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902 lines
32 KiB
C++
902 lines
32 KiB
C++
/*
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* Copyright (c) 2009 Mark Rages
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* Copyright (c) 2011 Mark Liversedge (liversedge@gmail.com)
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*
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* This program is free software; you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the Free
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* Software Foundation; either version 2 of the License, or (at your option)
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* any later version.
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*
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* This program is distributed in the hope that it will be useful, but WITHOUT
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* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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* more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc., 51
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* Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#include "ANT.h"
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#include <QDebug>
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static float timeout_blanking=2.0; // time before reporting stale data, seconds
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static float timeout_drop=2.0; // time before reporting dropped message
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static float timeout_scan=10.0; // time to do initial scan
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static float timeout_lost=30.0; // time to do more thorough scan
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ANTChannel::ANTChannel(int number, ANT *parent) : parent(parent), number(number)
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{
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init();
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}
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void
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ANTChannel::init()
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{
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channel_type=CHANNEL_TYPE_UNUSED;
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channel_type_flags=0;
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is_kickr=false;
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is_moxy=false;
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is_cinqo=0;
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is_old_cinqo=0;
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is_alt=0;
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manufacturer_id=0;
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product_id=0;
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product_version=0;
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device_number=0;
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device_id=0;
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state=ANT_UNASSIGN_CHANNEL;
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blanked=1;
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messages_received=0;
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messages_dropped=0;
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setId();
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srm_offset=400; // default relatively arbitrary, but matches common 'indoors' values
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burstInit();
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value2=value=0;
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status = Closed;
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}
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//
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// channel id is in the form nnnnx where nnnn is the device number
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// and x is the channel type (p)ower, (c) adence etc the full list
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// can be found in ANT.cpp when initialising ant_sensor_types
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//
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void ANTChannel::setId()
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{
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if (channel_type==CHANNEL_TYPE_UNUSED) {
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strcpy(id, "none");
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} else {
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snprintf(id, 10, "%d%c", device_number, parent->ant_sensor_types[channel_type].suffix);
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}
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}
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// The description of the device
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const char * ANTChannel::getDescription()
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{
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return parent->ant_sensor_types[channel_type].descriptive_name;
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}
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// Get device type
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int ANTChannel::interpretDescription(char *description)
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{
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const ant_sensor_type_t *st=parent->ant_sensor_types;
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do {
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if (0==strcmp(st->descriptive_name,description))
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return st->type;
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} while (++st, st->type != CHANNEL_TYPE_GUARD);
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return -1;
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}
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// Open an ant channel assignment.
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void ANTChannel::open(int device, int chan_type)
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{
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channel_type=chan_type;
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channel_type_flags = CHANNEL_TYPE_QUICK_SEARCH ;
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device_number=device;
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setId();
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// lets open the channel
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qDebug()<<"** OPENING CHANNEL"<<number<<"**";
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status = Opening;
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// start the transition process
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attemptTransition(TRANSITION_START);
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}
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// close an ant channel assignment
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void ANTChannel::close()
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{
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emit lostInfo(number);
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lastMessage = ANTMessage();
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// lets shutdown
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qDebug()<<"** CLOSING CHANNEL"<<number<<"**";
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status = Closing;
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parent->sendMessage(ANTMessage::close(number));
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init();
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}
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//
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// The main read loop is in ANT.cpp, it will pass us
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// the inbound message received for our channel.
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void ANTChannel::receiveMessage(unsigned char *ant_message)
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{
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switch (ant_message[2]) {
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case ANT_CHANNEL_EVENT:
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channelEvent(ant_message);
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break;
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case ANT_BROADCAST_DATA:
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broadcastEvent(ant_message);
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//qDebug()<<"broadcast event:"<<number;
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break;
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case ANT_ACK_DATA:
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ackEvent(ant_message);
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//qDebug()<<"ack data:"<<number;
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break;
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case ANT_CHANNEL_ID:
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channelId(ant_message);
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//qDebug()<<"channel id:"<<number;
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break;
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case ANT_BURST_DATA:
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burstData(ant_message);
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break;
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default:
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//qDebug()<<"dunno?"<<number;
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break; //errors silently ignored for now, would indicate hardware fault.
