Add QCanBusDevice::resetController() for CAN controller reset

Currently missing:

* VectorCAN: no information in the documentation found
* PassthroughCAN: no documentation

[ChangeLog][QCanBus][QCanBusDevice] Added the function
QCanBusDevice::resetController() to reset a CAN controller
from bus off state, as far as supported by the various
plugins.

Fixes: QTBUG-54943
Change-Id: Ic098054b012726c0c69970c0ae84f434c2b3964a
Reviewed-by: Denis Shienkov <denis.shienkov@gmail.com>

18 files changed, 138 insertions, 4 deletions

diff --git a/src/plugins/canbus/peakcan/peakcanbackend.cpp b/src/plugins/canbus/peakcan/peakcanbackend.cpp
index 2f4097e..30d3b8c 100644
--- a/src/plugins/canbus/peakcan/peakcanbackend.cpp
+++ b/src/plugins/canbus/peakcan/peakcanbackend.cpp
@@ -717,6 +717,9 @@ PeakCanBackend::PeakCanBackend(const QString &name, QObject *parent)
 
     d->setupChannel(name.toLatin1());
     d->setupDefaultConfigurations();
+
+    std::function<void()> f = std::bind(&PeakCanBackend::resetController, this);
+    setResetControllerFunction(f);
 }
 
 PeakCanBackend::~PeakCanBackend()
@@ -808,4 +811,10 @@ QString PeakCanBackend::interpretErrorFrame(const QCanBusFrame &errorFrame)
     return QString();
 }
 
+void PeakCanBackend::resetController()
+{
+    close();
+    open();
+}
+
 QT_END_NAMESPACE
diff --git a/src/plugins/canbus/peakcan/peakcanbackend.h b/src/plugins/canbus/peakcan/peakcanbackend.h
index 7f7083e..6a9cda2 100644
--- a/src/plugins/canbus/peakcan/peakcanbackend.h
+++ b/src/plugins/canbus/peakcan/peakcanbackend.h
@@ -72,6 +72,8 @@ public:
     static QList<QCanBusDeviceInfo> interfaces();
 
 private:
+    void resetController();
+
     PeakCanBackendPrivate * const d_ptr;
 };
 
diff --git a/src/plugins/canbus/socketcan/socketcanbackend.cpp b/src/plugins/canbus/socketcan/socketcanbackend.cpp
index cac1db5..9e99a57 100644
--- a/src/plugins/canbus/socketcan/socketcanbackend.cpp
+++ b/src/plugins/canbus/socketcan/socketcanbackend.cpp
@@ -194,6 +194,9 @@ SocketCanBackend::SocketCanBackend(const QString &name) :
     }
 
     resetConfigurations();
+
+    std::function<void()> f = std::bind(&SocketCanBackend::resetController, this);
+    setResetControllerFunction(f);
 }
 
 SocketCanBackend::~SocketCanBackend()
@@ -750,4 +753,9 @@ void SocketCanBackend::readSocket()
     enqueueReceivedFrames(newFrames);
 }
 
+void SocketCanBackend::resetController()
+{
+    libSocketCan->restart(canSocketName);
+}
+
 QT_END_NAMESPACE
diff --git a/src/plugins/canbus/socketcan/socketcanbackend.h b/src/plugins/canbus/socketcan/socketcanbackend.h
index 1392251..561d4ee 100644
--- a/src/plugins/canbus/socketcan/socketcanbackend.h
+++ b/src/plugins/canbus/socketcan/socketcanbackend.h
@@ -83,6 +83,7 @@ private:
     void resetConfigurations();
     bool connectSocket();
     bool applyConfigurationParameter(int key, const QVariant &value);
+    void resetController();
 
     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 102817c..8a36327 100644
--- a/src/plugins/canbus/systeccan/systeccan_symbols_p.h
+++ b/src/plugins/canbus/systeccan/systeccan_symbols_p.h
@@ -280,6 +280,7 @@ GENERATE_SYMBOL_VARIABLE(UCANRET, UcanDeinitHardware, tUcanHandle)
 GENERATE_SYMBOL_VARIABLE(UCANRET, UcanInitCanEx2, tUcanHandle, quint8 /* channel */, tUcanInitCanParam *)
 GENERATE_SYMBOL_VARIABLE(UCANRET, UcanDeinitCanEx, tUcanHandle, quint8 /* channel */)
 GENERATE_SYMBOL_VARIABLE(UCANRET, UcanReadCanMsgEx, tUcanHandle, quint8 *, tCanMsgStruct *, quint32 *)
+GENERATE_SYMBOL_VARIABLE(UCANRET, UcanResetCan, tUcanHandle)
 GENERATE_SYMBOL_VARIABLE(UCANRET, UcanWriteCanMsgEx, tUcanHandle, quint8, tCanMsgStruct *, quint32 *)
 
