server

update main command line arguments

server/main.cpp

@@ -38,28 +38,42 @@ int main(int argc, char *argv[])
                                                  << "port",
                                    QCoreApplication::translate("main", "Port for the unisim server [default: 9002]."),
                                    QCoreApplication::translate("main", "port"), QLatin1String("9002"));
-    QCommandLineOption can_port_option(QStringList() << "c"
+    QCommandLineOption can_port0_option(QStringList() << "c0", QCoreApplication::translate("main", "CAN device 0."),
-                                                     << "can",
+                                        QCoreApplication::translate("main", "can device 0."));
-                                       QCoreApplication::translate("main", "CAN device."),
+    QCommandLineOption can_port1_option(QStringList() << "c1", QCoreApplication::translate("main", "CAN device 1."),
-                                       QCoreApplication::translate("main", "can device"));
+                                        QCoreApplication::translate("main", "can device 1."));
-    QCommandLineOption uart_port_option(QStringList() << "u"
+    QCommandLineOption can_port2_option(QStringList() << "c2", QCoreApplication::translate("main", "CAN device 2."),
-                                                      << "uart",
+                                        QCoreApplication::translate("main", "can device 2."));
-                                        QCoreApplication::translate("main", "uart device."),
+    QCommandLineOption uart_port0_option(QStringList() << "u0", QCoreApplication::translate("main", "uart device 0."),
-                                        QCoreApplication::translate("main", "uart device"));
+                                         QCoreApplication::translate("main", "uart device 0."));
+    QCommandLineOption uart_port1_option(QStringList() << "u1", QCoreApplication::translate("main", "uart device 1."),
+                                         QCoreApplication::translate("main", "uart device 1."));
+    QCommandLineOption uart_port2_option(QStringList() << "u2", QCoreApplication::translate("main", "uart device 2."),
+                                         QCoreApplication::translate("main", "uart device 2."));
+    QCommandLineOption uart_port3_option(QStringList() << "u3", QCoreApplication::translate("main", "uart device 3."),
+                                         QCoreApplication::translate("main", "uart device 3."));
     parser.addOption(port_option);
-    parser.addOption(can_port_option);
+    parser.addOption(can_port0_option);
-    parser.addOption(uart_port_option);
+    parser.addOption(can_port1_option);
+    parser.addOption(can_port2_option);
+    parser.addOption(uart_port0_option);
+    parser.addOption(uart_port1_option);
+    parser.addOption(uart_port2_option);
+    parser.addOption(uart_port3_option);
     parser.process(a);
     uint16_t port = parser.value(port_option).toUShort();
-    QString can_port = parser.value(can_port_option);
+    QStringList can_ports;
-    QString uart_port = parser.value(uart_port_option);
+    QStringList uart_ports;
+    can_ports << parser.value(can_port0_option) << parser.value(can_port1_option) << parser.value(can_port2_option);
+    uart_ports << parser.value(uart_port0_option) << parser.value(uart_port1_option) << parser.value(uart_port2_option)
+               << parser.value(uart_port3_option);
 
     // Initialize the logger
     init_logger();
 
     // The server starts in this thread
     SPDLOG_INFO("Starting server");
-    Simulators simulators(port, can_port, uart_port);
+    Simulators simulators(port, can_ports, uart_ports);
 
     return a.exec();
 }

server/simulator_base.hpp

@@ -11,7 +11,7 @@
 
 using json = nlohmann::json;
 
-Q_FORWARD_DECLARE_OBJC_CLASS(CAN_Wrapper);
+#include "CAN_wrapper.hpp"
 Q_FORWARD_DECLARE_OBJC_CLASS(UI_item);
 #endif
 
@@ -33,12 +33,12 @@ class Communication
      * @brief Array of CAN interfaces
      *
      */
-    CAN_Wrapper *can_if[3] = {nullptr, nullptr, nullptr};
+    std::unique_ptr<CAN_Wrapper> can_if[3] = {nullptr, nullptr, nullptr};
     /**
      * @brief Array of UART interfaces
      *
      */
-    QSerialPort *uart_if[4] = {nullptr, nullptr, nullptr, nullptr};
+    std::unique_ptr<QSerialPort> uart_if[4] = {nullptr, nullptr, nullptr, nullptr};
 };
 
 /**

server/simulators.cpp

@@ -9,34 +9,44 @@
 
 typedef Simulator_base *(*Get_Sim)(Communication *, QObject *);
 
