support CAN bus bitrate configuration

Cargo.toml

@@ -6,6 +6,7 @@ description = "view real-time CAN packages"
 
 [dependencies]
 chrono = "0.4.38"
+sudo = "0.6"
 can-dbc = { git="https://github.com/TuEmb/can-dbc.git", branch="dev" }
 rfd = "0.14.1"
 slint = { version = "1.7.1", default-features = false, features = ["backend-winit", "compat-1-2", "renderer-winit-femtovg"] }
@@ -16,6 +17,7 @@ winapi = { version = "0.3.9", features = ["winuser"] }
 pcan-basic = { git = "https://github.com/TuEmb/pcan-basic.git", branch="main"}
 
 [target.'cfg(unix)'.dependencies]
+privilege-rs = "0.1.0"
 socketcan = { git = "https://github.com/socketcan-rs/socketcan-rs.git", rev="e0d7760eca8085b247f37ea22f0aa41e00fa25fa", features = ["enumerate"] }
 
 [build-dependencies]

src/event_handler/can_handler.rs

@@ -25,6 +25,7 @@ pub struct CanHandler<'a> {
     pub iface: UsbCanSocket,
     pub ui_handle: &'a Weak<AppWindow>,
     pub mspc_rx: &'a Arc<Mutex<Receiver<DBC>>>,
+    pub bitrate: String,
 }
 
 static mut NEW_DBC_CHECK: bool = false;
@@ -35,8 +36,11 @@ impl<'a> CanHandler<'a> {
         if let Ok(dbc) = self.mspc_rx.lock().unwrap().try_recv() {
             #[cfg(target_os = "linux")]
             {
-                let can_socket = self.open_can_socket();
                 let can_if = CanInterface::open(self.iface).unwrap();
+                let _ = can_if.bring_down();
+                let _ = can_if.set_bitrate(self.bitrate().unwrap(), None);
+                let _ = can_if.bring_up();
+                let can_socket = self.open_can_socket();
                 self.process_ui_events(dbc, can_socket, can_if);
             }
             #[cfg(target_os = "windows")]
@@ -284,4 +288,30 @@ impl<'a> CanHandler<'a> {
         hex_string.pop(); // Remove the trailing space
         hex_string
     }
+
+    fn bitrate(&self) -> Option<u32> {
+        let bitrate_map: HashMap<&str, u32> = [
+            ("1 Mbit/s", 1_000_000),
+            ("800 kbit/s", 800_000),
+            ("500 kbit/s", 500_000),
+            ("250 kbit/s", 250_000),
+            ("200 kbit/s", 200_000),
+            ("125 kbit/s", 125_000),
+            ("100 kbit/s", 100_000),
+            ("95.238 kbit/s", 95_238),
+            ("83.333 kbit/s", 83_333),
+            ("50 kbit/s", 50_000),
+            ("47.619 kbit/s", 47_619),
+            ("40 kbit/s", 40_000),
+            ("33.333 kbit/s", 33_333),
+            ("20 kbit/s", 20_000),
+            ("10 kbit/s", 10_000),
+            ("5 kbit/s", 5_000),
+        ]
+        .iter()
+        .cloned()
+        .collect();
+
+        bitrate_map.get(self.bitrate.as_str()).copied()
+    }
 }

src/main.rs

@@ -13,6 +13,8 @@ use pcan_basic::{
     hw::attached_channels,
     socket::{usb::UsbCanSocket, Baudrate},
 };
+#[cfg(target_os = "linux")]
+use privilege_rs::privilege_request;
 #[cfg(target_os = "windows")]
 use slint::Model;
 use slint::{ModelRc, SharedString, VecModel};
@@ -25,6 +27,7 @@ slint::include_modules!();
 