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}
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if (get_timestamp() > blanking_timestamp + timeout_blanking) {
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if (!blanked) {
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blanked=1;
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value2=value=0;
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emit staleInfo(number);
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}
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} else blanked=0;
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}
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// process a channel event message
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// would be good to refactor to use ANTMessage at some point
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// but not compelling reason to do so at this point and might
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// break existing code.
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void ANTChannel::channelEvent(unsigned char *ant_message) {
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// we should reimplement this via ANTMessage at some point
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unsigned char *message=ant_message+2;
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//qDebug()<<number<<"channel event:"<< ANTMessage::channelEventMessage(*(message+1));
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if (MESSAGE_IS_RESPONSE_NO_ERROR(message)) {
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//qDebug()<<number<<"channel event response no error";
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attemptTransition(RESPONSE_NO_ERROR_MESSAGE_ID(message));
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} else if (MESSAGE_IS_EVENT_CHANNEL_CLOSED(message)) {
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//qDebug()<<number<<"channel event channel closed";
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if (status != Closing) {
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//qDebug()<<"we got closed!! re-open !!";
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status = Opening;
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attemptTransition(TRANSITION_START);
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} else {
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parent->sendMessage(ANTMessage::unassignChannel(number));
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}
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} else if (MESSAGE_IS_EVENT_RX_SEARCH_TIMEOUT(message)) {
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//qDebug()<<number<<"channel event rx timeout";
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// timeouts are normal for search channel
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if (channel_type_flags & CHANNEL_TYPE_QUICK_SEARCH) {
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channel_type_flags &= ~CHANNEL_TYPE_QUICK_SEARCH;
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channel_type_flags |= CHANNEL_TYPE_WAITING;
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emit searchTimeout(number);
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} else {
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emit lostInfo(number);
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// Don't wipe out the channel settings when the search times out,
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// else can not reconnect to the device once back in range..
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//channel_type=CHANNEL_TYPE_UNUSED;
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//channel_type_flags=0;
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//device_number=0;
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//value2=value=0;
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//setId();
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parent->sendMessage(ANTMessage::unassignChannel(number));
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}
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} else if (MESSAGE_IS_EVENT_RX_FAIL(message)) {
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//qDebug()<<number<<"channel event rx fail";
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messages_dropped++;
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double t=get_timestamp();
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if (t > (last_message_timestamp + timeout_drop)) {
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if (channel_type != CHANNEL_TYPE_UNUSED) emit dropInfo(number, messages_dropped, messages_received);
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// this is a hacky way to prevent the drop message from sending multiple times
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last_message_timestamp+=2*timeout_drop;
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}
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} else if (MESSAGE_IS_EVENT_RX_ACKNOWLEDGED(message)) {
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//this cannot possibly be correct >> exit(-10);
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} else if (MESSAGE_IS_EVENT_TRANSFER_TX_COMPLETED(message)) {
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// do nothing
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} else {
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// usually a response event, so lets get a debug going
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//qDebug()<<number<<"channel event other ....."<<QString("0x%1 0x%2 %3 %4")
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//.arg(message[0], 1, 16).arg(message[1], 1, 16).arg(message[2]).arg(ANTMessage::channelEventMessage(message[2]));
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}
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}
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// if this is a quarq cinqo then record that fact
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// was probably interesting to quarqd, but less so for us!
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void ANTChannel::checkCinqo()
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{
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int version_hi, version_lo;
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version_hi=(product_version >> 8) &0xff;
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version_lo=(product_version & 0xff);
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if (!(mi.first_time_manufacturer || mi.first_time_product)) {
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if ((product_id == 1) && (manufacturer_id==7)) {
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// we are a cinqo, were we aware of this?
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is_cinqo=1;
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// are we an old-version or new-version cinqo?
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is_old_cinqo = ((version_hi <= 17) && (version_lo==10));
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}
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}
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}
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// are we a moxy ?
