server extensions

move gpio and visa extensions to extensions folder

server/extensions/CAN/CAN_interface.cpp

@@ -0,0 +1,67 @@
+#include "CAN_interface.hpp"
+#include "spdlog/spdlog.h"
+
+CAN_Interface::CAN_Interface(QObject *parent) : QObject(parent), m_canDevice(nullptr)
+{
+    if (!QCanBus::instance()->plugins().contains(QStringLiteral("socketcan")))
+    {
+        SPDLOG_CRITICAL("Runtime error: CAN Interface: socketcan plugin not found");
+        throw std::runtime_error("CAN Interface: socketcan plugin not found");
+    }
+}
+
+CAN_Interface::~CAN_Interface()
+{
+    m_canDevice->disconnectDevice();
+    delete m_canDevice;
+}
+
+void CAN_Interface::connect_to_dev(QString dev)
+{
+    QString errorString;
+    m_canDevice = QCanBus::instance()->createDevice(QStringLiteral("socketcan"), dev, &errorString);
+    if (!m_canDevice)
+    {
+        // Error handling goes here
+        SPDLOG_CRITICAL("Runtime error: CAN Interface: {}", errorString.toStdString());
+        throw std::runtime_error("CAN Interface: " + errorString.toStdString());
+    }
+
+    connect(m_canDevice, &QCanBusDevice::errorOccurred, this,
+            [=, this](QCanBusDevice::CanBusError error) { processErrors(error); });
+
+    m_canDevice->connectDevice();
+    connect(m_canDevice, &QCanBusDevice::framesReceived, this, [this] {
+        for (QCanBusFrame &frame : m_canDevice->readAllFrames())
+        {
+            emit frame_received(frame);
+        }
+    });
+}
+
+void CAN_Interface::send_frame(const QCanBusFrame frame)
+{
+    if (m_canDevice == nullptr)
+    {
+        SPDLOG_CRITICAL("CAN dev = nullptr");
+        return;
+    }
+    m_canDevice->writeFrame(frame);
+    emit frame_send(frame);
+}
+
+void CAN_Interface::processErrors(QCanBusDevice::CanBusError error) const
+{
+    switch (error)
+    {
+    case QCanBusDevice::ReadError:
+    case QCanBusDevice::WriteError:
+    case QCanBusDevice::ConnectionError:
+    case QCanBusDevice::ConfigurationError:
+    case QCanBusDevice::UnknownError:
+        SPDLOG_CRITICAL("CAN Interface: {} {}", qt_getEnumName(error), m_canDevice->errorString().toStdString());
+        break;
+    default:
+        break;
+    }
+}

server/extensions/CAN/CAN_interface.hpp

@@ -0,0 +1,62 @@
+#pragma once
+#include <QCanBus>
+#include <QCanBusDevice>
+#include <QCanBusFrame>
+#include <QObject>
+
+/**
+ * @brief Class representing a CAN interface
+ *
+ */
+class CAN_Interface : public QObject
+{
+    Q_OBJECT
+  public:
+    /**
+     * @brief Construct a new CAN Interface object
+     *
+     * @param parent The parent QObject
+     */
+    CAN_Interface(QObject *parent = nullptr);
+    /**
+     * @brief Destroy the CAN Interface object
+     *
+     */
+    ~CAN_Interface();
+
+    /**
+     * @brief Connect to a CAN device
+     *
+     * @param dev The device to connect to (e.g. "can0")
+     */
+    void connect_to_dev(QString dev);
+
+    /**
+     * @brief Send a CAN frame
+     *
+     * @param frame The frame to send
+     */
+    void send_frame(const QCanBusFrame frame);
+  signals:
+    /**
+     * @brief Signal emitted when a CAN frame is received
+     *
+     * @param frame The received CAN frame
+     */
+    void frame_received(QCanBusFrame frame);
+    /**
+     * @brief Signal emitted when a CAN frame is sent
+     *
+     * @param frame The sent CAN frame
+     */
+    void frame_send(QCanBusFrame frame);
+
+  private:
+    /**
+     * @brief Private method to process CAN bus errors
+     *
+     * @param error The CAN bus error
+     */
+    void processErrors(QCanBusDevice::CanBusError error) const;
+    QCanBusDevice *m_canDevice;
+};