CAN

Move from src to tools

src/CAN/CAN_interface.cpp

@@ -1 +0,0 @@
-#include "CAN_interface.hpp"

src/CAN/CAN_interface.hpp

@@ -1,15 +0,0 @@
-#pragma once
-#include <ctime>
-#include <cstdint>
-
-typedef struct can_message_s
-{
-    time_t timestamp;
-    uint16_t id;
-    uint8_t dlc;
-    uint8_t data[8];
-
-    can_message_s() : timestamp(0), id(0), dlc(0), data{0}
-    {
-    }
-} can_message_t;

src/CAN/CMakeLists.txt

@@ -1,16 +0,0 @@
-add_library(CAN)
-
-target_sources(CAN PRIVATE
-    CAN_interface.cpp
-)
-
-target_compile_options(CAN PRIVATE $<$<CONFIG:Debug>:
-    -Wall -Wextra -pedantic-errors -Wconversion -Wsign-conversion
-    >)
-
-target_include_directories(CAN
-    PUBLIC
-    ${CMAKE_CURRENT_LIST_DIR}
-    PRIVATE
-)
-

src/CMakeLists.txt

@@ -1,2 +1 @@
-add_subdirectory(CAN)
 add_subdirectory(UI)

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();
+}

tools/CAN/CAN_interface.hpp

@@ -0,0 +1,22 @@
+#pragma once
+#include <ctime>
+#include <cstdint>
+#include <QObject>
+#include <QCanBus>
+#include <QCanBusDevice>
+#include <QCanBusFrame>
+
+class CAN_Interface : public QObject
+{
+    Q_OBJECT
+  public:
+    CAN_Interface(QString dev, QObject *parent = nullptr);
+    ~CAN_Interface();
+
+    void send_frame(const QCanBusFrame &frame);
+    QCanBusFrame read_frame();
+  signals:
+    void frames_received();
+  private:
+    QCanBusDevice *m_canDevice;
+};

tools/CMakeLists.txt

@@ -4,8 +4,9 @@ endif()
 
 set(CMAKE_AUTOMOC ON)
 
-find_package(Qt6 REQUIRED COMPONENTS WebSockets)
+find_package(Qt6 REQUIRED COMPONENTS Core WebSockets SerialBus)
 
+qt_standard_project_setup()
 qt_add_executable(server)
 
 include(FetchContent)
@@ -14,6 +15,7 @@ FetchContent_Declare(magic_enum URL https://github.com/Neargye/magic_enum/releas
 FetchContent_MakeAvailable(magic_enum)
 
 file(GLOB_RECURSE SIM_SOURCES "simulators/*.[hc]pp")
+file(GLOB_RECURSE CAN_SOURCES "CAN/*.[hc]pp")
 
 target_sources(server PRIVATE
     ${CMAKE_CURRENT_LIST_DIR}/main.cpp
@@ -25,6 +27,7 @@ target_sources(server PRIVATE
     ${CMAKE_CURRENT_LIST_DIR}/websocket.cpp
     ${CMAKE_CURRENT_LIST_DIR}/websocket.hpp
     ${SIM_SOURCES}
+    ${CAN_SOURCES}
 )
 
 target_compile_options(server PRIVATE $<$<CONFIG:Debug>:
@@ -40,8 +43,8 @@ target_include_directories(server
 
 target_link_libraries(server PRIVATE
     Qt::WebSockets
+    Qt::SerialBus
     magic_enum::magic_enum
     spdlog
     UI
-    CAN
 )