Watchdog fonctionnel

Otarcik_CAN/Sources/CANBus/CANDevice.cpp

@@ -67,7 +67,6 @@ int CCANDevice::Init()
         return RET_GENERAL_ERROR;
     }
 
-    mIsCANInitialized = true;
 
     if(mCANDatabase.Init(mDeviceConfigInfo.mCANDeviceDatabaseFilename) == RET_OK)
     {
@@ -82,6 +81,9 @@ int CCANDevice::Init()
     }
 
 
+
+
+
 //    if(mCANAnalyzer.Init(mDeviceConfigInfo.mCANDeviceID,mDeviceConfigInfo.mCANDeviceBaudrate,&mMessageList,mDeviceConfigInfo.mDevicePollPeriod) != RET_OK)
     if(mCANAnalyzer.Init(mCANDriverIF,mDeviceHandle,mDeviceConfigInfo.mCANDeviceID,&mMessageList,mDeviceConfigInfo.mDevicePollPeriod) != RET_OK)
     {
@@ -91,6 +93,20 @@ int CCANDevice::Init()
         return RET_GENERAL_ERROR;
     }
 
+    if(mDeviceConfigInfo.mDeviceWatchdogActivated == true)
+    {
+        if(mCANWatchdog.Init(mCANDriverIF,mDeviceHandle,mDeviceConfigInfo.mWatchdogPeriod,mDeviceConfigInfo.mWatchdogCANMsgID) != RET_OK)
+        {
+            CGeneralMessagesLogDispatcher::instance()->AddLogMessage("Impossible d'initialiser un watchdog CAN",true,1,CGeneralMessagesLogDispatcher::GEN_MSG_TXT_ERROR_STATUS);
+        }
+        mCANWatchdog.StartWDT();
+
+        QString Log = QString("Watchdog CAN initialisé pour le module sur le channel %1").arg(mDeviceConfigInfo.mCANDeviceID);
+        CGeneralMessagesLogDispatcher::instance()->AddLogMessage(Log,true,1,CGeneralMessagesLogDispatcher::GEN_MSG_TXT_SUCCESS_STATUS);
+    }
+
+    mIsCANInitialized = true;
+
 #ifdef USE_TOPIC_PREFIX
     mCANDataLogger.SetMQTTTopicDevice(QString("%2CANBus/%1/").arg(mDeviceConfigInfo.mDeviceName).arg(mDeviceTopicPrefix));
 #else

Otarcik_CAN/Sources/CANBus/CANDevice.h

@@ -12,6 +12,7 @@
 #include "CANDeviceConfig.h"
 #include "CANDataLogger.h"
 #include "MQTTMessage.h"
+#include "CANWatchdog.h"
 //#include "MQTTClientWrapper.h"
 
 class CMQTTClientWrapper;
@@ -39,6 +40,7 @@ public:
     CCANDataLogger mCANDataLogger;
     CMQTTClientWrapper *mCANMQTTClient;
     QString mDeviceTopicPrefix;
+    CCANWatchdog mCANWatchdog;
 
     QList<CCANMessage*> mMessageList;
     QList<CMQTTMessage> *GetMQTTMessagesList();

Otarcik_CAN/Sources/CANBus/CANWatchdog.cpp

@@ -9,47 +9,66 @@ CCANWatchdog::CCANWatchdog()
 
     mWatchdogTimer = new QTimer;
     mWatchdogTimer->setSingleShot(false);
+    mCANDriverIF = 0;
+    mWDTInitialized = false;
 
     connect(mWatchdogTimer,&QTimer::timeout,this,&CCANWatchdog::WatchdogTimeoutTimerExpired);
 }
 
-int CCANWatchdog::Init(quint8 CANDeviceID, WORD CANDeviceBaudrate, unsigned int WDTPeriod)
+int CCANWatchdog::Init(CPCANInterface *CANDriverIF, TPCANHandle CANDeviceHandle, unsigned int WDTPeriod, unsigned int CANMsgID)
 {
     if(WDTPeriod < 200)
     {
         WDTPeriod = 200;
         qDebug("CANWatchdog:: Trying to init with WDT period lower tan 200ms");
+        return RET_GENERAL_ERROR;
     }
 
