Can调试工具源码

部分代码如下：

#ifndef MAINWINDOW_H
#define MAINWINDOW_H

#include <QMainWindow>
#include "can_control.h"
#include <unistd.h>

using namespace std;

QT_BEGIN_NAMESPACE
namespace Ui { class MainWindow; }
QT_END_NAMESPACE

class MainWindow : public QMainWindow
{
    Q_OBJECT

public:
    MainWindow(QWidget *parent = nullptr);
    ~MainWindow();

private slots:

    void on_pushButton_clicked();

    void SlotRecvData(struct can_frame *frame);

    void on_ClearDataButton_clicked();

private:
    Ui::MainWindow *ui;
    Can_Control*pcan0;
    QString currentCan;       
};
#endif // MAINWINDOW_H

//mainwindow.cpp
#include "mainwindow.h"
#include "ui_mainwindow.h"

MainWindow::MainWindow(QWidget *parent)
    : QMainWindow(parent)
    , ui(new Ui::MainWindow)
    , pcan0(nullptr)
    , currentCan("can0") 
{
    ui->setupUi(this);
    setWindowTitle(tr("Can调试工具1.0"));
    ui->recvTextEdit->setPlaceholderText(tr("帧ID 长度 数据"));
    ui->sendTextEdit->setText("123 11 22 33 44 55 66 77 88");
    QStringList canlist = QStringList()<<"can0"<<"can1";
    ui->CanBox->addItems(canlist);

    // 使用系统调用函数运行以上命令，也可以自行在终端中运行
    system(ip_cmd_can0_down);
    system(ip_cmd_set_can0_params); // 设置参数
    system(ip_cmd_can0_up);  // 开启can0接口
    pcan0 = new Can_Control(this);
    pcan0->socket_connect(currentCan.toLatin1().data());

    connect(pcan0, &Can_Control::SigSendData, this, &MainWindow::SlotRecvData);
    connect(ui->CanBox, &QComboBox::currentTextChanged, [&](QString txt){
        if(currentCan != txt)
        {
            pcan0->SetThreadStatus(true);
            while(!pcan0->isFinished());
            currentCan = txt;

            QString setparam;

            setparam = QString("ifconfig %1 down").arg(currentCan);
            system(setparam.toLatin1().data());
            setparam = QString("ip link set %1 type can bitrate 1000000 triple-sampling on").arg(currentCan);
            system(setparam.toLatin1().data());
            setparam = QString("ifconfig %1 up").arg(currentCan);
            system(setparam.toLatin1().data());
            pcan0->socket_connect(currentCan.toLatin1().data());
            pcan0->SetThreadStatus(false);
            pcan0->start();
        }

    });
    pcan0->start();

}

MainWindow::~MainWindow()
{
    pcan0->SetThreadStatus(true);
    while(!pcan0->isFinished());
    delete ui;
}



void MainWindow::on_pushButton_clicked()
{
    // Errormsg_Dlg *errordlg=new Errormsg_Dlg();
      // errordlg->show();

        QString text = ui->sendTextEdit->toPlainText();

        QStringList strlist = text.split(' ');

        struct can_frame frame; //要发送的buffer
        bool ok;

        frame.can_id = strlist[0].toUInt(&ok, 16);
        frame.can_dlc = 8;

        for(int i = 0; i < 8; i++)
        {

            frame.data[i] = (uint8_t)strlist[i+1].toUInt(&ok, 16);
        }

     //const byte* data, const int count

       // __u8  send_frame_data[8] = {0x00, 0x01, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};

        // memcpy(frame[0].data, send_frame_data, 8);


        pcan0->send_frame(&frame);//

}

void MainWindow::SlotRecvData(struct can_frame *frame)
{
    QString buffer;

    QByteArray temp((const char*)(frame->data),8);

    buffer = temp.toHex(' ');
    QString content = QString("%1 [%2] %3")
            .arg(frame->can_id, 3, 16, QLatin1Char('0'))
            .arg(frame->can_dlc, 2, 10, QLatin1Char('0'))
            .arg(buffer);
    ui->recvTextEdit->insertPlainText(content+"\n");
}



void MainWindow::on_ClearDataButton_clicked()
{
    ui->recvTextEdit->clear();
}