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>

13 files changed, 222 insertions, 0 deletions

diff --git a/src/plugins/canbus/peakcan/peakcanbackend.cpp b/src/plugins/canbus/peakcan/peakcanbackend.cpp
index 30d3b8c..b1a991d 100644
--- a/src/plugins/canbus/peakcan/peakcanbackend.cpp
+++ b/src/plugins/canbus/peakcan/peakcanbackend.cpp
@@ -720,6 +720,9 @@ PeakCanBackend::PeakCanBackend(const QString &name, QObject *parent)
 
     std::function<void()> f = std::bind(&PeakCanBackend::resetController, this);
     setResetControllerFunction(f);
+
+    std::function<CanBusStatus()> g = std::bind(&PeakCanBackend::busStatus, this);
+    setCanBusStatusGetter(g);
 }
 
 PeakCanBackend::~PeakCanBackend()
@@ -817,4 +820,23 @@ void PeakCanBackend::resetController()
     open();
 }
 
+QCanBusDevice::CanBusStatus PeakCanBackend::busStatus() const
+{
+    const TPCANStatus status = ::CAN_GetStatus(d_ptr->channelIndex);
+
+    switch (status & PCAN_ERROR_ANYBUSERR) {
+    case PCAN_ERROR_OK:
+        return QCanBusDevice::CanBusStatus::Good;
+    case PCAN_ERROR_BUSWARNING:
+        return QCanBusDevice::CanBusStatus::Warning;
+    case PCAN_ERROR_BUSPASSIVE:
+        return QCanBusDevice::CanBusStatus::Error;
+    case PCAN_ERROR_BUSOFF:
+        return QCanBusDevice::CanBusStatus::BusOff;
+    default:
+        qCWarning(QT_CANBUS_PLUGINS_PEAKCAN, "Unknown CAN bus status: %lu.", ulong(status));
+        return QCanBusDevice::CanBusStatus::Unknown;
+    }
+}
+
 QT_END_NAMESPACE
diff --git a/src/plugins/canbus/peakcan/peakcanbackend.h b/src/plugins/canbus/peakcan/peakcanbackend.h
index 6a9cda2..a9e108e 100644
--- a/src/plugins/canbus/peakcan/peakcanbackend.h
+++ b/src/plugins/canbus/peakcan/peakcanbackend.h
@@ -73,6 +73,7 @@ public:
 
 private:
     void resetController();
+    CanBusStatus busStatus() const;
 
     PeakCanBackendPrivate * const d_ptr;
 };
diff --git a/src/plugins/canbus/socketcan/libsocketcan.cpp b/src/plugins/canbus/socketcan/libsocketcan.cpp
index ca63391..c6144db 100644
--- a/src/plugins/canbus/socketcan/libsocketcan.cpp
+++ b/src/plugins/canbus/socketcan/libsocketcan.cpp
@@ -66,11 +66,22 @@ struct can_bittiming {
     quint32 brp = 0;          /* Bit-rate prescaler */
 };
 
+enum can_state {
+    CAN_STATE_ERROR_ACTIVE = 0, /* RX/TX error count < 96 */
+    CAN_STATE_ERROR_WARNING,    /* RX/TX error count < 128 */
+    CAN_STATE_ERROR_PASSIVE,    /* RX/TX error count < 256 */
+    CAN_STATE_BUS_OFF,          /* RX/TX error count >= 256 */
+    CAN_STATE_STOPPED,          /* Device is stopped */
+    CAN_STATE_SLEEPING,         /* Device is sleeping */
+    CAN_STATE_MAX
+};
+
 GENERATE_SYMBOL(int, can_do_restart, const char * /* name */)
 GENERATE_SYMBOL(int, can_do_stop, const char * /* name */)
 GENERATE_SYMBOL(int, can_do_start, const char * /* name */)
 GENERATE_SYMBOL(int, can_set_bitrate, const char * /* name */, quint32 /* bitrate */)
 GENERATE_SYMBOL(int, can_get_bittiming, const char * /* name */, struct can_bittiming * /* bt */)
+GENERATE_SYMBOL(int, can_get_state, const char * /* name */, int * /* state */)
 