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void ANTChannel::checkMoxy()
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{
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// we are a moxy !
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if (!is_moxy && manufacturer_id==76)
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is_moxy=1;
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}
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// notify we have a cinqo, does nothing
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void ANTChannel::sendCinqoSuccess() {}
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//
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// We got a broadcast event -- this is where inbound
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// telemetry gets processed, and for many message types
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// we need to remember previous messages to look at the
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// deltas during the period
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//
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void ANTChannel::broadcastEvent(unsigned char *ant_message)
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{
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//qDebug()<<number<<"broadcast event !";
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ANTMessage antMessage(parent, ant_message);
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bool savemessage = true; // flag to stop lastmessage being
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// overwritten for standard power
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// messages
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bool telemetry=false;
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unsigned char *message=ant_message+2;
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double timestamp=get_timestamp();
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messages_received++;
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last_message_timestamp=timestamp;
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if (messages_received <= 1) {
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// this is mega important! -- when we get broadcast data from a device
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// we ask it to identify itself, then when the channel id message is
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// received we set our channel id to that received. So, if the message
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// below is not sent, we will never set channel properly.
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// The recent bug with not being able to "pair" intermittently, was caused
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// by the write below failing (and any write really, but the one below being
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// pretty critical) -- because the USB stick needed a USB reset which we now
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// do every time we open the USB device
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parent->sendMessage(ANTMessage::requestMessage(number, ANT_CHANNEL_ID));
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blanking_timestamp=get_timestamp();
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blanked=0;
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return; // because we can't associate a channel id with the message yet
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}
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// for automatically opening quarq channel on early cinqo
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if (MESSAGE_IS_PRODUCT(message)) {
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mi.first_time_product= false;
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product_version&=0x00ff;
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product_version|=(PRODUCT_SW_REV(message))<<8;
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checkCinqo();
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checkMoxy();
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// TODO in some case ? eg a cadence sensor we have telemetry too
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//telemetry = true;
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} else if (MESSAGE_IS_MANUFACTURER(message)) {
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mi.first_time_manufacturer= false;
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product_version&=0xff00;
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product_version|=MANUFACTURER_HW_REV(message);
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manufacturer_id=MANUFACTURER_MANUFACTURER_ID(message);
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product_id=MANUFACTURER_MODEL_NUMBER_ID(message);
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checkCinqo();
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}
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else {
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telemetry = true;
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}
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if (telemetry) {
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//
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// We got some telemetry on this channel
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//
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if (lastMessage.type != 0) {
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switch (channel_type) {
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// Power
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case CHANNEL_TYPE_POWER:
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// what kind of power device is this?
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switch(antMessage.data_page) {
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case ANT_SPORT_CALIBRATION_MESSAGE:
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{
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// Always ack calibs unless they are acks too!
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if (antMessage.data[6] != 0xAC) {
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antMessage.data[6] = 0xAC;
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parent->sendMessage(antMessage);
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}
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// each device sends a different type
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// of calibration message...
