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Support higher time resolution CANserver format
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CANserver firmware 2.2.0 will be adding a new logging format that support us resolution for timestamps of received frames.
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@pyjamasam
pyjamasam committed Dec 15, 2023
1 parent 4b46537 commit 77b6cae
Showing 1 changed file with 53 additions and 28 deletions.
81 changes: 53 additions & 28 deletions framefileio.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4791,7 +4791,7 @@ bool FrameFileIO::isCANServerFile(QString filename)
{
//qDebug() << "header: " << headerData;
//We have enough bytes to make up our header. Lets check if it matches
if (headerData == "CANSERVER_v2_CANSERVER")
if (headerData == "CANSERVER_v2_CANSERVER" || headerData == "CANSERVER_v3_CANSERVER")
{
isMatch = true;
}
Expand Down Expand Up @@ -4833,13 +4833,20 @@ bool FrameFileIO::loadCANServerFile(QString filename, QVector<CANFrame>* frames)
//Skip the header

bool fileIsGood = false;
uint8_t logVersion = 1;
QByteArray headerData = inFile->read(22);
if (headerData.length() == 22)
{
//qDebug() << "header: " << headerData;
//We have enough bytes to make up our header. Lets check if it matches
if (headerData == "CANSERVER_v2_CANSERVER")
{
logVersion = 1;
fileIsGood = true;
}
else if (headerData == "CANSERVER_v3_CANSERVER")
{
logVersion = 2;
fileIsGood = true;
}
}
Expand All @@ -4864,7 +4871,13 @@ bool FrameFileIO::loadCANServerFile(QString filename, QVector<CANFrame>* frames)
{
if (possibleHeaderData == "ANSERVER_v2_CANSERVER" )
{
//We found another header. Lets just ignore things and move on
//We found another header (in this case a version 1 format). Lets just ignore things and move on
logVersion = 1;
}
else if (possibleHeaderData == "ANSERVER_v3_CANSERVER" )
{
//We found another header (in this case a version 2 format). Lets just ignore things and move on
logVersion = 2;
}
else
{
Expand All @@ -4873,10 +4886,10 @@ bool FrameFileIO::loadCANServerFile(QString filename, QVector<CANFrame>* frames)
}
}
}
else if (data[0] == 0xCD)
else if ((logVersion == 1 && data[0] == 0xCD) || (logVersion == 2 && data[0] == 0xD0))
{
//Log mark message
//Log mark message (the same format in v1 or v2. Just a different identifier byte)

//Read in the size of the mark
uint8_t markSize[1];
inFile->read((char*)&markSize, 1);
Expand All @@ -4897,9 +4910,9 @@ bool FrameFileIO::loadCANServerFile(QString filename, QVector<CANFrame>* frames)
frames->append(markFrame);
*/
}
else if (data[0] == 0xCE)
else if ((logVersion == 1 && data[0] == 0xCE) || (logVersion == 2 && data[0] == 0xA0))
{
//Timesync message
//Timesync message (v1 log format)
framedata_U timesyncvalue;
::memset(timesyncvalue.data, 0, sizeof(timesyncvalue.data));
inFile->read(timesyncvalue.data, 8);
Expand All @@ -4908,39 +4921,54 @@ bool FrameFileIO::loadCANServerFile(QString filename, QVector<CANFrame>* frames)
//qDebug() << "Found a time sync message: " << timesyncvalue.u64;
timeStampBase = timesyncvalue.u64;
}
else if (data[0] == 0xCF)
else if ((logVersion == 1 && data[0] == 0xCF) || (logVersion == 2 && (data[0] & 0xF0) == 0xB0))
{
if (frameCounter++ > 100)
// Can frame format (either a v1 or a v2)
if (frameCounter++ > 10000)
{
qApp->processEvents();
frameCounter = 0;
}

//CAN Frame

uint8_t frameheaderdata[5];
inFile->read((char*)frameheaderdata, 5);

//The frame time offset is how long since the last time sync message (now in ms) this frame is
uint8_t byte1 = frameheaderdata[0];
uint8_t byte2 = frameheaderdata[1];
uint16_t frametimeoffset = ((uint16_t)byte2 << 8) | byte1;

byte1 = frameheaderdata[2];
byte2 = frameheaderdata[3];
uint16_t messageId = ((uint16_t)byte2 << 8) | byte1;

uint8_t framelength = frameheaderdata[4] & 0x0F;
uint8_t busid = frameheaderdata[4] >> 4;
uint32_t frametimeoffset = 0;
if (logVersion == 1)
{
//The frame time offset is how long since the last time sync message (now in ms) this frame is
frametimeoffset = ((uint16_t)frameheaderdata[1] << 8) | frameheaderdata[0];
frametimeoffset *= 1000;
}
else if (logVersion == 2)
{
frametimeoffset = (data[0] & 0x0F) + (frameheaderdata[0] << 4) + (frameheaderdata[1] << 12) + (((frameheaderdata[2] & 0xF8) >> 3) << 20);
}

uint16_t messageId = 0;
if (logVersion == 1)
{
messageId = ((uint16_t)frameheaderdata[3] << 8) | frameheaderdata[2];
}
else if (logVersion == 2)
{
messageId = ((frameheaderdata[2] & 0x07) << 8) + (frameheaderdata[3] & 0xFF);
}

uint8_t framelength = (frameheaderdata[4] & 0x0F);
uint8_t busid = (frameheaderdata[4] & 0xF0) >> 4;

framelength = framelength > 8 ? 8 : framelength;


//Now that we have a length lets read those bytes
::memset(framedata.data, 0, sizeof(framedata.data));
inFile->read(framedata.data, framelength);

if (framelength > 0)
{
inFile->read(framedata.data, framelength);
}

//Setup the frame object and populate it

CANFrame thisFrame;
thisFrame.setFrameType(QCanBusFrame::DataFrame);

Expand All @@ -4950,11 +4978,8 @@ bool FrameFileIO::loadCANServerFile(QString filename, QVector<CANFrame>* frames)

uint64_t frameTime = timeStampBase;
uint64_t frameoffset = frametimeoffset;
frameoffset *= 1000;

frameTime += frameoffset;
//lastFrameTime = frameTime;

thisFrame.setTimeStamp(QCanBusFrame::TimeStamp(0, frameTime));

QByteArray bytes(framelength,0);
Expand Down

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