canbusutil: Add CAN FD flag handling

* For receiving, force the CAN plugin into CAN FD mode
  and show the CAN FD flags like the CAN Example
* For sending, check if an odd number of data bytes is
  given and interpret the first data char as CAN FD flags

Task-number: QTBUG-56464
Change-Id: I235827ea59d58744c34d5259e5637ad9c3326112
Reviewed-by: Denis Shienkov <denis.shienkov@gmail.com>
Reviewed-by: Alex Blasche <alexander.blasche@qt.io>

5 files changed, 53 insertions, 8 deletions

diff --git a/src/tools/canbusutil/canbusutil.cpp b/src/tools/canbusutil/canbusutil.cpp
index d614583..2e7c15f 100644
--- a/src/tools/canbusutil/canbusutil.cpp
+++ b/src/tools/canbusutil/canbusutil.cpp
@@ -50,6 +50,11 @@ void CanBusUtil::setShowTimeStamp(bool showTimeStamp)
     m_readTask->setShowTimeStamp(showTimeStamp);
 }
 
+void CanBusUtil::setShowFdFlags(bool showFdFlags)
+{
+    m_readTask->setShowFdFlags(showFdFlags);
+}
+
 bool CanBusUtil::start(const QString &pluginName, const QString &deviceName, const QString &data)
 {
     if (!m_canBus) {
@@ -66,6 +71,8 @@ bool CanBusUtil::start(const QString &pluginName, const QString &deviceName, con
         return false;
 
     if (m_listening) {
+        if (m_readTask->isShowFdFlags())
+             m_canDevice->setConfigurationParameter(QCanBusDevice::CanFdKey, true);
         connect(m_canDevice.data(), &QCanBusDevice::framesReceived, m_readTask, &ReadTask::checkMessages);
     } else {
         if (!sendData())
@@ -128,17 +135,25 @@ bool CanBusUtil::setFrameFromPayload(QString payload, QCanBusFrame *frame)
         payload = payload.mid(1);
     }
 
-    if (payload.size() % 2 != 0) {
-        m_output << "Data field invalid: Size is not multiple of two." << endl;
-        return false;
-    }
-
     const QRegularExpression re(QStringLiteral("^[0-9A-Fa-f]*$"));
     if (!re.match(payload).hasMatch()) {
         m_output << "Data field invalid: Only hex numbers allowed." << endl;
         return false;
     }
 
+    if (payload.size() % 2 != 0) {
+        if (frame->hasFlexibleDataRateFormat()) {
+            enum { BitrateSwitchFlag = 1, ErrorStateIndicatorFlag = 2 };
+            const int flags = payload.left(1).toInt(nullptr, 16);
+            frame->setBitrateSwitch(flags & BitrateSwitchFlag);
+            frame->setErrorStateIndicator(flags & ErrorStateIndicatorFlag);
+            payload.remove(0, 1);
+        } else {
+            m_output << "Data field invalid: Size is not multiple of two." << endl;
+            return false;
+        }
+    }
+
     QByteArray bytes = QByteArray::fromHex(payload.toLatin1());
 
     const int maxSize = frame->hasFlexibleDataRateFormat() ? 64 : 8;
diff --git a/src/tools/canbusutil/canbusutil.h b/src/tools/canbusutil/canbusutil.h
index e17fe7b..a553647 100644
--- a/src/tools/canbusutil/canbusutil.h
+++ b/src/tools/canbusutil/canbusutil.h
@@ -57,6 +57,7 @@ public:
     explicit CanBusUtil(QTextStream &output, QCoreApplication &app, QObject *parent = nullptr);
 
     void setShowTimeStamp(bool showTimeStamp);
+    void setShowFdFlags(bool showFdFlags);
     bool start(const QString &pluginName, const QString &deviceName, const QString &data = QString());
     void printPlugins();
 