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switch (antMessage.calibrationID) {
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case ANT_SPORT_SRM_CALIBRATIONID:
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switch (antMessage.ctfID) {
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case 0x01: // offset
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// if we're getting calibration messages then
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// we should be coasting, so power and cadence
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// will be zero
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srm_offset = antMessage.srmOffset;
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is_alt ? parent->setAltWatts(0) : parent->setWatts(0);
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parent->setSecondaryCadence(0);
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value2=value=0;
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break;
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case 0x02: // slope
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break;
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case 0x03: // serial number
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break;
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default:
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break;
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}
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break;
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default:
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break;
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}
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} // ANT_SPORT_CALIBRATION
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savemessage = false; // we don't want to overwrite other messages
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break;
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//
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// SRM - crank torque frequency
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//
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case ANT_CRANKSRM_POWER: // 0x20 - crank torque (SRM)
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{
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uint16_t period = antMessage.period - lastMessage.period;
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uint16_t torque = antMessage.torque - lastMessage.torque;
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float time = (float)period / (float)2000.00;
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if (time && antMessage.slope && period) {
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nullCount = 0;
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float torque_freq = torque / time - 420/*srm_offset*/;
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float nm_torque = 10.0 * torque_freq / antMessage.slope;
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float cadence = 2000.0 * 60 * (antMessage.eventCount - lastMessage.eventCount) / period;
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float power = 3.14159 * nm_torque * cadence / 30;
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// ignore the occasional spikes (reed switch)
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if (power >= 0 && power < 2501 && cadence >=0 && cadence < 256) {
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value2 = value = power;
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is_alt ? parent->setAltWatts(power) : parent->setWatts(power);
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parent->setSecondaryCadence(cadence);
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}
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} else {
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nullCount++;
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if (nullCount >= 4) { // 4 messages on an SRM
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value2 = value = 0;
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is_alt ? parent->setAltWatts(0) : parent->setWatts(0);
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parent->setSecondaryCadence(0);
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}
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}
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}
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break;
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//
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// Powertap - wheel torque
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//
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case ANT_WHEELTORQUE_POWER: // 0x11 - wheel torque (Powertap)
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{
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uint8_t events = antMessage.eventCount - lastMessage.eventCount;
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uint16_t period = antMessage.period - lastMessage.period;
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uint16_t torque = antMessage.torque - lastMessage.torque;
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if (events && period) {
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nullCount = 0;
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float nm_torque = torque / (32.0 * events);
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float wheelRPM = 2048.0 * 60.0 * events / period;
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float power = 3.14159 * nm_torque * wheelRPM / 30;
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value2 = value = power;
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parent->setWheelRpm(wheelRPM);
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is_alt ? parent->setAltWatts(power) : parent->setWatts(power);
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} else {
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nullCount++;
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if (nullCount >= 4) { // 4 messages on Powertap according to specs
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parent->setWheelRpm(0);
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value2 = value = 0;
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is_alt ? parent->setAltWatts(0) : parent->setWatts(0);
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}
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}
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}
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break;
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//
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// Standard Power - interleaved with other messages 1 per second
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// NOTE: Standard power messages are interleaved
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// with other power broadcast messages and so
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// we need to make sure lastmessage is NOT
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// updated with this message and instead we
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// store in a special lastStdPwrMessage
