SocketCAN 플러그인 사용

sudo ip link set up can0 type can bitrate 250000

sudo ip link set up can0 type can bitrate 250000 restart-ms 100

sudo ip link set can0 up type can bitrate 500000 dbitrate 4000000 fd on

sudo modprobe vcan
sudo ip link add dev vcan0 type vcan
sudo ip link set up vcan0 mtu 72

# Display received CAN messages with absolute timestamps and flags
candump -ta -x vcan0

# Send a CAN FD message with flags BRS and EFI set
cansend vcan0 123##3112233445566778899aabbccddeeff

# Generate random CAN messages
cangen vcan0

if (QCanBus::instance()->plugins().contains(QStringLiteral("socketcan"))) {
    // plugin available
}

QString errorString;
QCanBusDevice*device = QCanBus::instance()->createDevice(
    QStringLiteral("socketcan"), QStringLiteral("can0"), &errorString);
if (!device) {
    // 여기 오류 처리 코드를 작성합니다
    qDebug << errorString;
} else {
    device->connectDevice();
}

QCanBusFrame frame;
frame.setFrameId(8);
QByteArray payload("A36E");
frame.setPayload(payload);
device->writeFrame(frame);

QCanBusFrame frame = device->readFrame();

QList<QCanBusDevice::Filter> list;
QCanBusDevice::Filter f;

// only accept odd numbered frame id of type remote request
// frame can utilize extended or base format
f.frameId = 0x1;
f.frameIdMask = 0x1;
f.format = QCanBusDevice::Filter::MatchBaseAndExtendedFormat;
f.type = QCanBusFrame::RemoteRequestFrame;
list.append(f);

device->setConfigurationParameter(QCanBusDevice::RawFilterKey, QVariant::fromValue(list));
device->setConfigurationParameter(QCanBusDevice::ErrorFilterKey,
                                  QVariant::fromValue(QCanBusFrame::FrameErrors(QCanBusFrame::AnyError)));