 LibSocketCan::LibSocketCan(QString *errorString)
 {
@@ -87,6 +98,7 @@ LibSocketCan::LibSocketCan(QString *errorString)
         RESOLVE_SYMBOL(can_do_restart);
         RESOLVE_SYMBOL(can_set_bitrate);
         RESOLVE_SYMBOL(can_get_bittiming);
+        RESOLVE_SYMBOL(can_get_state);
 
         return true;
     };
@@ -190,4 +202,37 @@ bool LibSocketCan::setBitrate(const QString &interface, quint32 bitrate)
     return ::can_set_bitrate(interface.toLatin1().constData(), bitrate) == 0;
 }
 
+bool LibSocketCan::hasBusStatus() const
+{
+    return ::can_get_state != nullptr;
+}
+
+QCanBusDevice::CanBusStatus LibSocketCan::busStatus(const QString &interface) const
+{
+    if (!::can_get_state) {
+        qCWarning(QT_CANBUS_PLUGINS_SOCKETCAN, "Function can_get_state() is not available.");
+        return QCanBusDevice::CanBusStatus::Unknown;
+    }
+
+    int status = 0;
+    int result = ::can_get_state(interface.toLatin1().constData(), &status);
+
+    if (result < 0)
+        return QCanBusDevice::CanBusStatus::Unknown;
+
+    switch (status) {
+    case CAN_STATE_ERROR_ACTIVE:
+        return QCanBusDevice::CanBusStatus::Good;
+    case CAN_STATE_ERROR_WARNING:
+        return QCanBusDevice::CanBusStatus::Warning;
+    case CAN_STATE_ERROR_PASSIVE:
+        return QCanBusDevice::CanBusStatus::Error;
+    case CAN_STATE_BUS_OFF:
+        return QCanBusDevice::CanBusStatus::BusOff;
+    default:
+        // Device is stopped or sleeping, so status is unknown
+        return QCanBusDevice::CanBusStatus::Unknown;
+    }
+}
+
 QT_END_NAMESPACE
diff --git a/src/plugins/canbus/socketcan/libsocketcan.h b/src/plugins/canbus/socketcan/libsocketcan.h
index 91229ee..b77afa1 100644
--- a/src/plugins/canbus/socketcan/libsocketcan.h
+++ b/src/plugins/canbus/socketcan/libsocketcan.h
@@ -38,6 +38,7 @@
 #define LIBSOCKETCAN_H
 
 #include <QtCore/qglobal.h>
+#include <QtSerialBus/qcanbusdevice.h>
 
 //
 //  W A R N I N G
@@ -65,6 +66,9 @@ public:
 
     quint32 bitrate(const QString &interface) const;
     bool setBitrate(const QString &interface, quint32 bitrate);
+
+    bool hasBusStatus() const;
+    QCanBusDevice::CanBusStatus busStatus(const QString &interface) const;
 };
 
 QT_END_NAMESPACE
diff --git a/src/plugins/canbus/socketcan/socketcanbackend.cpp b/src/plugins/canbus/socketcan/socketcanbackend.cpp
index 9e99a57..7d0fc52 100644
--- a/src/plugins/canbus/socketcan/socketcanbackend.cpp
+++ b/src/plugins/canbus/socketcan/socketcanbackend.cpp
@@ -197,6 +197,13 @@ SocketCanBackend::SocketCanBackend(const QString &name) :
 
     std::function<void()> f = std::bind(&SocketCanBackend::resetController, this);
     setResetControllerFunction(f);
+
+    if (hasBusStatus()) {
+        // Only register busStatus when libsocketcan is available
+        // QCanBusDevice::hasBusStatus() will return false otherwise
+        std::function<CanBusStatus()> g = std::bind(&SocketCanBackend::busStatus, this);
+        setCanBusStatusGetter(g);
+    }
 }
 