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//
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case ANT_STANDARD_POWER: // 0x10 - standard power
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{
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uint8_t events = antMessage.eventCount - lastStdPwrMessage.eventCount;
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if (lastStdPwrMessage.type && events) {
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stdNullCount = 0;
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is_alt ? parent->setAltWatts(antMessage.instantPower) : parent->setWatts(antMessage.instantPower);
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value2 = value = antMessage.instantPower;
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parent->setSecondaryCadence(antMessage.instantCadence); // cadence
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antMessage.pedalPowerContribution ? parent->setLRBalance(antMessage.pedalPower) : parent->setLRBalance(0);
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} else {
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stdNullCount++;
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if (stdNullCount >= 6) { //6 for standard power according to specs
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parent->setSecondaryCadence(0);
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is_alt ? parent->setAltWatts(0) : parent->setWatts(0);
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parent->setLRBalance(0);
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value2 = value = 0;
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parent->setTE(0,0);
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parent->setPS(0,0);
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}
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}
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lastStdPwrMessage = antMessage;
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savemessage = false;
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}
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break;
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case ANT_TE_AND_PS_POWER: // 0x13 - optional extension to standard power / event Count is defined to be in sync with 0x10 - so not seperate calculation
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// and just take whatever is delivered - data may not be sent for every power reading - but minimum every 5th pwr message
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{
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uint8_t events = antMessage.eventCount - lastStdPwrMessage.eventCount;
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if (events) {
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// provide valid values only
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if (antMessage.leftTorqueEffectiveness != 0xFF && antMessage.rightTorqueEffectiveness != 0xFF) {
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parent->setTE((antMessage.leftTorqueEffectiveness / 2),(antMessage.rightTorqueEffectiveness / 2)); // values are given in 1/2 %
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} else {
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parent->setTE(0,0);
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}
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// provide valid values only and handle single and combined PS option (which is allowed in 0x13)
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if (antMessage.leftOrCombinedPedalSmoothness != 0xFF && antMessage.rightTorqueEffectiveness != 0xFF) {
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if (antMessage.rightPedalSmoothness == 0xFE) {
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parent->setPS((antMessage.leftOrCombinedPedalSmoothness / 2), 0);
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} else {
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parent->setPS((antMessage.leftOrCombinedPedalSmoothness / 2), (antMessage.rightPedalSmoothness / 2)); // values are given in 1/2 %
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}
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}
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}
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}
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break;
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//
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// Quarq - Crank torque
|
|
//
|
|
case ANT_CRANKTORQUE_POWER: // 0x12 - crank torque (Quarq)
|
|
{
|
|
uint8_t events = antMessage.eventCount - lastMessage.eventCount;
|
|
uint16_t period = antMessage.period - lastMessage.period;
|
|
uint16_t torque = antMessage.torque - lastMessage.torque;
|
|
|
|
if (events && period && lastMessage.period) {
|
|
nullCount = 0;
|
|
|
|
float nm_torque = torque / (32.0 * events);
|
|
float cadence = 2048.0 * 60.0 * events / period;
|
|
float power = 3.14159 * nm_torque * cadence / 30;
|
|
|
|
parent->setSecondaryCadence(cadence);
|
|
is_alt ? parent->setAltWatts(power) : parent->setWatts(power);
|
|
value2 = value = power;
|
|
|
|
} else {
|
|
nullCount++;
|
|
if (nullCount >= 4) { // 4 on a quarq according to specs
|
|
parent->setSecondaryCadence(0);
|
|
is_alt ? parent->setAltWatts(0) : parent->setWatts(0);
|
|
value2 = value = 0;
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
|
|
default: // UNKNOWN
|
|
break;
|
|
}
|
|
break;
|
|
|
|
// HR
|
|
case CHANNEL_TYPE_HR:
|
|
{
|
|
// cadence first...
|
|
uint16_t time = antMessage.measurementTime - lastMessage.measurementTime;
|
|
if (time) {
|
|
nullCount = 0;
|
|
parent->setBPM(antMessage.instantHeartrate);
|
|
value2 = value = antMessage.instantHeartrate;
|
|
|
|
// lets emit a signal for collected HR R-R data
|
|
emit rrData(antMessage.measurementTime, antMessage.heartrateBeats, antMessage.instantHeartrate);
|
|
|
|
} else {
|
|
nullCount++;
|
|
if (nullCount >= 12) {
|
|
parent->setBPM(0); // 12 according to the docs
|
|
value2 = value = 0;
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
|
|
// Cadence
|
|
case CHANNEL_TYPE_CADENCE:
|
|
{
|
|
uint16_t time = antMessage.crankMeasurementTime - lastMessage.crankMeasurementTime;
|
|
uint16_t revs = antMessage.crankRevolutions - lastMessage.crankRevolutions;
|
|
if (time) {
|
|
nullCount = 0;
|
|
float cadence = 1024*60*revs / time;
|
|
parent->setCadence(cadence);
|
|
value2 = value = cadence;
|
|
} else {
|
|
nullCount++;
|
|
if (nullCount >= 12) { parent->setCadence(0);
|
|
value = 0;
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
|
|
// Speed and Cadence
|
|
case CHANNEL_TYPE_SandC:
|
|
{
|
|
// cadence first...
|
|
uint16_t time = antMessage.crankMeasurementTime - lastMessage.crankMeasurementTime;
|
|
uint16_t revs = antMessage.crankRevolutions - lastMessage.crankRevolutions;
|
|
if (time) {
|
|
nullCount = 0;
|
|
float cadence = 1024*60*revs / time;
|
|
|
|
if (is_moxy) /* do nothing for now */ ; //XXX fixme when moxy arrives XXX
|
|
else parent->setCadence(cadence);
|
|
value = cadence;
|
|
|
|
} else {
|
|
|
|
nullCount++;
|
|
if (!is_moxy && nullCount >= 12) { parent->setCadence(0);
|
|
value = 0;
|
|
}
|
|
}
|
|
|
|
// now speed ...
