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/****************************************************************************
**
** Copyright (C) 2017 The Qt Company Ltd.
** Contact: http://www.qt.io/licensing/
**
** This file is part of the QtSerialBus module of the Qt Toolkit.
**
** $QT_BEGIN_LICENSE:LGPL3$
** Commercial License Usage
** Licensees holding valid commercial Qt licenses may use this file in
** accordance with the commercial license agreement provided with the
** Software or, alternatively, in accordance with the terms contained in
** a written agreement between you and The Qt Company. For licensing terms
** and conditions see http://www.qt.io/terms-conditions. For further
** information use the contact form at http://www.qt.io/contact-us.
**
** GNU Lesser General Public License Usage
** Alternatively, this file may be used under the terms of the GNU Lesser
** General Public License version 3 as published by the Free Software
** Foundation and appearing in the file LICENSE.LGPLv3 included in the
** packaging of this file. Please review the following information to
** ensure the GNU Lesser General Public License version 3 requirements
** will be met: https://www.gnu.org/licenses/lgpl.html.
**
** GNU General Public License Usage
** Alternatively, this file may be used under the terms of the GNU
** General Public License version 2.0 or later as published by the Free
** Software Foundation and appearing in the file LICENSE.GPL included in
** the packaging of this file. Please review the following information to
** ensure the GNU General Public License version 2.0 requirements will be
** met: http://www.gnu.org/licenses/gpl-2.0.html.
**
** $QT_END_LICENSE$
**
****************************************************************************/
#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
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