 inline bool resolveSymbols(QLibrary *systecLibrary)
@@ -300,6 +301,7 @@ inline bool resolveSymbols(QLibrary *systecLibrary)
     RESOLVE_SYMBOL(UcanInitCanEx2);
     RESOLVE_SYMBOL(UcanDeinitCanEx);
     RESOLVE_SYMBOL(UcanReadCanMsgEx);
+    RESOLVE_SYMBOL(UcanResetCan);
     RESOLVE_SYMBOL(UcanWriteCanMsgEx);
 
     return true;
diff --git a/src/plugins/canbus/systeccan/systeccanbackend.cpp b/src/plugins/canbus/systeccan/systeccanbackend.cpp
index 3fdd135..54666d0 100644
--- a/src/plugins/canbus/systeccan/systeccanbackend.cpp
+++ b/src/plugins/canbus/systeccan/systeccanbackend.cpp
@@ -454,6 +454,11 @@ bool SystecCanBackendPrivate::verifyBitRate(int bitrate)
     return true;
 }
 
+void SystecCanBackendPrivate::resetController()
+{
+    ::UcanResetCan(handle);
+}
+
 SystecCanBackend::SystecCanBackend(const QString &name, QObject *parent) :
     QCanBusDevice(parent),
     d_ptr(new SystecCanBackendPrivate(this))
@@ -462,6 +467,9 @@ SystecCanBackend::SystecCanBackend(const QString &name, QObject *parent) :
 
     d->setupChannel(name);
     d->setupDefaultConfigurations();
+
+    std::function<void()> f = std::bind(&SystecCanBackend::resetController, this);
+    setResetControllerFunction(f);
 }
 
 SystecCanBackend::~SystecCanBackend()
@@ -553,4 +561,10 @@ QString SystecCanBackend::interpretErrorFrame(const QCanBusFrame &errorFrame)
     return QString();
 }
 
+void SystecCanBackend::resetController()
+{
+    Q_D(SystecCanBackend);
+    d->resetController();
+}
+
 QT_END_NAMESPACE
diff --git a/src/plugins/canbus/systeccan/systeccanbackend.h b/src/plugins/canbus/systeccan/systeccanbackend.h
index cb62808..68dcfb9 100644
--- a/src/plugins/canbus/systeccan/systeccanbackend.h
+++ b/src/plugins/canbus/systeccan/systeccanbackend.h
@@ -76,6 +76,8 @@ public:
                                               int channelNumber);
 
 private:
+    void resetController();
+
     SystecCanBackendPrivate * const d_ptr;
 };
 
diff --git a/src/plugins/canbus/systeccan/systeccanbackend_p.h b/src/plugins/canbus/systeccan/systeccanbackend_p.h
index 28eb7ff..b938c74 100644
--- a/src/plugins/canbus/systeccan/systeccanbackend_p.h
+++ b/src/plugins/canbus/systeccan/systeccanbackend_p.h
@@ -94,6 +94,7 @@ public:
     void startWrite();
     void readAllReceivedMessages();
     bool verifyBitRate(int bitrate);
+    void resetController();
 
     SystecCanBackend * const q_ptr;
 
diff --git a/src/plugins/canbus/tinycan/tinycanbackend.cpp b/src/plugins/canbus/tinycan/tinycanbackend.cpp
index 882cb47..411b917 100644
--- a/src/plugins/canbus/tinycan/tinycanbackend.cpp
+++ b/src/plugins/canbus/tinycan/tinycanbackend.cpp
@@ -405,8 +405,7 @@ void TinyCanBackendPrivate::startRead()
             } else {
                 if (status.CanStatus == CAN_STATUS_BUS_OFF) {
                     qCWarning(QT_CANBUS_PLUGINS_TINYCAN, "CAN bus is in off state, trying to reset the bus.");
-                    if (::CanSetMode(channelIndex, OP_CAN_RESET, CAN_CMD_NONE) < 0)
-                        q->setError(systemErrorString(ret), QCanBusDevice::CanBusError::ReadError);
+                    resetController();
                 }
             }
 
