IQ.Pilot Release Commit @ 661a2de

tools/cabana/streams/socketcanstream.cc

@@ -1,67 +1,99 @@
 #include "tools/cabana/streams/socketcanstream.h"
 
-#include <QDebug>
+#include <linux/can.h>
+#include <linux/can/raw.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include <cstdio>
+#include <filesystem>
+#include <fstream>
+
 #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");
+    throw std::runtime_error("SocketCAN not available");
   }
 
-  qDebug() << "Connecting to SocketCAN device" << config.device;
+  fprintf(stderr, "Connecting to SocketCAN device %s\n", config.device.c_str());
   if (!connect()) {
     throw std::runtime_error("Failed to connect to SocketCAN device");
   }
 }
 
+SocketCanStream::~SocketCanStream() {
+  stop();
+  if (sock_fd >= 0) {
+    ::close(sock_fd);
+    sock_fd = -1;
+  }
+}
+
 bool SocketCanStream::available() {
-  return QCanBus::instance()->plugins().contains("socketcan");
+  int fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+  if (fd < 0) return false;
+  ::close(fd);
+  return true;
 }
 
 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));
-  device->setConfigurationParameter(QCanBusDevice::CanFdKey, true);
-
-  if (!device) {
-    qDebug() << "Failed to create SocketCAN device" << errorString;
+  sock_fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+  if (sock_fd < 0) {
+    fprintf(stderr, "Failed to create CAN socket\n");
     return false;
   }
 
-  if (!device->connectDevice()) {
-    qDebug() << "Failed to connect to device";
+  // Enable CAN-FD
+  int fd_enable = 1;
+  setsockopt(sock_fd, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &fd_enable, sizeof(fd_enable));
+
+  struct ifreq ifr = {};
+  strncpy(ifr.ifr_name, config.device.c_str(), IFNAMSIZ - 1);
+  if (ioctl(sock_fd, SIOCGIFINDEX, &ifr) < 0) {
+    fprintf(stderr, "Failed to get interface index for %s\n", config.device.c_str());
+    ::close(sock_fd);
+    sock_fd = -1;
     return false;
   }
 
+  struct sockaddr_can addr = {};
+  addr.can_family = AF_CAN;
+  addr.can_ifindex = ifr.ifr_ifindex;
+  if (bind(sock_fd, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+    fprintf(stderr, "Failed to bind CAN socket\n");
+    ::close(sock_fd);
+    sock_fd = -1;
+    return false;
+  }
+
+  // Set read timeout so the thread can check for interruption
+  struct timeval tv = {.tv_sec = 0, .tv_usec = 100000};  // 100ms
+  setsockopt(sock_fd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
+
   return true;
 }
 
 void SocketCanStream::streamThread() {
-  while (!QThread::currentThread()->isInterruptionRequested()) {
-    QThread::msleep(1);
+  struct canfd_frame frame;
 
-    auto frames = device->readAllFrames();
-    if (frames.size() == 0) continue;
+  while (!exit_) {
+    ssize_t nbytes = read(sock_fd, &frame, sizeof(frame));
+    if (nbytes <= 0) continue;
+
+    uint8_t len = (nbytes == CAN_MTU) ? frame.len : frame.len;  // works for both CAN and CAN-FD
 
     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()));
-    }
+    auto canData = evt.initCan(1);
+    canData[0].setAddress(frame.can_id & CAN_EFF_MASK);
+    canData[0].setSrc(0);
+    canData[0].setDat(kj::arrayPtr(frame.data, len));
 
     handleEvent(capnp::messageToFlatArray(msg));
   }
@@ -87,7 +119,7 @@ OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWi
   main_layout->addStretch(1);
 
   QObject::connect(refresh, &QPushButton::clicked, this, &OpenSocketCanWidget::refreshDevices);
-  QObject::connect(device_edit, &QComboBox::currentTextChanged, this, [=]{ config.device = device_edit->currentText(); });
+  QObject::connect(device_edit, &QComboBox::currentTextChanged, this, [=]{ config.device = device_edit->currentText().toStdString(); });
 
   // Populate devices
   refreshDevices();
@@ -95,12 +127,17 @@ OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWi
 
 void OpenSocketCanWidget::refreshDevices() {
   device_edit->clear();
-  for (auto device : QCanBus::instance()->availableDevices(QStringLiteral("socketcan"))) {
-    device_edit->addItem(device.name());
+  // Scan /sys/class/net/ for CAN interfaces (type 280 = ARPHRD_CAN)
+  std::error_code ec;
+  for (const auto &entry : std::filesystem::directory_iterator("/sys/class/net", ec)) {
+    std::ifstream type_file(entry.path() / "type");
+    int type = 0;
+    if (type_file >> type && type == 280) {
+      device_edit->addItem(QString::fromStdString(entry.path().filename().string()));
+    }
   }
 }
 
-
 AbstractStream *OpenSocketCanWidget::open() {
   try {
     return new SocketCanStream(qApp, config);