|
|
time = antMessage.wheelMeasurementTime - lastMessage.wheelMeasurementTime;
|
|
revs = antMessage.wheelRevolutions - lastMessage.wheelRevolutions;
|
|
if (time) {
|
|
dualNullCount = 0;
|
|
|
|
float rpm = 1024*60*revs / time;
|
|
if (is_moxy) /* do nothing for now */ ; //XXX fixme when moxy arrives XXX
|
|
else parent->setWheelRpm(rpm);
|
|
value2 = rpm;
|
|
|
|
} else {
|
|
|
|
dualNullCount++;
|
|
if (!is_moxy && dualNullCount >= 12) {
|
|
parent->setWheelRpm(0);
|
|
value2 = 0;
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
|
|
// Speed
|
|
case CHANNEL_TYPE_SPEED:
|
|
{
|
|
uint16_t time = antMessage.wheelMeasurementTime - lastMessage.wheelMeasurementTime;
|
|
uint16_t revs = antMessage.wheelRevolutions - lastMessage.wheelRevolutions;
|
|
if (time) {
|
|
nullCount=0;
|
|
float rpm = 1024*60*revs / time;
|
|
parent->setWheelRpm(rpm);
|
|
value2=value=rpm;
|
|
} else {
|
|
nullCount++;
|
|
if (nullCount >= 12) parent->setWheelRpm(0);
|
|
value2=value=0;
|
|
}
|
|
}
|
|
break;
|
|
|
|
//moxy
|
|
case CHANNEL_TYPE_MOXY:
|
|
{
|
|
value = antMessage.tHb;
|
|
value2 = antMessage.newsmo2;
|
|
parent->setHb(value2, value);
|
|
}
|
|
break;
|
|
|
|
// Tacx Vortex trainer
|
|
case CHANNEL_TYPE_TACX_VORTEX:
|
|
{
|
|
static int loadRefreshCounter = 1;
|
|
|
|
if (((loadRefreshCounter++) % 10) == 0)
|
|
parent->refreshVortexLoad();
|
|
|
|
if (antMessage.vortexPage == TACX_VORTEX_DATA_CALIBRATION)
|
|
parent->setVortexData(number, antMessage.vortexId);
|
|
else if (antMessage.vortexPage == TACX_VORTEX_DATA_SPEED)
|
|
{
|
|
parent->setWatts(antMessage.vortexPower);
|
|
// cadence is only supplied in some range, only set if valid value
|
|
if (antMessage.vortexCadence)
|
|
parent->setSecondaryCadence(antMessage.vortexCadence);
|
|
}
|
|
}
|
|
break;
|
|
|
|
default:
|
|
break; // unknown?