@@ -468,6 +467,18 @@ void TinyCanBackendPrivate::cleanupDriver()
     }
 }
 
+void TinyCanBackendPrivate::resetController()
+{
+    Q_Q(TinyCanBackend);
+    qint32 ret = ::CanSetMode(channelIndex, OP_CAN_RESET, CAN_CMD_NONE);
+    if (Q_UNLIKELY(ret < 0)) {
+        const QString errorString = systemErrorString(ret);
+        qCWarning(QT_CANBUS_PLUGINS_TINYCAN, "Cannot perform hardware reset: %ls",
+                  qUtf16Printable(errorString));
+        q->setError(errorString, QCanBusDevice::CanBusError::ConfigurationError);
+    }
+}
+
 bool TinyCanBackendPrivate::setBitRate(int bitrate)
 {
     Q_Q(TinyCanBackend);
@@ -498,6 +509,9 @@ TinyCanBackend::TinyCanBackend(const QString &name, QObject *parent)
 
     d->setupChannel(name);
     d->setupDefaultConfigurations();
+
+    std::function<void()> f = std::bind(&TinyCanBackend::resetController, this);
+    setResetControllerFunction(f);
 }
 
 TinyCanBackend::~TinyCanBackend()
@@ -591,4 +605,10 @@ QString TinyCanBackend::interpretErrorFrame(const QCanBusFrame &errorFrame)
     return QString();
 }
 
+void TinyCanBackend::resetController()
+{
+    Q_D(TinyCanBackend);
+    d->resetController();
+}
+
 QT_END_NAMESPACE
diff --git a/src/plugins/canbus/tinycan/tinycanbackend.h b/src/plugins/canbus/tinycan/tinycanbackend.h
index 5f504ca..428e9bc 100644
--- a/src/plugins/canbus/tinycan/tinycanbackend.h
+++ b/src/plugins/canbus/tinycan/tinycanbackend.h
@@ -72,6 +72,8 @@ public:
     static QList<QCanBusDeviceInfo> interfaces();
 
 private:
+    void resetController();
+
     TinyCanBackendPrivate * const d_ptr;
 };
 
diff --git a/src/plugins/canbus/tinycan/tinycanbackend_p.h b/src/plugins/canbus/tinycan/tinycanbackend_p.h
index 905175c..25316a2 100644
--- a/src/plugins/canbus/tinycan/tinycanbackend_p.h
+++ b/src/plugins/canbus/tinycan/tinycanbackend_p.h
@@ -75,6 +75,7 @@ public:
     void startRead();
     void startupDriver();
     void cleanupDriver();
+    void resetController();
 
     bool setBitRate(int bitrate);
 
diff --git a/src/serialbus/doc/src/peakcan.qdoc b/src/serialbus/doc/src/peakcan.qdoc
index a3d848d..e6ce7ee 100644
--- a/src/serialbus/doc/src/peakcan.qdoc
+++ b/src/serialbus/doc/src/peakcan.qdoc
@@ -105,4 +105,11 @@
                 100000, 125000, 250000, 500000, 800000, 1000000. Note that this configuration
                 parameter can only be adjusted while the QCanBusDevice is not connected.
    \endtable
+
+   PeakCAN supports the following additional functions:
+
+    \list
+        \li QCanBusDevice::resetController()
+    \endlist
+
 */
diff --git a/src/serialbus/doc/src/socketcan.qdoc b/src/serialbus/doc/src/socketcan.qdoc
index 9ae778d..82a00c8 100644
--- a/src/serialbus/doc/src/socketcan.qdoc
+++ b/src/serialbus/doc/src/socketcan.qdoc
@@ -203,4 +203,11 @@
     \snippet snippetmain.cpp SocketCan Filter Example
 
