Add QCanBusDevice::busStatus()

The original terminology is Error active, Error warning,
Error Passive and Bus Off. We map them to GoodStatus,
WarningStatus, ErrorStatus and BusOffStatus here.

[ChangeLog][QCanBusDevice] Added the function busStatus()
to query the CAN bus status from the CAN bus device.

Fixes: QTBUG-70766
Change-Id: I22b99e2a02a6b22509005dd177796b861d536281
Reviewed-by: Alex Blasche <alexander.blasche@qt.io>

4 files changed, 62 insertions, 0 deletions

diff --git a/src/plugins/canbus/systeccan/systeccan_symbols_p.h b/src/plugins/canbus/systeccan/systeccan_symbols_p.h
index 7fe98ad..ce32422 100644
--- a/src/plugins/canbus/systeccan/systeccan_symbols_p.h
+++ b/src/plugins/canbus/systeccan/systeccan_symbols_p.h
@@ -81,6 +81,20 @@ typedef void (DRV_CALLBACK_TYPE *tCallbackFktEx) (tUcanHandle handle, quint32 ev
 #define USBCAN_EVENT_FATALDISCON            8    // a USB-CANmodul has been disconnected during operation
 #define USBCAN_EVENT_RESERVED1              0x80
 
+// CAN status flags (is returned with function UcanGetStatus() or UcanGetStatusEx() )
+#define USBCAN_CANERR_OK                    0x0000 // no error
+#define USBCAN_CANERR_XMTFULL               0x0001 // Tx-buffer of the CAN controller is full
+#define USBCAN_CANERR_OVERRUN               0x0002 // Rx-buffer of the CAN controller is full
+#define USBCAN_CANERR_BUSLIGHT              0x0004 // Bus error: Error Limit 1 exceeded (refer to SJA1000 manual)
+#define USBCAN_CANERR_BUSHEAVY              0x0008 // Bus error: Error Limit 2 exceeded (refer to SJA1000 manual)
+#define USBCAN_CANERR_BUSOFF                0x0010 // Bus error: CAN controller has gone into Bus-Off state
+#define USBCAN_CANERR_QRCVEMPTY             0x0020 // RcvQueue is empty
+#define USBCAN_CANERR_QOVERRUN              0x0040 // RcvQueue overrun
+#define USBCAN_CANERR_QXMTFULL              0x0080 // transmit queue is full
+#define USBCAN_CANERR_REGTEST               0x0100 // Register test of the SJA1000 failed
+#define USBCAN_CANERR_MEMTEST               0x0200 // Memory test failed
+#define USBCAN_CANERR_TXMSGLOST             0x0400 // transmit CAN message was automatically deleted by firmware
+
 #define kUcanModeNormal         0x00        // normal mode (send and receive)
 #define kUcanModeListenOnly     0x01        // listen only mode (only receive)
 #define kUcanModeTxEcho         0x02        // CAN messages which was sent will be received at UcanReadCanMsg..
@@ -143,6 +157,11 @@ typedef struct _tCanMsgStruct {
     quint32 m_dwTime;                       // Time in ms
 } tCanMsgStruct;
 
+typedef struct _tStatusStruct {
+    quint16 m_wCanStatus;                   // current CAN status
+    quint16 m_wUsbStatus;                   // current USB status
+} tStatusStruct;
+
 // Function return codes (encoding)
 #define USBCAN_SUCCESSFUL                   0x00                // no error
 #define USBCAN_ERR                          0x01                // error in library; function has not been executed
@@ -282,6 +301,7 @@ GENERATE_SYMBOL_VARIABLE(UCANRET, UcanDeinitCanEx, tUcanHandle, quint8 /* channe
 GENERATE_SYMBOL_VARIABLE(UCANRET, UcanReadCanMsgEx, tUcanHandle, quint8 *, tCanMsgStruct *, quint32 *)
 GENERATE_SYMBOL_VARIABLE(UCANRET, UcanResetCan, tUcanHandle)
 GENERATE_SYMBOL_VARIABLE(UCANRET, UcanWriteCanMsgEx, tUcanHandle, quint8, tCanMsgStruct *, quint32 *)
+GENERATE_SYMBOL_VARIABLE(UCANRET, UcanGetStatus, tUcanHandle, tStatusStruct *)
 