-    mCANDeviceID = CANDeviceID;
+    mCANDeviceHandle = CANDeviceHandle;
     mWDTPeriod = WDTPeriod;
-    mCANDeviceBaudrate = CANDeviceBaudrate;
+    mCANDriverIF = CANDriverIF;
     CGeneralMessagesLogDispatcher::instance()->AddLogMessage("Démarrage du Watchdog CAN...");
 
-    if(mCANDriverIF->GetDeviceHandle(mCANDeviceID,mCANDeviceHandle) != RET_OK)
-    {
-        QString Log = QString("Impossible de trouver le module CAN Watchdog sur le channel %1").arg(mCANDeviceID);
-        CGeneralMessagesLogDispatcher::instance()->AddLogMessage(Log,true,1,CGeneralMessagesLogDispatcher::GEN_MSG_TXT_ERROR_STATUS);
-        mIsCANInitialized = false;
-        return RET_GENERAL_ERROR;
-    }
+    mWatchdogTimer->setInterval(mWDTPeriod);
+    mWatchdogTimer->setSingleShot(false);
 
-    if(mCANDriverIF->Init(mCANDeviceHandle,mCANDeviceBaudrate) != RET_OK)
-    {
-        CGeneralMessagesLogDispatcher::instance()->AddLogMessage("Impossible d'initialiser la puck CAN du Watchdog",true,1,CGeneralMessagesLogDispatcher::GEN_MSG_TXT_ERROR_STATUS);
-        mIsCANInitialized = false;
-        return RET_GENERAL_ERROR;
-    }
-    else
-    {
-       // mCANReadTimer->start(mCANPollPeriod);
-        mIsCANInitialized = true;
-    }
+    mWDTCANMsg.mCANMsgID = CANMsgID;
+    mWDTCANMsg.mCANMsgLength = 1;
+    mWDTCANMsg.mCANMsgData.clear();
+    mWDTCANMsg.mCANMsgData.append(8,(char)0x00);
+    mWDTCANMsg.mCANMsgName = "Watchdog";
+
+    mWDTInitialized = true;
 
     return RET_OK;
 }
 
 void CCANWatchdog::WatchdogTimeoutTimerExpired()
 {
-
+    char data = mWDTCANMsg.mCANMsgData[0];
+    data ^= (char)0x01;
+    mWDTCANMsg.mCANMsgData[0] = data;
+    mCANDriverIF->SendCANMessage(mCANDeviceHandle,mWDTCANMsg);
+ //   qDebug("Sending 0x%X to CAN",data);
+}
+
+int CCANWatchdog::StartWDT()
+{
+    if(mWDTInitialized == false)
+    {
+        return RET_GENERAL_ERROR;
+    }
+
+    mWatchdogTimer->start();
+    return RET_OK;
+}
+
+int CCANWatchdog::StopWDT()
+{
+    if(mWDTInitialized == false)
+    {
+        return RET_GENERAL_ERROR;
+    }
+    mWatchdogTimer->stop();
+    return RET_OK;
 }

Otarcik_CAN/Sources/CANBus/CANWatchdog.h

@@ -4,6 +4,7 @@
 #include <QObject>
 #include "PCANInterface.h"
 #include <QTimer>
+#include "CANMessage.h"
 
 class CCANWatchdog: public QObject
 {
@@ -12,18 +13,22 @@ class CCANWatchdog: public QObject
 public:
     CCANWatchdog();
 
-     int Init(quint8 CANDeviceID, TPCANBaudrate CANDeviceBaudrate, unsigned int WDTPeriod);
+     int Init(CPCANInterface *CANDriverIF, TPCANHandle CANDeviceHandle, unsigned int WDTPeriod,unsigned int CANMsgID);
+     int StartWDT();
+     int StopWDT();
+     bool IsInitialized(){return mWDTInitialized;}
 
     CPCANInterface *mCANDriverIF;
     unsigned int mWDTPeriod;
-    quint8 mCANDeviceID;
-    TPCANBaudrate mCANDeviceBaudrate;
     QTimer *mWatchdogTimer;
+    bool mWDTInitialized;
+    CCANMessage mWDTCANMsg;
 
 private:
     bool mIsCANInitialized;
     TPCANHandle mCANDeviceHandle;
 
+
 public slots:
     void WatchdogTimeoutTimerExpired();