     Extended frame format and flexible data-rate are supported in SocketCAN.
- */
+
+    SocketCAN supports the following additional functions:
+
+    \list
+        \li QCanBusDevice::resetController() (needs libsocketcan)
+    \endlist
+
+*/
diff --git a/src/serialbus/doc/src/systeccan.qdoc b/src/serialbus/doc/src/systeccan.qdoc
index af34665..66ce7c7 100644
--- a/src/serialbus/doc/src/systeccan.qdoc
+++ b/src/serialbus/doc/src/systeccan.qdoc
@@ -109,4 +109,11 @@
                 is disabled by default. If this option is enabled, the therefore received frames
                 are marked with QCanBusFrame::hasLocalEcho()
    \endtable
+
+    SystecCAN supports the following additional functions:
+
+    \list
+        \li QCanBusDevice::resetController()
+    \endlist
+
 */
diff --git a/src/serialbus/doc/src/tinycan.qdoc b/src/serialbus/doc/src/tinycan.qdoc
index 43349dc..8479576 100644
--- a/src/serialbus/doc/src/tinycan.qdoc
+++ b/src/serialbus/doc/src/tinycan.qdoc
@@ -95,4 +95,11 @@
             \li Determines the bit rate of the CAN bus connection. The following bit rates
                 are supported: 10000, 20000, 50000, 100000, 125000, 250000, 500000, 800000, 1000000.
    \endtable
- */
+
+    TinyCAN supports the following additional functions:
+
+    \list
+        \li QCanBusDevice::resetController()
+    \endlist
+
+*/
diff --git a/src/serialbus/qcanbusdevice.cpp b/src/serialbus/qcanbusdevice.cpp
index 22f9d20..2bdec02 100644
--- a/src/serialbus/qcanbusdevice.cpp
+++ b/src/serialbus/qcanbusdevice.cpp
@@ -317,6 +317,17 @@ bool QCanBusDevice::hasOutgoingFrames() const
 }
 
 /*!
+ * Called from the derived plugin to register a function that performs the
+ * CAN controller hardware reset when \a resetController() is called.
+ */
+void QCanBusDevice::setResetControllerFunction(std::function<void()> &resetter)
+{
+    Q_D(QCanBusDevice);
+
+    d->m_resetControllerFunction = resetter;
+}
+
+/*!
     Sets the configuration parameter \a key for the CAN bus connection
     to \a value. The potential keys are represented by \l ConfigurationKey.
 
@@ -442,6 +453,31 @@ qint64 QCanBusDevice::framesToWrite() const
 }
 
 /*!
+    \since 5.14
+
+    Performs a CAN controller reset to release the CAN controller from
+    bus off state, if possible.
+
+    \note CAN controller resets disturb the running communication and
+    may take up to one second to complete. Only call this function to
+    recover from bus errors.
+
+    \note This function may not be implemented in all CAN plugins.
+    Please refer to the plugins help pages for more information.
+*/
+void QCanBusDevice::resetController()
+{
+    if (d_func()->m_resetControllerFunction) {
+        d_func()->m_resetControllerFunction();
+    } else {
+        const char error[] = QT_TRANSLATE_NOOP("QCanBusDevice",
+                "This CAN bus plugin does not support hardware controller reset.");
+        qCWarning(QT_CANBUS, error);
+        setError(tr(error), QCanBusDevice::CanBusError::ConfigurationError);
+    }
+}
+
+/*!
     \since 5.12
     \enum QCanBusDevice::Direction
 
diff --git a/src/serialbus/qcanbusdevice.h b/src/serialbus/qcanbusdevice.h
index b590510..911f3ac 100644
--- a/src/serialbus/qcanbusdevice.h
+++ b/src/serialbus/qcanbusdevice.h
@@ -41,6 +41,8 @@
 #include <QtSerialBus/qcanbusframe.h>
 #include <QtSerialBus/qcanbusdeviceinfo.h>
 
+#include <functional>
+
 QT_BEGIN_NAMESPACE
 
 class QCanBusDevicePrivate;
@@ -120,6 +122,8 @@ public:
     qint64 framesAvailable() const;
     qint64 framesToWrite() const;
 
+    void resetController();
+
     enum Direction {
         Input = 1,
         Output = 2,
@@ -163,6 +167,8 @@ protected:
     virtual bool open() = 0;
     virtual void close() = 0;
 
+    void setResetControllerFunction(std::function<void()> &resetter);
+
     static QCanBusDeviceInfo createDeviceInfo(const QString &name,
                                               bool isVirtual = false,
                                               bool isFlexibleDataRateCapable = false);
diff --git a/src/serialbus/qcanbusdevice_p.h b/src/serialbus/qcanbusdevice_p.h
index faeae65..26d3e89 100644
--- a/src/serialbus/qcanbusdevice_p.h
+++ b/src/serialbus/qcanbusdevice_p.h
@@ -74,6 +74,8 @@ public:
 
     bool waitForReceivedEntered = false;
     bool waitForWrittenEntered = false;
+
+    std::function<void()> m_resetControllerFunction;
 };
 
 QT_END_NAMESPACE