blob: 89aa2812e6891d878e02d6a930e99309e6515f7a (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
|
// Copyright (C) 2017 The Qt Company Ltd.
// SPDX-License-Identifier: LicenseRef-Qt-Commercial OR LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only
#ifndef SOCKETCANBACKEND_H
#define SOCKETCANBACKEND_H
#include <QtSerialBus/qcanbusframe.h>
#include <QtSerialBus/qcanbusdevice.h>
#include <QtSerialBus/qcanbusdeviceinfo.h>
#include <QtCore/qsocketnotifier.h>
#include <QtCore/qstring.h>
#include <QtCore/qvariant.h>
// The order of the following includes is mandatory, because some
// distributions use sa_family_t in can.h without including socket.h
#include <sys/socket.h>
#include <sys/uio.h>
#include <linux/can.h>
#include <sys/time.h>
#include <memory>
#ifndef CANFD_MTU
// CAN FD support was added by Linux kernel 3.6
// For prior kernels we redefine the missing defines here
// they are taken from linux/can/raw.h & linux/can.h
enum {
CAN_RAW_FD_FRAMES = 5
};
#define CAN_MAX_DLEN 8
#define CANFD_MAX_DLEN 64
struct canfd_frame {
canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
__u8 len; /* frame payload length in byte */
__u8 flags; /* additional flags for CAN FD */
__u8 __res0; /* reserved / padding */
__u8 __res1; /* reserved / padding */
__u8 data[CANFD_MAX_DLEN] __attribute__((aligned(8)));
};
#define CAN_MTU (sizeof(struct can_frame))
#define CANFD_MTU (sizeof(struct canfd_frame))
#endif
QT_BEGIN_NAMESPACE
class LibSocketCan;
class SocketCanBackend : public QCanBusDevice
{
Q_OBJECT
public:
explicit SocketCanBackend(const QString &name);
~SocketCanBackend();
bool open() override;
void close() override;
void setConfigurationParameter(ConfigurationKey key, const QVariant &value) override;
bool writeFrame(const QCanBusFrame &newData) override;
QString interpretErrorFrame(const QCanBusFrame &errorFrame) override;
static QCanBusDeviceInfo socketCanDeviceInfo(const QString &deviceName);
static QList<QCanBusDeviceInfo> interfaces();
void resetController() override;
bool hasBusStatus() const override;
CanBusStatus busStatus() override;
QCanBusDeviceInfo deviceInfo() const override;
private Q_SLOTS:
void readSocket();
private:
void resetConfigurations();
bool connectSocket();
bool applyConfigurationParameter(ConfigurationKey key, const QVariant &value);
int protocol = CAN_RAW;
canfd_frame m_frame;
sockaddr_can m_address;
msghdr m_msg;
iovec m_iov;
sockaddr_can m_addr;
char m_ctrlmsg[CMSG_SPACE(sizeof(timeval)) + CMSG_SPACE(sizeof(__u32))];
qint64 canSocket = -1;
QSocketNotifier *notifier = nullptr;
std::unique_ptr<LibSocketCan> libSocketCan;
QString canSocketName;
bool canFdOptionEnabled = false;
};
QT_END_NAMESPACE
#endif // SOCKETCANBACKEND_H
|
