293 lines
10 KiB
C++
293 lines
10 KiB
C++
#ifdef FEATURE_CAN
|
|
|
|
#include "candebugmenu.h"
|
|
|
|
// system includes
|
|
#include <utility>
|
|
|
|
// esp-idf includes
|
|
#include <esp_log.h>
|
|
|
|
// 3rdparty lib includes
|
|
#include <fmt/core.h>
|
|
|
|
// 3rdparty lib includes
|
|
#include <menuitem.h>
|
|
#include <actions/popscreenaction.h>
|
|
#include <actions/dummyaction.h>
|
|
#include <icons/back.h>
|
|
#include <screenmanager.h>
|
|
|
|
// local includes
|
|
#include "bobbyerrorhandler.h"
|
|
|
|
namespace {
|
|
constexpr char TAG[] = "CANDEBUG";
|
|
|
|
constexpr char TEXT_CANDEBUG[] = "CAN Debug";
|
|
constexpr char TEXT_TWAI_INITIATE_RECOVERY[] = "twai_initiate_recovery()";
|
|
constexpr char TEXT_TWAI_STOP[] = "twai_stop()";
|
|
constexpr char TEXT_TWAI_START[] = "twai_start()";
|
|
constexpr char TEXT_TWAI_UNINSTALL[] = "twai_drv_uninstall()";
|
|
constexpr char TEXT_TWAI_INSTALL[] = "twai_drv_install()";
|
|
constexpr char TEXT_BACK[] = "Back";
|
|
|
|
std::string toString(twai_state_t val)
|
|
{
|
|
switch (val)
|
|
{
|
|
case TWAI_STATE_STOPPED: return "STOPPED";
|
|
case TWAI_STATE_RUNNING: return "RUNNING";
|
|
case TWAI_STATE_BUS_OFF: return "BUS_OFF";
|
|
case TWAI_STATE_RECOVERING: return "RECOVERING";
|
|
default:
|
|
ESP_LOGW(TAG, "unknown twai_state_t(%i)", std::to_underlying(val));
|
|
return fmt::format("Unknown twai_state_t({})", std::to_underlying(val));
|
|
}
|
|
}
|
|
|
|
class CanStatusText : public virtual espgui::TextInterface
|
|
{
|
|
public:
|
|
explicit CanStatusText(const std::expected<twai_status_info_t, esp_err_t> &last_can_status_info) :
|
|
m_last_can_status_info{last_can_status_info}
|
|
{
|
|
}
|
|
|
|
std::string text() const override
|
|
{
|
|
if (m_last_can_status_info)
|
|
return fmt::format("{}: &f{}", canStatusName(), canStatusText(*m_last_can_status_info));
|
|
else
|
|
return fmt::format("{}: &f&1{}", canStatusName(), esp_err_to_name(m_last_can_status_info.error()));
|
|
}
|
|
|
|
protected:
|
|
virtual std::string canStatusName() const = 0;
|
|
virtual std::string canStatusText(const twai_status_info_t &can_status_info) const = 0;
|
|
|
|
private:
|
|
const std::expected<twai_status_info_t, esp_err_t> &m_last_can_status_info;
|
|
};
|
|
|
|
class CanStatusStateText : public CanStatusText
|
|
{
|
|
public:
|
|
using CanStatusText::CanStatusText;
|
|
|
|
protected:
|
|
std::string canStatusName() const override { return "state"; }
|
|
std::string canStatusText(const twai_status_info_t &can_status_info) const override
|
|
{
|
|
return fmt::format("{}{}",
|
|
can_status_info.state==TWAI_STATE_RUNNING?"":"&1",
|
|
toString(can_status_info.state));
|
|
}
|
|
};
|
|
|
|
class CanStatusMsgsToTxText : public CanStatusText
|
|
{
|
|
public:
|
|
using CanStatusText::CanStatusText;
|
|
|
|
protected:
|
|
std::string canStatusName() const override { return "msgs_to_tx"; }
|
|
std::string canStatusText(const twai_status_info_t &can_status_info) const override { return std::to_string(can_status_info.msgs_to_tx); }
|
|
};
|
|
|
|
class CanStatusMsgsToRxText : public CanStatusText
|
|
{
|
|
public:
|
|
using CanStatusText::CanStatusText;
|
|
|
|
protected:
|
|
std::string canStatusName() const override { return "msgs_to_rx"; }
|
|
std::string canStatusText(const twai_status_info_t &can_status_info) const override { return std::to_string(can_status_info.msgs_to_rx); }
|
|
};
|
|
|
|
class CanStatusTxErrorCounterText : public CanStatusText
|
|
{
|
|
public:
|
|
using CanStatusText::CanStatusText;
|
|
|
|
protected:
|
|
std::string canStatusName() const override { return "&stx_error_counter"; }
|
|
