diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index d4cfc6728..31083695e 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -57,13 +57,11 @@ base_frameworks = qt_env['FRAMEWORKS'] base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] if arch == "Darwin": - base_frameworks.append('OpenCL') - base_frameworks.append('QtCharts') - base_frameworks.append('QtSerialBus') + base_frameworks.append('OpenCL') + base_frameworks.append('QtCharts') else: - base_libs.append('OpenCL') - base_libs.append('Qt5Charts') - base_libs.append('Qt5SerialBus') + base_libs.append('OpenCL') + base_libs.append('Qt5Charts') qt_libs = base_libs diff --git a/tools/cabana/streams/socketcanstream.cc b/tools/cabana/streams/socketcanstream.cc index e4801df9c..66788f93b 100644 --- a/tools/cabana/streams/socketcanstream.cc +++ b/tools/cabana/streams/socketcanstream.cc @@ -1,6 +1,14 @@ #include "tools/cabana/streams/socketcanstream.h" +#include +#include +#include +#include +#include +#include + #include +#include #include #include #include @@ -9,7 +17,7 @@ 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; @@ -18,50 +26,69 @@ SocketCanStream::SocketCanStream(QObject *parent, SocketCanStreamConfig config_) } } +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) { + qDebug() << "Failed to create CAN socket"; return false; } - if (!device->connectDevice()) { - qDebug() << "Failed to connect to device"; + 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.toStdString().c_str(), IFNAMSIZ - 1); + if (ioctl(sock_fd, SIOCGIFINDEX, &ifr) < 0) { + qDebug() << "Failed to get interface index for" << config.device; + ::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) { + qDebug() << "Failed to bind CAN socket"; + ::close(sock_fd); + sock_fd = -1; + return false; + } + + struct timeval tv = {.tv_sec = 0, .tv_usec = 100000}; + setsockopt(sock_fd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv)); + return true; } void SocketCanStream::streamThread() { + struct canfd_frame frame; while (!QThread::currentThread()->isInterruptionRequested()) { - QThread::msleep(1); - - auto frames = device->readAllFrames(); - if (frames.size() == 0) continue; + ssize_t nbytes = read(sock_fd, &frame, sizeof(frame)); + if (nbytes <= 0) continue; + uint8_t len = (nbytes == CAN_MTU) ? frame.len : frame.len; 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)); } @@ -87,20 +114,25 @@ 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, [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()); + QDir net_dir("/sys/class/net"); + for (const auto &iface : net_dir.entryList(QDir::Dirs | QDir::NoDotAndDotDot)) { + QFile type_file(net_dir.filePath(iface) + "/type"); + if (type_file.open(QIODevice::ReadOnly)) { + int type = type_file.readAll().trimmed().toInt(); + if (type == 280) { + device_edit->addItem(iface); + } + } } } - AbstractStream *OpenSocketCanWidget::open() { try { return new SocketCanStream(qApp, config); diff --git a/tools/cabana/streams/socketcanstream.h b/tools/cabana/streams/socketcanstream.h index 8083b687e..4ec3c7ec1 100644 --- a/tools/cabana/streams/socketcanstream.h +++ b/tools/cabana/streams/socketcanstream.h @@ -1,23 +1,18 @@ #pragma once -#include - -#include -#include -#include #include #include "tools/cabana/streams/livestream.h" struct SocketCanStreamConfig { - QString device = ""; // TODO: support multiple devices/buses at once + QString device = ""; }; class SocketCanStream : public LiveStream { Q_OBJECT public: SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {}); - ~SocketCanStream() { stop(); } + ~SocketCanStream(); static bool available(); inline QString routeName() const override { @@ -29,7 +24,7 @@ protected: bool connect(); SocketCanStreamConfig config = {}; - std::unique_ptr device; + int sock_fd = -1; }; class OpenSocketCanWidget : public AbstractOpenStreamWidget {