 SocketCanBackend::~SocketCanBackend()
@@ -758,4 +765,14 @@ void SocketCanBackend::resetController()
     libSocketCan->restart(canSocketName);
 }
 
+bool SocketCanBackend::hasBusStatus() const
+{
+    return libSocketCan->hasBusStatus();
+}
+
+QCanBusDevice::CanBusStatus SocketCanBackend::busStatus() const
+{
+    return libSocketCan->busStatus(canSocketName);
+}
+
 QT_END_NAMESPACE
diff --git a/src/plugins/canbus/socketcan/socketcanbackend.h b/src/plugins/canbus/socketcan/socketcanbackend.h
index 561d4ee..199401e 100644
--- a/src/plugins/canbus/socketcan/socketcanbackend.h
+++ b/src/plugins/canbus/socketcan/socketcanbackend.h
@@ -84,6 +84,8 @@ private:
     bool connectSocket();
     bool applyConfigurationParameter(int key, const QVariant &value);
     void resetController();
+    bool hasBusStatus() const;
+    QCanBusDevice::CanBusStatus busStatus() const;
 
     canfd_frame m_frame;
     sockaddr_can m_address;
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;
 
diff --git a/src/plugins/canbus/vectorcan/vectorcan_symbols_p.h b/src/plugins/canbus/vectorcan/vectorcan_symbols_p.h
index 3f2501f..8c1ad52 100644
--- a/src/plugins/canbus/vectorcan/vectorcan_symbols_p.h
+++ b/src/plugins/canbus/vectorcan/vectorcan_symbols_p.h
@@ -249,9 +249,27 @@ static_assert(sizeof(s_xl_can_msg) == 32, "Invalid size of s_xl_can_msg structur
 #define XL_TRANSCEIVER_EVENT_ERROR      1
 #define XL_TRANSCEIVER_EVENT_CHANGED    2
 
+#define XL_CHIPSTAT_BUSOFF              0x01
+#define XL_CHIPSTAT_ERROR_PASSIVE       0x02
+#define XL_CHIPSTAT_ERROR_WARNING       0x04
+#define XL_CHIPSTAT_ERROR_ACTIVE        0x08
+
+#define XL_CAN_STATE_FLAG_SJA_MODE      0x00000001
+
+// CAN Chip status
+struct s_xl_chip_state {
+    unsigned char busStatus;
+    unsigned char txErrorCounter;
+    unsigned char rxErrorCounter;
+    unsigned char chipState;           // raw Status Register Value
+    unsigned int  flags;
+};
+static_assert(sizeof(s_xl_chip_state) == 8, "Invalid size of s_xl_chip_state structure");
+
 // basic bus message structure
 union s_xl_tag_data {
     struct s_xl_can_msg msg;
+    struct s_xl_chip_state chipState;
 };
 
 // event type definition (48 bytes)
@@ -456,6 +474,7 @@ GENERATE_SYMBOL_VARIABLE(XLstatus, xlCanSetChannelBitrate, XLportHandle, XLacces
 GENERATE_SYMBOL_VARIABLE(XLstatus, xlCanTransmit, XLportHandle, XLaccess, quint32 *, void *)
 GENERATE_SYMBOL_VARIABLE(XLstatus, xlReceive, XLportHandle, quint32 *, XLevent *)
 GENERATE_SYMBOL_VARIABLE(XLstatus, xlSetNotification, XLportHandle, XLhandle *, int)
+GENERATE_SYMBOL_VARIABLE(XLstatus, xlCanRequestChipState, XLportHandle, XLaccess)
 GENERATE_SYMBOL_VARIABLE(char *, xlGetErrorString, XLstatus)
 
 inline bool resolveSymbols(QLibrary *vectorcanLibrary)
@@ -481,6 +500,7 @@ inline bool resolveSymbols(QLibrary *vectorcanLibrary)
     RESOLVE_SYMBOL(xlCanTransmit)
     RESOLVE_SYMBOL(xlReceive)
     RESOLVE_SYMBOL(xlSetNotification)
+    RESOLVE_SYMBOL(xlCanRequestChipState)
     RESOLVE_SYMBOL(xlGetErrorString)
 