|
|
}
|
|
|
|
} else {
|
|
|
|
// reset nullCount if receiving first telemetry update
|
|
stdNullCount = dualNullCount = nullCount = 0;
|
|
value2 = value = 0;
|
|
}
|
|
|
|
// we don't overwrite for Standard Power messages
|
|
// these are maintained separately in lastStdPwrMessage
|
|
if (savemessage) lastMessage = antMessage;
|
|
}
|
|
}
|
|
|
|
// we got an acknowledgement, so lets process it
|
|
// does nothing for now
|
|
void ANTChannel::ackEvent(unsigned char * /*ant_message*/) { }
|
|
|
|
|
|
// we got a channel ID notification
|
|
void ANTChannel::channelId(unsigned char *ant_message) {
|
|
|
|
unsigned char *message=ant_message+2;
|
|
|
|
// channel id data
|
|
device_number=CHANNEL_ID_DEVICE_NUMBER(message);
|
|
device_id=CHANNEL_ID_DEVICE_TYPE_ID(message);
|
|
state=MESSAGE_RECEIVED;
|
|
|
|
// high nibble of transmission type used to indicate
|
|
// it is a kick, A0 gives the game away :)
|
|
is_kickr = (device_id == ANT_SPORT_POWER_TYPE) && ((CHANNEL_ID_TRANSMISSION_TYPE(message)&0xF0) == 0xA0);
|
|
|
|
if (is_kickr) {
|
|
qDebug()<<number<<"KICKR DETECTED VIA CHANNEL ID EVENT";
|
|
}
|
|
|
|
// tell controller we got a new channel id
|
|
setId();
|
|
emit channelInfo(number, device_number, device_id);
|
|
|
|
// if we were searching,
|
|
if (channel_type_flags&CHANNEL_TYPE_QUICK_SEARCH) {
|
|
//qDebug()<<number<<"change timeout setting";
|
|
parent->sendMessage(ANTMessage::setSearchTimeout(number, (int)(timeout_lost/2.5)));
|
|
}
|
|
channel_type_flags &= ~CHANNEL_TYPE_QUICK_SEARCH;
|
|
}
|
|
|
|
// get ready to burst
|
|
void ANTChannel::burstInit() {
|
|
rx_burst_data_index=0;
|
|
rx_burst_next_sequence=0;
|
|
rx_burst_disposition=NULL;
|
|
}
|
|
|
|
// are we in the middle of a search?
|
|
int ANTChannel::isSearching() {
|
|
return ((channel_type_flags & (CHANNEL_TYPE_WAITING | CHANNEL_TYPE_QUICK_SEARCH)) || (state != MESSAGE_RECEIVED));
|
|
}
|
|
|
|
|
|
// receive burst data
|
|
void ANTChannel::burstData(unsigned char *ant_message) {
|
|
|
|
unsigned char *message=ant_message+2;
|
|
char seq=(message[1]>>5)&0x3;
|
|
char last=(message[1]>>7)&0x1;
|
|
const unsigned char next_sequence[4]={1,2,3,1};
|
|
|
|
if (seq!=rx_burst_next_sequence) {
|
|
// we don't handle burst data at present.
|
|
} else {
|
|
|
|
int len=ant_message[ANT_OFFSET_LENGTH]-3;
|
|
|
|
if ((rx_burst_data_index + len)>(RX_BURST_DATA_LEN)) {
|
|
len = RX_BURST_DATA_LEN-rx_burst_data_index;
|
|
}
|
|
|
|
rx_burst_next_sequence=next_sequence[(int)seq];
|
|
memcpy(rx_burst_data+rx_burst_data_index, message+2, len);
|
|
rx_burst_data_index+=len;
|
|
}
|
|
|
|
if (last) {
|
|
if (rx_burst_disposition) {
|
|
// we don't handle burst data at present.
|
|
}
|
|
burstInit();
|
|
}
|
|
}
|
|
|
|
// TRANSITIONING FROM NOT OPEN TO OPEN AND BACK
|
|
// this is basically a transition from an unassigned channel
|
|
// to one with a device open on it and works from top to bottom
|
|
// it is first called by open() to unassign channel and then
|
|
// after each message response from the device we get called here
|
|
// to perform the next action in the sequence
|
|
void ANTChannel::attemptTransition(int message_id)
|
|
{
|
|
// ignore all the nonsense if we are not trying to transition !
|
|
if (status != Closing && status != Opening) {
|
|
//qDebug()<<number<<"ignore transition"<<message_id;
|
|
return;
|
|
}
|
|
|
|
const ant_sensor_type_t *st;
|
|
int previous_state=state;
|
|
st=&(parent->ant_sensor_types[channel_type]);
|
|
|
|
//qDebug()<<number<<"type="<<channel_type<<"device type="<<device_id<<"freq="<<st->frequency;
|
|
|
|
// update state
|
|
state=message_id;
|
|
|
|
// do transitions from top status to bottom status !
