Linux下面QT写Can通信程序，网络上有很多例子都是互相抄的；本人因为项目原因，通过源代码Socket函数，写了完整的程序，含有2个案例；分享给大家；
这里主要是包含几个步骤，1：绑定Socket；2：cna/can1的设置，3：波特率的设置（如果发送和接收波特率不一致肯定不行的）；4：发送；5：接收处理；
下面就贴出部分代码：
void MyWindow::startcan(int number)
{
int ret = 0;
//can先关闭 设置好波特率后 再开启can
if(number == 0) //can0
{
system("ifconfig can0 down");//先关闭
system("ip link set can0 up type can bitrate 50000 triple-sampling on");//设置波特率
system("ifconfig can0 up");//再开启
}
else //can1
{
system("ifconfig can1 down");//先关闭
system("ip link set can1 up type can bitrate 50000 triple-sampling on");//设置波特率
system("ifconfig can1 up");//再开启
}
socket = ::socket(PF_CAN,SOCK_RAW,CAN_RAW);
struct ifreq ifr;
strcpy((char *)(ifr.ifr_name),number == 0 ? "can0" : "can1");
ioctl(socket,SIOCGIFINDEX,&ifr);
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
ret = bind(socket,(struct sockaddr*)&addr,sizeof(addr));
if (ret < 0)
{
QMessageBox::about(this,"error","in bind error");
exit(1);
}
zyhapi->OpenCan(50000);
ArmCan = new Thread(zyhapi,socket,port);
ArmCan->start();
}
void MyWindow::stopcan(int number)
{
if(ArmCan)
{
ArmCan->stop();
ArmCan->terminate();
ArmCan->wait();
}
zyhapi->CloseCan(number);
}
//发送
void MyWindow::on_sendbtn_clicked()
{
/*
struct can_frame frame;
memset(&frame,0,sizeof(struct can_frame));
std::string str=ui->edit->text().toStdString();
if(str.length() > 8)
{
QMessageBox::about(this,"error","length of send string must less than 8 bytes");
return;
}
*/
struct can_frame frame;
memset(&frame,0,sizeof(struct can_frame));
char buf[8]={0X20,0XFF,0X01,0X02,0X03,0X04,0XFF,0XFF};
frame.can_id = 0x00000020;//发出去的帧ID即：0X00000020
frame.can_dlc = 8;//帧数据长度
for(int i=0;i<frame.can_dlc;i++)
{
frame.data[i]=buf[i];//帧数据
}
//frame.can_id = 0x123;
//strcpy((char*)frame.data,str.c_str());
//frame.can_dlc = str.length();
sendto(socket,&frame,sizeof(struct can_frame),0,(struct sockaddr*)&addr,sizeof(addr));
/*
struct can_frame frame;
char buf[8]={0X20,0XFF,0X01,0X02,0X03,0X04,0XFF,0XFF};
frame.can_id = 0x00000020;//发出去的帧ID即：0X00000020
frame.can_dlc = 8;//帧数据长度
for(int i=0;i<frame.can_dlc;i++)
{
frame.data[i]=buf[i];//帧数据
}
zyhapi->WriteCan(frame.can_id,frame.data,frame.can_dlc);//发数据，通过can端口-- 暂时默认 CAN0 端口
*/
}
