用qt写一个can通信界面，包含头文件和cpp文件以及ui说明

以下是一个简单的CAN通信界面的Qt示例，包含头文件、cpp文件和ui文件。

头文件（canform.h）：

#ifndef CANFORM_H
#define CANFORM_H

#include <QWidget>
#include <QCanBus>
#include <QCanBusDevice>

namespace Ui {
class CanForm;
}

class CanForm : public QWidget
{
    Q_OBJECT

public:
    explicit CanForm(QWidget *parent = nullptr);
    ~CanForm();

private slots:
    void onConnectButtonClicked();
    void onSendButtonClicked();
    void processFrames();

private:
    Ui::CanForm *ui;
    QCanBusDevice *m_device;
};

#endif // CANFORM_H

cpp文件（canform.cpp）：

#include "canform.h"
#include "ui_canform.h"

CanForm::CanForm(QWidget *parent) :
    QWidget(parent),
    ui(new Ui::CanForm),
    m_device(nullptr)
{
    ui->setupUi(this);

    // 初始化 CAN 总线
    QList<QCanBusDeviceInfo> devices = QCanBus::instance()->availableDevices("socketcan");
    if (devices.isEmpty()) {
        ui->statusLabel->setText("No CAN devices available");
        return;
    }

    // 设置 CAN 设备
    QCanBusDeviceInfo deviceInfo = devices.first();
    m_device = QCanBus::instance()->createDevice("socketcan", deviceInfo.name());
    if (!m_device) {
        ui->statusLabel->setText("Error creating device");
        return;
    }

    // 连接到 CAN 总线
    if (!m_device->connectDevice()) {
        ui->statusLabel->setText("Error connecting to device: " + m_device->errorString());
        return;
    }

    // 设置接收过滤器
    m_device->setConfigurationParameter(QCanBusDevice::RawFilterKey, true);
    m_device->setConfigurationParameter(QCanBusDevice::ReceiveOwnKey, false);
    m_device->setConfigurationParameter(QCanBusDevice::ErrorFilterKey, true);
    m_device->setConfigurationParameter(QCanBusDevice::BitRateKey, 500000);

    // 连接信号槽
    connect(ui->connectButton, &QPushButton::clicked, this, &CanForm::onConnectButtonClicked);
    connect(ui->sendButton, &QPushButton::clicked, this, &CanForm::onSendButtonClicked);
    connect(m_device, &QCanBusDevice::framesReceived, this, &CanForm::processFrames);

    // 显示状态
    ui->statusLabel->setText("Connected to device: " + deviceInfo.name());
}

CanForm::~CanForm()
{
    if (m_device) {
        m_device->disconnectDevice();
        delete m_device;
    }
    delete ui;
}

void CanForm::onConnectButtonClicked()
{
    if (!m_device->connectDevice()) {
        ui->statusLabel->setText("Error connecting to device: " + m_device->errorString());
        return;
    }
    ui->statusLabel->setText("Connected to device: " + m_device->name());
}

void CanForm::onSendButtonClicked()
{
    QByteArray data = QByteArray::fromHex(ui->dataLineEdit->text().toLatin1());
    QCanBusFrame frame;
    frame.setFrameId(ui->idSpinBox->value());
    frame.setPayload(data);
    frame.setExtendedFrameFormat(ui->extendedCheckBox->isChecked());
    if (m_device->writeFrame(frame)) {
        ui->statusLabel->setText("Frame sent");
    } else {
        ui->statusLabel->setText("Error sending frame: " + m_device->errorString());
    }
}

void CanForm::processFrames()
{
    while (m_device->framesAvailable()) {
        QCanBusFrame frame = m_device->readFrame();
        ui->frameTextEdit->append(frame.toString());
    }
}

ui文件（canform.ui）：

<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
 <class>CanForm</class>
 <widget class="QWidget" name="CanForm">
  <property name="geometry">
   <rect>
    <x>0</x>
    <y>0</y>
    <width>400</width>
    <height>300</height>
   </rect>
  </property>
  <property name="windowTitle">
   <string>CAN Form</string>
  </property>
  <layout class="QVBoxLayout" name="verticalLayout">
   <item>
    <widget class="QLabel" name="statusLabel">
     <property name="text">
      <string>StatusLabel</string>
     </property>
    </widget>
   </item>
   <item>
    <widget class="QGroupBox" name="connectionGroupBox">
     <property name="title">
      <string>Connection</string>
     </property>
     <layout class="QHBoxLayout" name="horizontalLayout">
      <item>
       <widget class="QPushButton" name="connectButton">
        <property name="text">
         <string>Connect</string>
        </property>
       </widget>
      </item>
     </layout>
    </widget>
   </item>
   <item>
    <widget class="QGroupBox" name="sendGroupBox">
     <property name="title">
      <string>Send Frame</string>
     </property>
     <layout class="QGridLayout" name="gridLayout">
      <item row="0" column="0">
       <widget class="QLabel" name="idLabel">
        <property name="text">
         <string>ID:</string>
        </property>
       </widget>
      </item>
      <item row="0" column="1">
       <widget class="QSpinBox" name="idSpinBox">
        <property name="maximum">
         <number>2147483647</number>
        </property>
       </widget>
      </item>
      <item row="1" column="0">
       <widget class="QLabel" name="dataLabel">
        <property name="text">
         <string>Data:</string>
        </property>
       </widget>
      </item>
      <item row="1" column="1">
       <widget class="QLineEdit" name="dataLineEdit"/>
      </item>
      <item row="2" column="0">
       <widget class="QLabel" name="extendedLabel">
        <property name="text">
         <string>Extended:</string>
        </property>
       </widget>
      </item>
      <item row="2" column="1">
       <widget class="QCheckBox" name="extendedCheckBox"/>
      </item>
      <item row="3" column="1">
       <widget class="QPushButton" name="sendButton">
        <property name="text">
         <string>Send</string>
        </property>
       </widget>
      </item>
     </layout>
    </widget>
   </item>
   <item>
    <widget class="QTextEdit" name="frameTextEdit"/>
   </item>
  </layout>
 </widget>
 <resources/>
 <connections/>
</ui>

使用上述代码，可以实现一个简单的CAN通信界面，包括连接到CAN总线、发送CAN帧以及显示收到的CAN帧。其中，使用了Qt提供的QCanBus和QCanBusDevice类来进行CAN通信操作。