Qt实现简单的can通信 头文件和cpp文件都要

下面是一个简单的Qt实现CAN通信的头文件和cpp文件：

##### can.h

#ifndef CAN_H
#define CAN_H

#include <QObject>
#include <QCanBus>

class CAN : public QObject
{
    Q_OBJECT
public:
    explicit CAN(QObject *parent = nullptr);

signals:

public slots:
    void readMessage();

private:
    QCanBusDevice *m_canDevice;
};

#endif // CAN_H

##### can.cpp

#include "can.h"

CAN::CAN(QObject *parent) : QObject(parent)
{
    // 创建 CAN 总线设备
    m_canDevice = QCanBus::instance()->createDevice("socketcan", "vcan0", &errorString);
    if (!m_canDevice) {
        qDebug() << errorString;
        return;
    }

    // 连接 CAN 总线设备
    if (!m_canDevice->connectDevice()) {
        qDebug() << m_canDevice->errorString();
        return;
    }

    // 每当有数据可读时，读取 CAN 总线上的数据
    connect(m_canDevice, &QCanBusDevice::framesReceived, this, &CAN::readMessage);
}

void CAN::readMessage()
{
    while (m_canDevice->framesAvailable()) {
        QCanBusFrame frame = m_canDevice->readFrame();
        qDebug() << "Received frame with ID:" << QString::number(frame.frameId(), 16) << "and data:" << QString::fromLatin1(frame.payload().toHex());
    }
}

这里我们使用了Qt自带的`QCanBus`模块，通过`QCanBus::instance()->createDevice()`创建一个CAN总线设备，并通过`QCanBusDevice::connectDevice()`连接到CAN总线。当有数据可读时，通过`QCanBusDevice::framesReceived`信号获取数据，并通过`QCanBusDevice::readFrame()`读取数据。