     return true;
diff --git a/src/plugins/canbus/vectorcan/vectorcanbackend.cpp b/src/plugins/canbus/vectorcan/vectorcanbackend.cpp
index 24dbe2c..9d3bdef 100644
--- a/src/plugins/canbus/vectorcan/vectorcanbackend.cpp
+++ b/src/plugins/canbus/vectorcan/vectorcanbackend.cpp
@@ -446,6 +446,9 @@ VectorCanBackend::VectorCanBackend(const QString &name, QObject *parent)
 
     d->setupChannel(name);
     d->setupDefaultConfigurations();
+
+    std::function<CanBusStatus()> g = std::bind(&VectorCanBackend::busStatus, this);
+    setCanBusStatusGetter(g);
 }
 
 VectorCanBackend::~VectorCanBackend()
@@ -540,4 +543,48 @@ QString VectorCanBackend::interpretErrorFrame(const QCanBusFrame &errorFrame)
     return QString();
 }
 
+QCanBusDevice::CanBusStatus VectorCanBackend::busStatus()
+{
+    Q_D(VectorCanBackend);
+
+    const XLstatus requestStatus = ::xlCanRequestChipState(d->portHandle, d->channelMask);
+    if (Q_UNLIKELY(requestStatus != XL_SUCCESS)) {
+        const QString errorString = d->systemErrorString(requestStatus);
+        qCWarning(QT_CANBUS_PLUGINS_VECTORCAN, "Can not query CAN bus status: %ls.",
+                  qUtf16Printable(errorString));
+        setError(errorString, QCanBusDevice::CanBusError::ReadError);
+        return QCanBusDevice::CanBusStatus::Unknown;
+    }
+
+    quint32 eventCount = 1;
+    XLevent event;
+    ::memset(&event, 0, sizeof(event));
+
+    const XLstatus receiveStatus = ::xlReceive(d->portHandle, &eventCount, &event);
+    if (Q_UNLIKELY(receiveStatus != XL_SUCCESS)) {
+        const QString errorString = d->systemErrorString(receiveStatus);
+        qCWarning(QT_CANBUS_PLUGINS_VECTORCAN, "Can not query CAN bus status: %ls.",
+                  qUtf16Printable(errorString));
+        setError(errorString, QCanBusDevice::CanBusError::ReadError);
+        return QCanBusDevice::CanBusStatus::Unknown;
+    }
+
+    if (Q_LIKELY(event.tag == XL_CHIP_STATE)) {
+        switch (event.tagData.chipState.busStatus) {
+        case XL_CHIPSTAT_BUSOFF:
+            return QCanBusDevice::CanBusStatus::BusOff;
+        case XL_CHIPSTAT_ERROR_PASSIVE:
+            return QCanBusDevice::CanBusStatus::Error;
+        case XL_CHIPSTAT_ERROR_WARNING:
+            return QCanBusDevice::CanBusStatus::Warning;
+        case XL_CHIPSTAT_ERROR_ACTIVE:
+            return QCanBusDevice::CanBusStatus::Good;
+        }
+    }
+
+    qCWarning(QT_CANBUS_PLUGINS_VECTORCAN, "Unknown CAN bus status: %u",
+              uint(event.tagData.chipState.busStatus));
+    return QCanBusDevice::CanBusStatus::Unknown;
+}
+
 QT_END_NAMESPACE
diff --git a/src/plugins/canbus/vectorcan/vectorcanbackend.h b/src/plugins/canbus/vectorcan/vectorcanbackend.h
index 165d369..89b9da6 100644
--- a/src/plugins/canbus/vectorcan/vectorcanbackend.h
+++ b/src/plugins/canbus/vectorcan/vectorcanbackend.h
@@ -71,6 +71,8 @@ public:
     static QList<QCanBusDeviceInfo> interfaces();
 
 private:
+    QCanBusDevice::CanBusStatus busStatus();
+
     VectorCanBackendPrivate * const d_ptr;
 };