std::string canStatusText(const twai_status_info_t &can_status_info) const override { return std::to_string(can_status_info.tx_error_counter); }
|
|
};
|
|
|
|
class CanStatusRxErrorCounterText : public CanStatusText
|
|
{
|
|
public:
|
|
using CanStatusText::CanStatusText;
|
|
|
|
protected:
|
|
std::string canStatusName() const override { return "&srx_error_counter"; }
|
|
std::string canStatusText(const twai_status_info_t &can_status_info) const override { return std::to_string(can_status_info.rx_error_counter); }
|
|
};
|
|
|
|
class CanStatusTxFailedCountText : public CanStatusText
|
|
{
|
|
public:
|
|
using CanStatusText::CanStatusText;
|
|
|
|
protected:
|
|
std::string canStatusName() const override { return "&stx_failed_count"; }
|
|
std::string canStatusText(const twai_status_info_t &can_status_info) const override { return std::to_string(can_status_info.tx_failed_count); }
|
|
};
|
|
|
|
class CanStatusRxFailedCountText : public CanStatusText
|
|
{
|
|
public:
|
|
using CanStatusText::CanStatusText;
|
|
|
|
protected:
|
|
std::string canStatusName() const override { return "&srx_missed_count"; }
|
|
std::string canStatusText(const twai_status_info_t &can_status_info) const override { return std::to_string(can_status_info.rx_missed_count); }
|
|
};
|
|
|
|
#ifndef OLD_IDF
|
|
class CanStatusRxOverrunCountText : public CanStatusText
|
|
{
|
|
public:
|
|
using CanStatusText::CanStatusText;
|
|
|
|
protected:
|
|
std::string canStatusName() const override { return "&srx_overrun_count"; }
|
|
std::string canStatusText(const twai_status_info_t &can_status_info) const override { return std::to_string(can_status_info.rx_overrun_count); }
|
|
};
|
|
#endif
|
|
|
|
class CanStatusArbLostCountText : public CanStatusText
|
|
{
|
|
public:
|
|
using CanStatusText::CanStatusText;
|
|
|
|
protected:
|
|
std::string canStatusName() const override { return "&sarb_lost_count"; }
|
|
std::string canStatusText(const twai_status_info_t &can_status_info) const override { return std::to_string(can_status_info.arb_lost_count); }
|
|
};
|
|
|
|
class CanStatusBusErrorCountText : public CanStatusText
|
|
{
|
|
public:
|
|
using CanStatusText::CanStatusText;
|
|
|
|
protected:
|
|
std::string canStatusName() const override { return "&sbus_error_count"; }
|
|
std::string canStatusText(const twai_status_info_t &can_status_info) const override { return std::to_string(can_status_info.bus_error_count); }
|
|
};
|
|
|
|
class CanInitiateRecoveryAction : public virtual espgui::ActionInterface
|
|
{
|
|
public:
|
|
void triggered() override
|
|
{
|
|
const auto result = twai_initiate_recovery();
|
|
ESP_LOGI(TAG, "twai_initiate_recovery() returned %s", esp_err_to_name(result));
|
|
BobbyErrorHandler{}.errorOccurred(fmt::format("twai_initiate_recovery() returned {}", esp_err_to_name(result)));
|
|
}
|
|
};
|
|
|
|
class CanStopAction : public virtual espgui::ActionInterface
|
|
{
|
|
public:
|
|
void triggered() override
|
|
{
|
|
const auto result = twai_stop();
|
|
ESP_LOGI(TAG, "twai_stop() returned %s", esp_err_to_name(result));
|
|
BobbyErrorHandler{}.errorOccurred(fmt::format("twai_stop() returned {}", esp_err_to_name(result)));
|
|
}
|
|
};
|
|
|
|
class CanStartAction : public virtual espgui::ActionInterface
|
|
{
|
|
public:
|
|
void triggered() override
|
|
{
|
|
const auto result = twai_start();
|
|
ESP_LOGI(TAG, "twai_start() returned %s", esp_err_to_name(result));
|
|
BobbyErrorHandler{}.errorOccurred(fmt::format("twai_start() returned {}", esp_err_to_name(result)));
|
|
}
|
|
};
|
|
|
|
class CanUninstallAction : public virtual espgui::ActionInterface
|
|
{
|
|
public:
|
|
void triggered() override
|
|
{
|
|
const auto result = twai_driver_uninstall();
|
