CanBusManager.cpp

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#include "CanBusManager.hpp"
#include <QDebug>
#include "MCP2515Controller.hpp"

CanBusManager::CanBusManager(const std::string &spi_device, QObject *parent)
    : QObject(parent)
{
    m_controller = new MCP2515Controller(spi_device);
    ownsMCP2515Controller = true;
    connectSignals();
}

CanBusManager::CanBusManager(IMCP2515Controller *controller, QObject *parent)
    : QObject(parent)
    , m_controller(controller)
{
    ownsMCP2515Controller = false;
    connectSignals();
}

CanBusManager::~CanBusManager()
{
    if (m_thread) {
        m_controller->stopReading();
        m_thread->disconnect();
        m_thread->quit();
        m_thread->wait();
 
        delete m_thread;
        m_thread = nullptr;
    }
 
    if (ownsMCP2515Controller) {
        delete m_controller;
    }
}

void CanBusManager::connectSignals()
{
    connect(m_controller, &IMCP2515Controller::speedUpdated, this, &CanBusManager::speedUpdated);
    connect(m_controller, &IMCP2515Controller::rpmUpdated, this, &CanBusManager::rpmUpdated);
}

bool CanBusManager::initialize()
{
    if (!m_controller->init()) {
        return false;
    }
 
    m_thread = new QThread(this);
    m_controller->moveToThread(m_thread);
 
    connect(m_thread, &QThread::started, m_controller, &IMCP2515Controller::processReading);
    connect(m_thread, &QThread::finished, m_controller, &QObject::deleteLater);
    connect(m_thread, &QThread::finished, m_thread, &QObject::deleteLater);
 
    m_thread->start();
    return true;
}