CAN

Move from src to tools

tools/CAN/CAN_interface.cpp

@@ -0,0 +1,37 @@
+#include "CAN_interface.hpp"
+
+CAN_Interface::CAN_Interface(QString dev, QObject *parent)
+: QObject(parent)
+{
+    if (!QCanBus::instance()->plugins().contains(QStringLiteral("socketcan"))) {
+        throw std::runtime_error("CAN Interface: socketcan plugin not found");
+    }
+    QString errorString;
+    m_canDevice = QCanBus::instance()->createDevice(QStringLiteral("socketcan"), dev, &errorString);
+    if (!m_canDevice)
+    {
+        // Error handling goes here
+        throw std::runtime_error("CAN Interface: " + errorString.toStdString());
+    }
+
+    m_canDevice->connectDevice();
+    connect(m_canDevice, &QCanBusDevice::framesReceived, this, [this] {
+        emit frames_received();
+    });
+}
+
+CAN_Interface::~CAN_Interface()
+{
+    m_canDevice->disconnectDevice();
+    delete m_canDevice;
+}
+
+void CAN_Interface::send_frame(const QCanBusFrame &frame)
+{
+    m_canDevice->writeFrame(frame);
+}
+
+QCanBusFrame CAN_Interface::read_frame()
+{
+    return m_canDevice->readFrame();
+}