cabana darwin

tools/cabana/SConscript

@@ -12,6 +12,7 @@ if arch == "Darwin":
   qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
   qt_dirs = [
     os.path.join(qt_env['QTDIR'], "include"),
+    os.path.join(qt_env['QTDIR'], "include", "QtSerialBus"),
   ]
   qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
   qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
@@ -59,6 +60,7 @@ base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthrea
 if arch == "Darwin":
     base_frameworks.append('OpenCL')
     base_frameworks.append('QtCharts')
+    base_frameworks.append('QtSerialBus')
 else:
     base_libs.append('OpenCL')
     base_libs.append('Qt5Charts')

tools/cabana/streams/socketcanstream.cc

@@ -1,14 +1,20 @@
 #include "tools/cabana/streams/socketcanstream.h"
 
+#if defined(__linux__)
+#include <cstring>
 #include <linux/can.h>
 #include <linux/can/raw.h>
 #include <net/if.h>
 #include <sys/ioctl.h>
 #include <sys/socket.h>
 #include <unistd.h>
+#endif
 
 #include <QDebug>
+#if defined(__linux__)
 #include <QDir>
+#include <QFile>
+#endif
 #include <QFormLayout>
 #include <QHBoxLayout>
 #include <QMessageBox>
@@ -17,7 +23,11 @@
 
 SocketCanStream::SocketCanStream(QObject *parent, SocketCanStreamConfig config_) : config(config_), LiveStream(parent) {
   if (!available()) {
+#if defined(__linux__)
     throw std::runtime_error("SocketCAN not available");
+#else
+    throw std::runtime_error("SocketCAN plugin not available");
+#endif
   }
 
   qDebug() << "Connecting to SocketCAN device" << config.device;
@@ -28,20 +38,27 @@ SocketCanStream::SocketCanStream(QObject *parent, SocketCanStreamConfig config_)
 
 SocketCanStream::~SocketCanStream() {
   stop();
+#if defined(__linux__)
   if (sock_fd >= 0) {
     ::close(sock_fd);
     sock_fd = -1;
   }
+#endif
 }
 
 bool SocketCanStream::available() {
+#if defined(__linux__)
   int fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
   if (fd < 0) return false;
   ::close(fd);
   return true;
+#else
+  return QCanBus::instance()->plugins().contains("socketcan");
+#endif
 }
 
 bool SocketCanStream::connect() {
+#if defined(__linux__)
   sock_fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
   if (sock_fd < 0) {
     qDebug() << "Failed to create CAN socket";
@@ -74,9 +91,28 @@ bool SocketCanStream::connect() {
   setsockopt(sock_fd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
 
   return true;
+#else
+  // Connecting might generate warnings about missing socketcan/libsocketcan helpers.
+  // Cabana only needs the basic SocketCAN plugin path.
+  QString error_string;
+  device.reset(QCanBus::instance()->createDevice("socketcan", config.device, &error_string));
+  if (!device) {
+    qDebug() << "Failed to create SocketCAN device" << error_string;
+    return false;
+  }
+
+  device->setConfigurationParameter(QCanBusDevice::CanFdKey, true);
+  if (!device->connectDevice()) {
+    qDebug() << "Failed to connect to device";
+    return false;
+  }
+
+  return true;
+#endif
 }
 
 void SocketCanStream::streamThread() {
+#if defined(__linux__)
   struct canfd_frame frame;
   while (!QThread::currentThread()->isInterruptionRequested()) {
     ssize_t nbytes = read(sock_fd, &frame, sizeof(frame));
@@ -92,6 +128,30 @@ void SocketCanStream::streamThread() {
 
     handleEvent(capnp::messageToFlatArray(msg));
   }
+#else
+  while (!QThread::currentThread()->isInterruptionRequested()) {
+    QThread::msleep(1);
+
+    auto frames = device->readAllFrames();
+    if (frames.empty()) continue;
+
+    MessageBuilder msg;
+    auto evt = msg.initEvent();
+    auto can_data = evt.initCan(frames.size());
+
+    for (uint i = 0; i < frames.size(); ++i) {
+      if (!frames[i].isValid()) continue;
+
+      can_data[i].setAddress(frames[i].frameId());
+      can_data[i].setSrc(0);
+
+      auto payload = frames[i].payload();
+      can_data[i].setDat(kj::arrayPtr(reinterpret_cast<uint8_t *>(payload.data()), payload.size()));
+    }
+
+    handleEvent(capnp::messageToFlatArray(msg));
+  }
+#endif
 }
 
 OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
@@ -121,6 +181,7 @@ OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWi
 
 void OpenSocketCanWidget::refreshDevices() {
   device_edit->clear();
+#if defined(__linux__)
   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");
@@ -131,6 +192,11 @@ void OpenSocketCanWidget::refreshDevices() {
       }
     }
   }
+#else
+  for (const auto &device_info : QCanBus::instance()->availableDevices(QStringLiteral("socketcan"))) {
+    device_edit->addItem(device_info.name());
+  }
+#endif
 }
 
 AbstractStream *OpenSocketCanWidget::open() {

tools/cabana/streams/socketcanstream.h

@@ -1,6 +1,13 @@
 #pragma once
 
+#include <memory>
+
 #include <QComboBox>
+#if !defined(__linux__)
+#include <QtSerialBus/QCanBus>
+#include <QtSerialBus/QCanBusDevice>
+#include <QtSerialBus/QCanBusDeviceInfo>
+#endif
 
 #include "tools/cabana/streams/livestream.h"
 
@@ -24,7 +31,11 @@ protected:
   bool connect();
 
   SocketCanStreamConfig config = {};
+#if defined(__linux__)
   int sock_fd = -1;
+#else
+  std::unique_ptr<QCanBusDevice> device;
+#endif
 };
 
 class OpenSocketCanWidget : public AbstractOpenStreamWidget {