|
ESP_LOGI(TAG, "twai_driver_uninstall() returned %s", esp_err_to_name(result));
|
|
BobbyErrorHandler{}.errorOccurred(fmt::format("twai_driver_uninstall() returned {}", esp_err_to_name(result)));
|
|
}
|
|
};
|
|
|
|
class CanInstallAction : public virtual espgui::ActionInterface
|
|
{
|
|
public:
|
|
void triggered() override
|
|
{
|
|
twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(GPIO_NUM_21, GPIO_NUM_22, TWAI_MODE_NORMAL);
|
|
twai_timing_config_t t_config TWAI_TIMING_CONFIG_250KBITS();
|
|
twai_filter_config_t f_config TWAI_FILTER_CONFIG_ACCEPT_ALL();
|
|
|
|
const auto result = twai_driver_install(&g_config, &t_config, &f_config);
|
|
ESP_LOGI(TAG, "twai_driver_install() returned %s", esp_err_to_name(result));
|
|
BobbyErrorHandler{}.errorOccurred(fmt::format("twai_driver_install() returned {}", esp_err_to_name(result)));
|
|
}
|
|
};
|
|
} // namespace
|
|
|
|
CanDebugMenu::CanDebugMenu()
|
|
{
|
|
using namespace espgui;
|
|
constructMenuItem<makeComponentArgs<MenuItem, CanStatusStateText, DummyAction>>(m_last_can_status_info);
|
|
constructMenuItem<makeComponentArgs<MenuItem, CanStatusMsgsToTxText, DummyAction>>(m_last_can_status_info);
|
|
constructMenuItem<makeComponentArgs<MenuItem, CanStatusMsgsToRxText, DummyAction>>(m_last_can_status_info);
|
|
constructMenuItem<makeComponentArgs<MenuItem, CanStatusTxErrorCounterText, DummyAction>>(m_last_can_status_info);
|
|
constructMenuItem<makeComponentArgs<MenuItem, CanStatusRxErrorCounterText, DummyAction>>(m_last_can_status_info);
|
|
constructMenuItem<makeComponentArgs<MenuItem, CanStatusTxFailedCountText, DummyAction>>(m_last_can_status_info);
|
|
constructMenuItem<makeComponentArgs<MenuItem, CanStatusRxFailedCountText, DummyAction>>(m_last_can_status_info);
|
|
#ifndef OLD_IDF
|
|
constructMenuItem<makeComponentArgs<MenuItem, CanStatusRxOverrunCountText, DummyAction>>(m_last_can_status_info);
|
|
#endif
|
|
constructMenuItem<makeComponentArgs<MenuItem, CanStatusArbLostCountText, DummyAction>>(m_last_can_status_info);
|
|
constructMenuItem<makeComponentArgs<MenuItem, CanStatusBusErrorCountText, DummyAction>>(m_last_can_status_info);
|
|
constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_TWAI_INITIATE_RECOVERY>, CanInitiateRecoveryAction>>();
|
|
constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_TWAI_STOP>, CanStopAction>>();
|
|
constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_TWAI_START>, CanStartAction>>();
|
|
constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_TWAI_UNINSTALL>, CanUninstallAction>>();
|
|
constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_TWAI_INSTALL>, CanInstallAction>>();
|
|
constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_BACK>, PopScreenAction, StaticMenuItemIcon<&espgui::icons::back>>>();
|
|
}
|
|
|
|
std::string CanDebugMenu::text() const
|
|
{
|
|
return TEXT_CANDEBUG;
|
|
}
|
|
|
|
void CanDebugMenu::update()
|
|
{
|
|
Base::update();
|
|
|
|
twai_status_info_t status_info;
|
|
if (const auto result = twai_get_status_info(&status_info); result != ESP_OK)
|
|
{
|
|
ESP_LOGE(TAG, "twai_get_status_info() failed with %s", esp_err_to_name(result));
|
|
m_last_can_status_info = tl::make_unexpected(result);
|
|
}
|
|
else
|
|
{
|
|
ESP_LOGD(TAG, "state=%i msgs_to_tx=%lu tx_error_counter=%lu tx_failed_count=%lu arb_lost_count=%lu bus_error_count=%lu",
|
|
status_info.state, status_info.msgs_to_tx, status_info.tx_error_counter,
|
|
status_info.tx_failed_count, status_info.arb_lost_count, status_info.bus_error_count);
|
|
m_last_can_status_info = status_info;
|
|
}
|
|
}
|
|
|
|
void CanDebugMenu::back()
|
|
{
|
|
espgui::popScreen();
|
|
}
|
|
|
|
#endif
|