以下是一个简单的
Qt 实现 CAN 通信的示例，包括头文件、源文件和 UI 文件。
CANWidget.h：
```c++
#ifndef CANWIDGET_H
#define CANWIDGET_H
#include <QWidget>
#include <QCanBus>
#include <QCanBusDevice>
#include <
QTimer>
namespace Ui {
class CANWidget;
}
class CANWidget : public QWidget
{
Q_
OBJECT
public:
explicit CANWidget(QWidget *parent = nullptr);
~CANWidget();
private:
Ui::CANWidget *ui;
QCanBusDevice *m_canDevice;
QTimer *m_timer;
private slots:
void onConnectButtonClicked();
void onSendButtonClicked();
void onTimeout();
};
#endif // CANWIDGET_H
```
CANWidget.cpp：
```c++
#include "CANWidget.h"
#include "ui_CANWidget.h"
#include <QDebug>
#include <QCanBusFrame>
CANWidget::CANWidget(QWidget *parent) :
QWidget(parent),
ui(new Ui::CANWidget),
m_canDevice(nullptr),
m_timer(nullptr)
{
ui->setupUi(this);
// 初始化定时器，用于周期性发送数据
m_timer = new
QTimer(this);
connect(m_timer, &
QTimer::timeout, this, &CANWidget::onTimeout);
// 初始化 CAN 设备选择框
const auto supportedDevices = QCanBus::instance()->availableDevices("socketcan");
for (const auto &device : supportedDevices) {
ui->deviceComboBox->addItem(device.name());
}
}
CANWidget::~CANWidget()
{
delete ui;
}
void CANWidget::onConnectButtonClicked()
{
if (!m_canDevice) {
// 创建 CAN 设备
const QString deviceName = ui->deviceComboBox->currentText();
m_canDevice = QCanBus::instance()->createDevice("socketcan", deviceName);
// 打开 CAN 设备
if (m_canDevice && m_canDevice->connectDevice()) {
ui->connectButton->setText(tr("Disconnect"));
ui->statusLabel->setText(tr("Connected"));
ui->sendButton->setEnabled(true);
m_timer->start(1000); // 1 秒钟发送一次数据
} else {
ui->statusLabel->setText(tr("Er
ror: %1").arg(m_canDevice->er
rorString()));
delete m_canDevice;
m_canDevice = nullptr;
}
} else {
// 断开 CAN 设备
m_timer->stop();
m_canDevice->disconnectDevice();
delete m_canDevice;
m_canDevice = nullptr;
ui->connectButton->setText(tr("Connect"));
ui->statusLabel->setText(tr("Disconnected"));
ui->sendButton->setEnabled(false);
}
}
void CANWidget::onSendButtonClicked()
{
if (m_canDevice) {
// 构造 CAN 帧
QCanBusFrame frame;
frame.setFrameId(ui->idLineEdit->text().toInt(nullptr, 16));
frame.setPayload(QByteArray::f
romHex(ui->dataLineEdit->text().toLatin1()));
frame.setExtendedFrameFormat(ui->extendedCheckBox->isChecked());
frame.set
RemoteRequest(ui->
remoteCheckBox->isChecked());
// 发送 CAN 帧
if (!m_canDevice->writeFrame(frame)) {
ui->statusLabel->setText(tr("Er
ror: %1").arg(m_canDevice->er
rorString()));
}
}
}
void CANWidget::onTimeout()
{
if (m_canDevice) {
// 构造 CAN 帧
QCanBusFrame frame;
frame.setFrameId(0x123);
frame.setPayload("Hello, CAN!");
frame.setExtendedFrameFormat(false);
frame.set
RemoteRequest(false);
// 发送 CAN 帧
if (!m_canDevice->writeFrame(frame)) {
ui->statusLabel->setText(tr("Er
ror: %1").arg(m_canDevice->er
rorString()));
}
}
}
```
CANWidget.ui：
```xml
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>CANWidget</class>
<widget class="QWidget" name="CANWidget">
<p
roperty name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>300</height>
</rect>
</p
roperty>
<p
roperty name="windowTitle">
<string>CANWidget</string>
</p
roperty>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<label for="deviceComboBox">
<string>Device:</string>
</label>
</item>
<item>
<combobox editable="false" name="deviceComboBox"/>
</item>
<item>
<pushbutton name="connectButton">
<string>Connect</string>
</pushbutton>
</item>
</layout>
</item>
<item>
<g
roupbox title="CAN Frame" name="g
roupBox">
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<label for="idLineEdit">
<string>Id:</string>
</label>
</item>
<item>
<lineedit inputMask="HHHHHHHH" maxLength="8" name="idLineEdit"/>
</item>
<item>
<checkbox name="extendedCheckBox">
<string>Extended</string>
</checkbox>
</item>
<item>
<checkbox name="
remoteCheckBox">
<string>
Remote</string>
</checkbox>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<label for="dataLineEdit">
<string>Data:</string>
</label>
</item>
<item>
<lineedit inputMask="HH HH HH HH HH HH HH HH" maxLength="23" name="dataLineEdit"/>
</item>
<item>
<pushbutton name="sendButton">
<string>Send</string>
</pushbutton>
</item>
</layout>
</item>
</layout>
</g
roupbox>
</item>
<item>
<label name="statusLabel">
<string>Disconnected</string>
</label>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>
```
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