|
|
switch (state) {
|
|
|
|
case TRANSITION_START:
|
|
//qDebug()<<number<<"TRANSITION start";
|
|
|
|
// unassign regardless of status
|
|
parent->sendMessage(ANTMessage::unassignChannel(number)); // unassign whatever we had before
|
|
|
|
// drops through into assign channel because if the channel currently has no
|
|
// assignment the unassign channel message will generate an error response not
|
|
// an unassign channel response. But we don't really know what state the device
|
|
// might be in, so we unassign then assign at the beginning of a transition
|
|
|
|
case ANT_UNASSIGN_CHANNEL:
|
|
//qDebug()<<number<<"TRANSITION from unassigned";
|
|
|
|
// assign and set channel id all in one
|
|
parent->sendMessage(ANTMessage::assignChannel(number, CHANNEL_TYPE_RX, st->network)); // receive channel on network 1
|
|
|
|
device_id=st->device_id;
|
|
setId();
|
|
break;
|
|
|
|
case ANT_ASSIGN_CHANNEL:
|
|
|
|
//qDebug()<<number<<"TRANSITION from assign channel";
|
|
|
|
parent->sendMessage(ANTMessage::setChannelID(number, device_number, device_id, 0)); // we need to be specific!
|
|
break;
|
|
|
|
case ANT_CHANNEL_ID:
|
|
//qDebug()<<number<<"TRANSITION from channel id";
|
|
//qDebug()<<number<<"**** adjust timeout";
|
|
if (channel_type & CHANNEL_TYPE_QUICK_SEARCH) {
|
|
parent->sendMessage(ANTMessage::setSearchTimeout(number, (int)(timeout_scan/2.5)));
|
|
} else {
|
|
parent->sendMessage(ANTMessage::setSearchTimeout(number, (int)(timeout_lost/2.5)));
|
|
}
|
|
break;
|
|
|
|
case ANT_SEARCH_TIMEOUT:
|
|
//qDebug()<<number<<"TRANSITION from search timeout";
|
|
if (previous_state==ANT_CHANNEL_ID) {
|
|
// continue down the initialization chain
|
|
//qDebug()<<"set channel period in timeout"<<st->period;
|
|
parent->sendMessage(ANTMessage::setChannelPeriod(number, st->period));
|
|
} else {
|
|
// we are setting the ant_search timeout after connected
|
|
// we'll just pretend this never happened
|
|
state=previous_state;
|
|
}
|
|
break;
|
|
|
|
case ANT_CHANNEL_PERIOD:
|
|
//qDebug()<<number<<"TRANSITION from channel period";
|
|
//qDebug()<<"set channel freq in timeout"<<st->frequency;
|
|
parent->sendMessage(ANTMessage::setChannelFreq(number, st->frequency));
|
|
break;
|
|
|
|
case ANT_CHANNEL_FREQUENCY:
|
|
//qDebug()<<number<<"TRANSITION from channel freq";
|
|
parent->sendMessage(ANTMessage::open(number));
|
|
mi.initialise();
|
|
break;
|
|
|
|
case ANT_OPEN_CHANNEL:
|
|
//qDebug()<<number<<"TRANSITION from open (do nothing)";
|
|
status = Open;
|
|
//qDebug()<<"** CHANNEL"<<number<<"NOW OPEN **";
|
|
//parent->sendMessage(ANTMessage::open(number));
|
|
break;
|
|
|
|
case ANT_CLOSE_CHANNEL:
|
|
// next step is unassign and start over
|
|
// but we must wait until event_channel_closed
|
|
// which is its own channel event
|
|
state=MESSAGE_RECEIVED;
|
|
//qDebug()<<number<<"TRANSITION from closed";
|
|
status = Closed;
|
|
//qDebug()<<"** CHANNEL"<<number<<"NOW CLOSED **";
|
|
break;
|
|
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
|
|
// Calibrate... needs fixing in version 3.1
|
|
// request the device on this channel calibrates itself
|
|
void ANTChannel::requestCalibrate() {
|
|
parent->sendMessage(ANTMessage::requestCalibrate(number));
|
|
}
|