Revision control
++ // Copyright (C) 2017 The Qt Company Ltd.
++ // SPDX-License-Identifier: LicenseRef-Qt-Commercial OR LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only
++ // Qt-Security score:significant reason:default
++
++ #ifndef SOCKETCANBACKEND_H
++ #define SOCKETCANBACKEND_H
++
++ #include <QtSerialBus/qcanbusframe.h>
++ #include <QtSerialBus/qcanbusdevice.h>
++ #include <QtSerialBus/qcanbusdeviceinfo.h>
++
++ #include <QtCore/qsocketnotifier.h>
++ #include <QtCore/qstring.h>
++ #include <QtCore/qvariant.h>
++
++ // The order of the following includes is mandatory, because some
++ // distributions use sa_family_t in can.h without including socket.h
++ #include <sys/socket.h>
++ #include <sys/uio.h>
++ #include <linux/can.h>
++ #include <sys/time.h>
++
++ #include <memory>
++
++ #ifndef CANFD_MTU
++ // CAN FD support was added by Linux kernel 3.6
++ // For prior kernels we redefine the missing defines here
++ // they are taken from linux/can/raw.h & linux/can.h
++
++ enum {
++ CAN_RAW_FD_FRAMES = 5
++ };
++
++ #define CAN_MAX_DLEN 8
++ #define CANFD_MAX_DLEN 64
++ struct canfd_frame {
++ canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
++ __u8 len; /* frame payload length in byte */
++ __u8 flags; /* additional flags for CAN FD */
++ __u8 __res0; /* reserved / padding */
++ __u8 __res1; /* reserved / padding */
++ __u8 data[CANFD_MAX_DLEN] __attribute__((aligned(8)));
++ };
++ #define CAN_MTU (sizeof(struct can_frame))
++ #define CANFD_MTU (sizeof(struct canfd_frame))
++
++ #endif
++
++ QT_BEGIN_NAMESPACE
++
++ class LibSocketCan;
++
++ class SocketCanBackend : public QCanBusDevice
++ {
++ Q_OBJECT
++ public:
++ explicit SocketCanBackend(const QString &name);
++ ~SocketCanBackend();
++
++ bool open() override;
++ void close() override;
++
++ void setConfigurationParameter(ConfigurationKey key, const QVariant &value) override;
++
++ bool writeFrame(const QCanBusFrame &newData) override;
++
++ QString interpretErrorFrame(const QCanBusFrame &errorFrame) override;
++
++ static QCanBusDeviceInfo socketCanDeviceInfo(const QString &deviceName);
++ static QList<QCanBusDeviceInfo> interfaces();
++
++ void resetController() override;
++ bool hasBusStatus() const override;
++ CanBusStatus busStatus() override;
++ QCanBusDeviceInfo deviceInfo() const override;
++
++ private Q_SLOTS:
++ void readSocket();
++
++ private:
++ void resetConfigurations();
++ bool connectSocket();
++ bool applyConfigurationParameter(ConfigurationKey key, const QVariant &value);
++
++ int protocol = CAN_RAW;
++ canfd_frame m_frame;
++ sockaddr_can m_address;
++ msghdr m_msg;
++ iovec m_iov;
++ sockaddr_can m_addr;
++ char m_ctrlmsg[CMSG_SPACE(sizeof(timeval)) + CMSG_SPACE(sizeof(__u32))];
++
++ qint64 canSocket = -1;
++ QSocketNotifier *notifier = nullptr;
++ std::unique_ptr<LibSocketCan> libSocketCan;
++ QString canSocketName;
++ bool canFdOptionEnabled = false;
++ };
++
++ QT_END_NAMESPACE
++
++ #endif // SOCKETCANBACKEND_H