep(CAN_SLEEP_TIME);
|
|
|
- return true;
|
|
|
-}
|
|
|
-
|
|
|
void CANClient::unlockEKey(const QString &keyNFC)
|
|
|
{
|
|
|
CANKeyBaseChargeStatus chargeStatus;
|
|
|
|
|
|
for (auto iter = m_keyRFIDStatus.begin(); iter != m_keyRFIDStatus.end(); ++iter) {
|
|
|
-// int nodeId = iter.key();
|
|
|
+ chargeStatus.nodeId = iter.key();
|
|
|
if (keyNFC == iter->leftKeyRFID) {
|
|
|
chargeStatus.leftLocked = false;
|
|
|
chargeStatus.leftWorking = true;
|
|
|
@@ -1810,10 +1700,11 @@ void CANClient::unlockEKey(const QString &keyNFC)
|
|
|
void CANClient::unlockLock(const QString &lockNFC)
|
|
|
{
|
|
|
CANLocksControl lockStatus;
|
|
|
- // 暂时只处理一个5路锁
|
|
|
+
|
|
|
for (auto iter = m_locksRFIDStatus.begin(); iter != m_locksRFIDStatus.end(); ++iter) {
|
|
|
for (auto hasKeyIter = iter->lockRFIDMap.begin(); hasKeyIter != iter->lockRFIDMap.end(); ++hasKeyIter) {
|
|
|
if (hasKeyIter.value() == lockNFC) {
|
|
|
+ lockStatus.nodeId = iter.key();
|
|
|
lockStatus.lockNums.append(hasKeyIter.key());
|
|
|
lockStatus.lockLockedMap.insert(hasKeyIter.key(), false);
|
|
|
lockStatus.lockWorkMap.insert(hasKeyIter.key(), true);
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@@ -1828,11 +1719,11 @@ void CANClient::unlockLock(const QString &lockNFC)
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void CANClient::writeKeyBaseChargeControlAsync(CANKeyBaseChargeStatus& chargeStatus)
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{
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- quint8 nodeId = 0;
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+ quint8 nodeId = chargeStatus.nodeId;
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- if (!verifyNodeID(CAN_DEVICE_EKEY_NODEID, nodeId)) {
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- return;
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- }
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+// if (!verifyNodeID(CAN_DEVICE_EKEY_NODEID, nodeId)) {
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+// return;
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+// }
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// ========== 写入卡扣充电使能 ==========
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uint8_t statusByte = 0x00;
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@@ -1953,8 +1844,8 @@ QString CANClient::getLockRFID(int lockNum)
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return itemRFID.lockRFIDMap[lockNum];
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}
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}
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- readLockRFIDStatusAsync();
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- msleep(CAN_SLEEP_TIME);
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+// readLockRFIDStatusAsync();
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+// msleep(CAN_SLEEP_TIME);
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return QString();
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}
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xj