-Simulators::Simulators(uint16_t port, QString can_dev, QString uart_dev, QObject *parent)
+Simulators::Simulators(uint16_t port, QStringList can_devs, QStringList uart_devs, QObject *parent)
-    : QObject(parent), m_server_thread(new QThread), m_server(new Websocket(port, nullptr)),
+    : QObject(parent), m_server_thread(new QThread), m_server(new Websocket(port, nullptr)), m_com(new Communication)
-      m_can_wrapper(new CAN_Wrapper(new CAN_Interface(this), this)), m_serial(new QSerialPort(this)),
-      m_com(new Communication)
 {
     m_server->moveToThread(m_server_thread);
     m_server_thread->start();
-    // TODO: Cleanup this code and make it possible to add multiple com devices
-    if (!can_dev.isEmpty())
-    {
-        m_can_wrapper->connect_to_dev(can_dev);
-    }
-    if (!uart_dev.isEmpty())
-    {
-        m_serial->setPortName(uart_dev);
-        m_serial->setBaudRate(QSerialPort::Baud115200);
-        m_serial->setDataBits(QSerialPort::Data8);
-        m_serial->setParity(QSerialPort::NoParity);
-        m_serial->setStopBits(QSerialPort::OneStop);
-        m_serial->setFlowControl(QSerialPort::NoFlowControl);
 
-        if (!m_serial->open(QIODevice::ReadWrite))
+    size_t count = 0;
+    for (const auto &can_dev : can_devs)
+    {
+        count++;
+        if (can_dev.isEmpty())
+            continue;
+        m_com->can_if[count - 1] = std::make_unique<CAN_Wrapper>(this);
+        m_com->can_if[count - 1]->connect_to_dev(can_dev);
+    }
+
+    count = 0;
+    for (const auto &uart_dev : uart_devs)
+    {
+        count++;
+        if (uart_dev.isEmpty())
+            continue;
+        m_com->uart_if[count - 1] = std::make_unique<QSerialPort>(this);
+
+        m_com->uart_if[count - 1]->setPortName("/dev/" + uart_dev);
+        m_com->uart_if[count - 1]->setBaudRate(QSerialPort::Baud115200);
+        m_com->uart_if[count - 1]->setDataBits(QSerialPort::Data8);
+        m_com->uart_if[count - 1]->setParity(QSerialPort::NoParity);
+        m_com->uart_if[count - 1]->setStopBits(QSerialPort::OneStop);
+        m_com->uart_if[count - 1]->setFlowControl(QSerialPort::NoFlowControl);
+
+        if (!m_com->uart_if[count - 1]->open(QIODevice::ReadWrite))
         {
-            SPDLOG_CRITICAL("Error {}", m_serial->errorString().toStdString());
+            SPDLOG_CRITICAL("UART: /dev/{} {}", m_com->uart_if[count - 1]->portName().toStdString(), m_com->uart_if[count - 1]->errorString().toStdString());
+            m_com->uart_if[count - 1]->deleteLater();
+            continue;
         }
     }
-    m_com->can_if[0] = m_can_wrapper;
-    m_com->uart_if[0] = m_serial;
 
     QLibrary lib;
     QDirIterator it(QCoreApplication::applicationDirPath(), QStringList() << "*.so", QDir::Files,
@@ -70,8 +80,6 @@ Simulators::Simulators(uint16_t port, QString can_dev, QString uart_dev, QObject
 
 Simulators::~Simulators()
 {
-    if (m_serial->isOpen())
-        m_serial->close();
 }
 
 std::string Simulators::active_simulator_name() const

server/simulators.hpp

@@ -61,11 +61,11 @@ class Simulators : public QObject
      * @brief Construct a new Simulators object
      *
      * @param port The port for the websocket server
-     * @param can_dev The CAN device path
+     * @param can_devs The list of CAN device paths
-     * @param uart_dev The UART device path
+     * @param uart_devs The list of UART device paths
      * @param parent The parent QObject
      */
-    Simulators(uint16_t port, QString can_dev, QString uart_dev, QObject *parent = nullptr);
+    Simulators(uint16_t port, QStringList can_devs, QStringList uart_devs, QObject *parent = nullptr);
     /**
      * @brief Destroy the Simulators object
      *
@@ -147,8 +147,6 @@ class Simulators : public QObject
   private:
     QThread *m_server_thread;
     Websocket *m_server;
-    CAN_Wrapper *m_can_wrapper;
-    QSerialPort *m_serial;
     Communication *m_com;
     std::map<std::string, std::unique_ptr<Simulator_base>> m_simulators;
     std::string m_current_simulator = "";

server/simulators/can_debugger.cpp

@@ -3,7 +3,7 @@
 EXPORT_SIM(Can_Debugger);
 
 Can_Debugger::Can_Debugger(Communication *com, QObject *parent)
-    : Simulator_base("Can Debugger", com, std::chrono::milliseconds(100), parent), m_wrapper(com->can_if[0]),
+    : Simulator_base("Can Debugger", com, std::chrono::milliseconds(100), parent), m_wrapper(com->can_if[0].get()),
       m_can_ui(Color::Black, Color::White)
 {
     PUSH_UI_ITEM(m_can_ui);