diff --git a/src/tools/canbusutil/main.cpp b/src/tools/canbusutil/main.cpp
index dda8183..f594f7a 100644
--- a/src/tools/canbusutil/main.cpp
+++ b/src/tools/canbusutil/main.cpp
@@ -76,10 +76,12 @@ int main(int argc, char *argv[])
     parser.addPositionalArgument(QStringLiteral("data"),
             CanBusUtil::tr(
                 "Data to send if -l is not specified. Format:\n"
-                "\t\t<id>#{payload}   (CAN 2.0 data frames),\n"
-                "\t\t<id>#Rxx         (CAN 2.0 RTR frames with xx bytes data length),\n"
-                "\t\t<id>##{payload}  (CAN FD data frames),\n"
+                "\t\t<id>#{payload}          (CAN 2.0 data frames),\n"
+                "\t\t<id>#Rxx                (CAN 2.0 RTR frames with xx bytes data length),\n"
+                "\t\t<id>##[flags]{payload}  (CAN FD data frames),\n"
                 "where {payload} has 0..8 (0..64 CAN FD) ASCII hex-value pairs, "
+                "and flags is one optional ASCII hex char for CAN FD flags: "
+                "1 = Bitrate Switch, 2 = Error State Indicator\n"
                 "e.g. 1#1a2b3c\n"), QStringLiteral("[data]"));
 
     const QCommandLineOption listeningOption({"l", "listen"},
@@ -94,6 +96,10 @@ int main(int argc, char *argv[])
             CanBusUtil::tr("Show timestamp for each received CAN bus frame."));
     parser.addOption(showTimeStampOption);
 
+    const QCommandLineOption showFdFlagsOption({"f", "flags"},
+            CanBusUtil::tr("Show CAN FD flags for each received CAN bus frame."));
+    parser.addOption(showFdFlagsOption);
+
     parser.process(app);
 
     if (parser.isSet(listOption)) {
@@ -112,6 +118,7 @@ int main(int argc, char *argv[])
     }
 
     util.setShowTimeStamp(parser.isSet(showTimeStampOption));
+    util.setShowFdFlags(parser.isSet(showFdFlagsOption));
     if (!util.start(args[0], args[1], data))
         return -1;
 
diff --git a/src/tools/canbusutil/readtask.cpp b/src/tools/canbusutil/readtask.cpp
index 93fcae1..ae4a9ac 100644
--- a/src/tools/canbusutil/readtask.cpp
+++ b/src/tools/canbusutil/readtask.cpp
@@ -45,6 +45,16 @@ void ReadTask::setShowTimeStamp(bool showTimeStamp)
     m_showTimeStamp = showTimeStamp;
 }
 
+bool ReadTask::isShowFdFlags() const
+{
+    return m_showFdFlags;
+}
+
+void ReadTask::setShowFdFlags(bool showFlags)
+{
+    m_showFdFlags = showFlags;
+}
+
 void ReadTask::checkMessages() {
     auto canDevice = qobject_cast<QCanBusDevice *>(QObject::sender());
     if (canDevice == nullptr) {
@@ -63,6 +73,15 @@ void ReadTask::checkMessages() {
                     .arg(frame.timeStamp().microSeconds() / 100, 4, 10, QLatin1Char('0'));
         }
 
+        if (m_showFdFlags) {
+            QString flags = QLatin1String(" - - ");
+            if (frame.hasBitrateSwitch())
+                flags[1] = QLatin1Char('B');
+            if (frame.hasErrorStateIndicator())
+                flags[3] = QLatin1Char('E');
+            view += flags;
+        }
+
         if (frame.frameType() == QCanBusFrame::ErrorFrame)
             view += canDevice->interpretErrorFrame(frame);
         else
diff --git a/src/tools/canbusutil/readtask.h b/src/tools/canbusutil/readtask.h
index 7f7613b..38a1753 100644
--- a/src/tools/canbusutil/readtask.h
+++ b/src/tools/canbusutil/readtask.h
@@ -47,6 +47,8 @@ class ReadTask : public QObject
 public:
     explicit ReadTask(QTextStream &output, QObject *parent = nullptr);
     void setShowTimeStamp(bool showStamp);
+    bool isShowFdFlags() const;
+    void setShowFdFlags(bool isShowFdFlags);
 
 signals:
     void sigTermSignal();
@@ -58,6 +60,7 @@ public slots:
 private:
     QTextStream &output;
     bool m_showTimeStamp = false;
+    bool m_showFdFlags = false;
 };
 
 #endif // READTASK_H