| 1 | // Copyright (C) 2017 The Qt Company Ltd. |
|---|---|
| 2 | // SPDX-License-Identifier: LicenseRef-Qt-Commercial OR LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only |
| 3 | |
| 4 | #ifndef SOCKETCANBACKEND_H |
| 5 | #define SOCKETCANBACKEND_H |
| 6 | |
| 7 | #include <QtSerialBus/qcanbusframe.h> |
| 8 | #include <QtSerialBus/qcanbusdevice.h> |
| 9 | #include <QtSerialBus/qcanbusdeviceinfo.h> |
| 10 | |
| 11 | #include <QtCore/qsocketnotifier.h> |
| 12 | #include <QtCore/qstring.h> |
| 13 | #include <QtCore/qvariant.h> |
| 14 | |
| 15 | // The order of the following includes is mandatory, because some |
| 16 | // distributions use sa_family_t in can.h without including socket.h |
| 17 | #include <sys/socket.h> |
| 18 | #include <sys/uio.h> |
| 19 | #include <linux/can.h> |
| 20 | #include <sys/time.h> |
| 21 | |
| 22 | #include <memory> |
| 23 | |
| 24 | #ifndef CANFD_MTU |
| 25 | // CAN FD support was added by Linux kernel 3.6 |
| 26 | // For prior kernels we redefine the missing defines here |
| 27 | // they are taken from linux/can/raw.h & linux/can.h |
| 28 | |
| 29 | enum { |
| 30 | CAN_RAW_FD_FRAMES = 5 |
| 31 | }; |
| 32 | |
| 33 | #define CAN_MAX_DLEN 8 |
| 34 | #define CANFD_MAX_DLEN 64 |
| 35 | struct canfd_frame { |
| 36 | canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ |
| 37 | __u8 len; /* frame payload length in byte */ |
| 38 | __u8 flags; /* additional flags for CAN FD */ |
| 39 | __u8 __res0; /* reserved / padding */ |
| 40 | __u8 __res1; /* reserved / padding */ |
| 41 | __u8 data[CANFD_MAX_DLEN] __attribute__((aligned(8))); |
| 42 | }; |
| 43 | #define CAN_MTU (sizeof(struct can_frame)) |
| 44 | #define CANFD_MTU (sizeof(struct canfd_frame)) |
| 45 | |
| 46 | #endif |
| 47 | |
| 48 | QT_BEGIN_NAMESPACE |
| 49 | |
| 50 | class LibSocketCan; |
| 51 | |
| 52 | class SocketCanBackend : public QCanBusDevice |
| 53 | { |
| 54 | Q_OBJECT |
| 55 | public: |
| 56 | explicit SocketCanBackend(const QString &name); |
| 57 | ~SocketCanBackend(); |
| 58 | |
| 59 | bool open() override; |
| 60 | void close() override; |
| 61 | |
| 62 | void setConfigurationParameter(ConfigurationKey key, const QVariant &value) override; |
| 63 | |
| 64 | bool writeFrame(const QCanBusFrame &newData) override; |
| 65 | |
| 66 | QString interpretErrorFrame(const QCanBusFrame &errorFrame) override; |
| 67 | |
| 68 | static QCanBusDeviceInfo socketCanDeviceInfo(const QString &deviceName); |
| 69 | static QList<QCanBusDeviceInfo> interfaces(); |
| 70 | |
| 71 | void resetController() override; |
| 72 | bool hasBusStatus() const override; |
| 73 | CanBusStatus busStatus() override; |
| 74 | QCanBusDeviceInfo deviceInfo() const override; |
| 75 | |
| 76 | private Q_SLOTS: |
| 77 | void readSocket(); |
| 78 | |
| 79 | private: |
| 80 | void resetConfigurations(); |
| 81 | bool connectSocket(); |
| 82 | bool applyConfigurationParameter(ConfigurationKey key, const QVariant &value); |
| 83 | |
| 84 | int protocol = CAN_RAW; |
| 85 | canfd_frame m_frame; |
| 86 | sockaddr_can m_address; |
| 87 | msghdr m_msg; |
| 88 | iovec m_iov; |
| 89 | sockaddr_can m_addr; |
| 90 | char m_ctrlmsg[CMSG_SPACE(sizeof(timeval)) + CMSG_SPACE(sizeof(__u32))]; |
| 91 | |
| 92 | qint64 canSocket = -1; |
| 93 | QSocketNotifier *notifier = nullptr; |
| 94 | std::unique_ptr<LibSocketCan> libSocketCan; |
| 95 | QString canSocketName; |
| 96 | bool canFdOptionEnabled = false; |
| 97 | }; |
| 98 | |
| 99 | QT_END_NAMESPACE |
| 100 | |
| 101 | #endif // SOCKETCANBACKEND_H |
| 102 |