 inline bool resolveSymbols(QLibrary *systecLibrary)
 {
@@ -303,6 +323,7 @@ inline bool resolveSymbols(QLibrary *systecLibrary)
     RESOLVE_SYMBOL(UcanReadCanMsgEx);
     RESOLVE_SYMBOL(UcanResetCan);
     RESOLVE_SYMBOL(UcanWriteCanMsgEx);
+    RESOLVE_SYMBOL(UcanGetStatus);
 
     return true;
 }
diff --git a/src/plugins/canbus/systeccan/systeccanbackend.cpp b/src/plugins/canbus/systeccan/systeccanbackend.cpp
index 69689a3..0663f39 100644
--- a/src/plugins/canbus/systeccan/systeccanbackend.cpp
+++ b/src/plugins/canbus/systeccan/systeccanbackend.cpp
@@ -459,6 +459,35 @@ void SystecCanBackendPrivate::resetController()
     ::UcanResetCan(handle);
 }
 
+QCanBusDevice::CanBusStatus SystecCanBackendPrivate::busStatus()
+{
+    Q_Q(SystecCanBackend);
+
+    tStatusStruct status;
+    ::memset(&status, 0, sizeof(status));
+    const UCANRET result = ::UcanGetStatus(handle, &status);
+
+    if (Q_UNLIKELY(result != USBCAN_SUCCESSFUL)) {
+        qCWarning(QT_CANBUS_PLUGINS_SYSTECCAN, "Can not query CAN bus status.");
+        q->setError(SystecCanBackend::tr("Can not query CAN bus status."), QCanBusDevice::ConfigurationError);
+        return QCanBusDevice::CanBusStatus::Unknown;
+    }
+
+    if (status.m_wCanStatus & USBCAN_CANERR_BUSOFF)
+        return QCanBusDevice::CanBusStatus::BusOff;
+
+    if (status.m_wCanStatus & USBCAN_CANERR_BUSHEAVY)
+        return QCanBusDevice::CanBusStatus::Error;
+
+    if (status.m_wCanStatus & USBCAN_CANERR_BUSLIGHT)
+        return QCanBusDevice::CanBusStatus::Warning;
+
+    if (status.m_wCanStatus == USBCAN_CANERR_OK)
+        return QCanBusDevice::CanBusStatus::Good;
+
+    return QCanBusDevice::CanBusStatus::Unknown;
+}
+
 SystecCanBackend::SystecCanBackend(const QString &name, QObject *parent) :
     QCanBusDevice(parent),
     d_ptr(new SystecCanBackendPrivate(this))
@@ -470,6 +499,9 @@ SystecCanBackend::SystecCanBackend(const QString &name, QObject *parent) :
 
     std::function<void()> f = std::bind(&SystecCanBackend::resetController, this);
     setResetControllerFunction(f);
+
+    std::function<CanBusStatus()> g = std::bind(&SystecCanBackend::busStatus, this);
+    setCanBusStatusGetter(g);
 }
 
 SystecCanBackend::~SystecCanBackend()
@@ -567,4 +599,11 @@ void SystecCanBackend::resetController()
     d->resetController();
 }
 
+QCanBusDevice::CanBusStatus SystecCanBackend::busStatus()
+{
+    Q_D(SystecCanBackend);
+
+    return d->busStatus();
+}
+
 QT_END_NAMESPACE
diff --git a/src/plugins/canbus/systeccan/systeccanbackend.h b/src/plugins/canbus/systeccan/systeccanbackend.h
index 68dcfb9..22c1193 100644
--- a/src/plugins/canbus/systeccan/systeccanbackend.h
+++ b/src/plugins/canbus/systeccan/systeccanbackend.h
@@ -77,6 +77,7 @@ public:
 
 private:
     void resetController();
+    QCanBusDevice::CanBusStatus busStatus();
 
     SystecCanBackendPrivate * const d_ptr;
 };
diff --git a/src/plugins/canbus/systeccan/systeccanbackend_p.h b/src/plugins/canbus/systeccan/systeccanbackend_p.h
index b938c74..b2da322 100644
--- a/src/plugins/canbus/systeccan/systeccanbackend_p.h
+++ b/src/plugins/canbus/systeccan/systeccanbackend_p.h
@@ -95,6 +95,7 @@ public:
     void readAllReceivedMessages();
     bool verifyBitRate(int bitrate);
     void resetController();
+    QCanBusDevice::CanBusStatus busStatus();
 
     SystecCanBackend * const q_ptr;