Can调试工具源码，可以直接使用，也可以作为学习使用

#include "can_control.h" Can_Control::Can_Control(QObject *parent) : QThread(parent) , stSocket(-1) , m_bExit(false) { } int Can_Control::can_send() { int stSocket_LO, stSend_LO; struct sockaddr_can addr; //can总线的地址 同socket编程里面的 socketaddr结构体 用来设置can外设的信息 struct ifreq ifr;//接口请求结构体 struct can_frame frame[2] = {{0}}; //要发送的buffer /* 创建socket套接字 PF_CAN 为域位 同网络编程中的AF_INET 即ipv4协议 SOCK_RAW使用的协议类型 SOCK_RAW表示原始套接字 报文头由自己创建 CAN_RAW为使用的具体协议 为can总线协议 */ stSocket_LO = socket(PF_CAN, SOCK_RAW, CAN_RAW);//创建套接字 strcpy(ifr.ifr_name, "can0" ); ioctl(stSocket_LO, SIOCGIFINDEX, &ifr); //指定 can0 设备 addr.can_family = AF_CAN; //协议类型 addr.can_ifindex = ifr.ifr_ifindex; //can总线外设的具体索引 类似 ip地址 bind(stSocket_LO, (struct sockaddr *)&addr, sizeof(addr));//将套接字和canbus外设进行绑定,即套接字与 can0 绑定 //禁用过滤规则，本进程不接收报文，只负责发送 setsockopt(stSocket_LO, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0); //生成两个报文 frame[0].can_id = 0x11; frame[0]. can_dlc = 1; frame[0].data[0] = '1'; frame[1].can_id = 0x22; frame[1]. can_dlc = 1; frame[1].data[0] = '2'; //循环发送两个报文 while(1) { stSend_LO = write(stSocket_LO, &frame[0], sizeof(frame[0])); //发送 frame[0] if(stSend_LO != sizeof(frame[0])) { printf("Send Error frame[0]\n!"); break; //发送错误，退出 } sleep(1); stSend_LO = write(stSocket_LO, &frame[1], sizeof(frame[1])); //发送 frame[1] if(stSend_LO != sizeof(frame[0])) { printf("Send Error frame[1]\n!"); break; } sleep(1); } close(stSocket_LO);//关闭套接字 return 0; } int Can_Control::can_recv() { int stSocket_LO, stRecv_LO; struct sockaddr_can addr; struct ifreq ifr; struct can_frame frame; struct can_filter rfilter[1]; stSocket_LO = socket(PF_CAN, SOCK_RAW, CAN_RAW); //创建套接字 strcpy(ifr.ifr_name, "can0" ); ioctl(stSocket_LO, SIOCGIFINDEX, &ifr); //指定 can0 设备 addr.can_family = AF_CAN; addr.can_ifindex = ifr.ifr_ifindex; bind(stSocket_LO, (struct sockaddr *)&addr, sizeof(addr)); //将套接字与 can0 绑定 //定义接收规则，只接收表示符等于 0x11 的报文 rfilter[0].can_id = 0x11; rfilter[0].can_mask = CAN_SFF_MASK; //设置过滤规则 setsockopt(stSocket_LO, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter)); while(1) { stRecv_LO = read(stSocket_LO, &frame, sizeof(frame)); //接收报文 //显示报文 if(stRecv_LO > 0) { printf("Idata[0]=0x%x\n",frame.data[0]); } } close(stSocket_LO); return 0; } int Can_Control::socket_connect(const char*m_port) { int ret = 0; struct sockaddr_can canbus_addr_LO; //can总线的地址 同socket编程里面的 socketaddr结构体 用来设置can外设的信息 struct ifreq ifreq_LO; //接口请求结构体 QMutexLocker locker(&m_mutex); stSocket = socket(PF_CAN, SOCK_RAW, CAN_RAW);//创建套接字 if(stSocket<0) { QMessageBox::information(NULL, QString::fromLocal8Bit("错误"), QString::fromLocal8Bit("打开CAN设备失败")); return -1; } strcpy(ifreq_LO.ifr_name, m_port);//对CAN接口进行初始化，如设置CAN接口名，即当我们用ifconfig命令时显示的名字 ret=ioctl(stSocket, SIOCGIFINDEX, &ifreq_LO); //指定 can设备 if(ret<0) { QMessageBox::information(NULL, QString::fromUtf8("错误"), QString::fromUtf8("匹配CAN设备错误")); return -1; } /* 设置CAN协议 */ canbus_addr_LO.can_family = AF_CAN; //协议类型 canbus_addr_LO.can_ifindex = ifreq_LO.ifr_ifindex; //can总线外设的具体索引 类似 ip地址 ret=bind(stSocket, (struct sockaddr *)&canbus_addr_LO, sizeof(canbus_addr_LO));//将套接字和canbus外设进行绑定,即套接字与 can0 绑定 if(ret<0) { ::close(stSocket);//关闭套接字 QMessageBox::information(NULL, QString::fromUtf8("错误"), QString::fromUtf8("绑定套接字错误")); return -1; } return stSocket; } void Can_Control::set_can_filter()//设置滤波 { const int n = 1; struct can_filter rfilter[n]; // 过滤规则：当<received_can_id> & mask == can_id & mask时，接收报文，否则过滤掉. // 可以同时添加多条过滤规则 // 在用来发送CAN帧的CAN_RAW套接字上不接收任何CAN帧 rfilter[0].can_id = 0x00000000; rfilter[0].can_mask = CAN_EFF_MASK; (void)setsockopt(send_socket_fd, SOL_CAN_RAW, CAN_RAW_FILTER, rfilter, n * sizeof(struct can_filter)); // 在用来接收CAN帧的CAN_RAW套接字上禁用接收过滤规则 (void)setsockopt(recv_socket_fd, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0); } int Can_Control::send_frame(struct can_frame* data) { m_mutex.lock(); int ret = write(stSocket, data, sizeof(can_frame)); m_mutex.unlock(); if (ret != sizeof(can_frame)) { QMessageBox::information(NULL, QString::fromUtf8("错误"), QString::fromUtf8("发送错误")); return 1; } return ret; } int Can_Control::recv_frame( int sockfd, struct can_frame* buf, const int timeout_ms) { struct timeval tv_timeout; tv_timeout.tv_sec = timeout_ms /1000; tv_timeout.tv_usec = (timeout_ms % 1000) * 1000; fd_set fs_read; FD_ZERO(&fs_read); FD_SET(sockfd, &fs_read); //如果fd == -1, FD_SET将在此阻塞 int ret = select((int)sockfd + 1, &fs_read, NULL, NULL, &tv_timeout); if (ret == 0) // recv 超市 { return 0; } if (ret < 0) // select 错误 { return ret; } ret = read(sockfd, buf, sizeof(struct can_frame)); //ret = recv(sockfd, (char*)buf, count, 0); if (ret <= 0) { return -1; } return ret; } void Can_Control::SetThreadStatus(bool status) { m_bExit = status; } void Can_Control::run() { while (!m_bExit) { memset(&m_frame, 0, sizeof(m_frame)); m_mutex.lock(); m_dataLength = recv_frame(stSocket, &m_frame, 200); m_mutex.unlock(); if(m_dataLength > 0) { emit SigSendData(&m_frame); } msleep(100); } QMutexLocker locker(&m_mutex); ::close(stSocket); }