wip

tools/cabana/streams/socketcanstream.cc

@@ -0,0 +1,115 @@
+#include "tools/cabana/streams/socketcanstream.h"
+
+#include <QDebug>
+#include <QFormLayout>
+#include <QHBoxLayout>
+#include <QMessageBox>
+#include <QPushButton>
+#include <QThread>
+
+SocketCanStream::SocketCanStream(QObject *parent, SocketCanStreamConfig config_) : config(config_), LiveStream(parent) {
+  if (!available()) {
+    throw std::runtime_error("SocketCAN plugin not available");
+  }
+
+  qDebug() << "Connecting to SocketCAN device" << config.device;
+  if (!connect()) {
+    throw std::runtime_error("Failed to connect to SocketCAN device");
+  }
+}
+
+bool SocketCanStream::available() {
+  return QCanBus::instance()->plugins().contains("socketcan");
+}
+
+bool SocketCanStream::connect() {
+  // Connecting might generate some warnings about missing socketcan/libsocketcan libraries
+  // These are expected and can be ignored, we don't need the advanced features of libsocketcan
+  QString errorString;
+  device.reset(QCanBus::instance()->createDevice("socketcan", config.device, &errorString));
+
+  if (!device) {
+    qDebug() << "Failed to create SocketCAN device" << errorString;
+    return false;
+  }
+
+  if (!device->connectDevice()) {
+    qDebug() << "Failed to connect to device";
+    return false;
+  }
+
+  return true;
+}
+
+void SocketCanStream::streamThread() {
+  while (!QThread::currentThread()->isInterruptionRequested()) {
+    QThread::msleep(1);
+
+    auto frames = device->readAllFrames();
+    if (frames.size() == 0) continue;
+
+    MessageBuilder msg;
+    auto evt = msg.initEvent();
+    auto canData = evt.initCan(frames.size());
+
+    for (uint i = 0; i < frames.size(); i++) {
+      if (!frames[i].isValid()) continue;
+
+      canData[i].setAddress(frames[i].frameId());
+      canData[i].setSrc(0);
+
+      auto payload = frames[i].payload();
+      canData[i].setDat(kj::arrayPtr((uint8_t*)payload.data(), payload.size()));
+    }
+
+    handleEvent(capnp::messageToFlatArray(msg));
+  }
+}
+
+AbstractOpenStreamWidget *SocketCanStream::widget(AbstractStream **stream) {
+  return new OpenSocketCanWidget(stream);
+}
+
+OpenSocketCanWidget::OpenSocketCanWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->addStretch(1);
+
+  QFormLayout *form_layout = new QFormLayout();
+
+  QHBoxLayout *device_layout = new QHBoxLayout();
+  device_edit = new QComboBox();
+  device_edit->setFixedWidth(300);
+  device_layout->addWidget(device_edit);
+
+  QPushButton *refresh = new QPushButton(tr("Refresh"));
+  refresh->setFixedWidth(100);
+  device_layout->addWidget(refresh);
+  form_layout->addRow(tr("Device"), device_layout);
+  main_layout->addLayout(form_layout);
+
+  main_layout->addStretch(1);
+
+  QObject::connect(refresh, &QPushButton::clicked, this, &OpenSocketCanWidget::refreshDevices);
+  QObject::connect(device_edit, &QComboBox::currentTextChanged, this, [=]{ config.device = device_edit->currentText(); });
+
+  // Populate devices
+  refreshDevices();
+}
+
+void OpenSocketCanWidget::refreshDevices() {
+  device_edit->clear();
+  for (auto device : QCanBus::instance()->availableDevices(QStringLiteral("socketcan"))) {
+    device_edit->addItem(device.name());
+  }
+}
+
+
+bool OpenSocketCanWidget::open() {
+  try {
+    *stream = new SocketCanStream(qApp, config);
+  } catch (std::exception &e) {
+    QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to SocketCAN device: '%1'").arg(e.what()));
+    return false;
+  }
+  return true;
+}