 #[tokio::main]
 async fn main() -> io::Result<()> {
+    privilege_request();
     let ui = AppWindow::new().unwrap();
 
     let (tx, rx) = mpsc::channel::<DBC>();
@@ -161,7 +164,7 @@ async fn main() -> io::Result<()> {
     let (start_tx, start_rx) = mpsc::channel();
     // Handle start event
     let ui_handle = ui.as_weak();
-    ui.on_start(move |_name, _index| {
+    ui.on_start(move |_name, _index, bitrate| {
         // start_tx.send((_name, _index));
         #[cfg(target_os = "linux")]
         {
@@ -170,7 +173,7 @@ async fn main() -> io::Result<()> {
                 ui.set_init_string(SharedString::from("No device found!!!"));
             } else {
                 ui.set_is_init(true);
-                let _ = start_tx.send(_name);
+                let _ = start_tx.send((_name, bitrate));
             }
         }
         #[cfg(target_os = "windows")]
@@ -201,14 +204,15 @@ async fn main() -> io::Result<()> {
 
     let ui_handle = ui.as_weak();
     tokio::spawn(async move {
-        if let Ok(can_if) = start_rx.recv() {
+        if let Ok((can_if, bitrate)) = start_rx.recv() {
             let mut can_handler = CanHandler {
                 #[cfg(target_os = "windows")]
                 iface: can_if,
                 #[cfg(target_os = "linux")]
                 iface: &can_if,
                 ui_handle: &ui_handle,
                 mspc_rx: &rx,
+                bitrate: bitrate.to_string(),
             };
             loop {
                 can_handler.process_can_messages();

ui/app.slint

@@ -25,7 +25,7 @@ export component AppWindow inherits Window {
 
     callback open_dbc_file();
     callback filter_id(CanData, bool);
-    callback start(string, int);
+    callback start(string, int, string);
     title: @tr("CAN VIEWER (version 0.2.0)");
     icon: @image-url("images/can_viewer_128px.png");
     background: #1a1f2b;
@@ -38,8 +38,8 @@ export component AppWindow inherits Window {
     initPage {
         out: init_string;
         can_sockets: can_sockets;
-        start(name, index) => {
-            start(name, index);
+        start(name, index, bitrate) => {
+            start(name, index, bitrate);
         }
     }
 

ui/init_page.slint

@@ -12,7 +12,7 @@ export component initPage inherits Rectangle {
     background: #1a1f2b;
     in property <socket_info> can_sockets;
     in property <string> out: "Please select CAN device to start";
-    callback start(string /* name */, int /* index */);
+    callback start(string /* name */, int /* index */, string /* */);
     VerticalLayout {
         Rectangle {}
         Text {
@@ -31,16 +31,16 @@ export component initPage inherits Rectangle {
                     current-value: can_sockets.name[0];
                 }
             }
-            // bitrate_box := ComboBox {
-            //     model: ["1 Mbit/s", "800 kbit/s", "500 kbit/s", "250 kbit/s", "200 kbit/s", "125 kbit/s",
-            //             "100 kbit/s", "95.238 kbit/s", "83.333 kbit/s", "50 kbit/s", "47.619 kbit/s",
-            //             "40 kbit/s", "33.333 kbit/s", "20 kbit/s", "10 kbit/s", "5 kbit/s"];
-            //     current-value: "250 kbit/s";
-            // }
+            bitrate_box := ComboBox {
+                model: ["1 Mbit/s", "800 kbit/s", "500 kbit/s", "250 kbit/s", "200 kbit/s", "125 kbit/s",
+                        "100 kbit/s", "95.238 kbit/s", "83.333 kbit/s", "50 kbit/s", "47.619 kbit/s",
+                        "40 kbit/s", "33.333 kbit/s", "20 kbit/s", "10 kbit/s", "5 kbit/s"];
+                current-value: "250 kbit/s";
+            }
             Button {
                 text: "start";
                 clicked => {
-                    start(socket_can_box.current-value, socket_can_box.current-index);
+                    start(socket_can_box.current-value, socket_can_box.current-index, bitrate_box.current-value);
                 }
             }
             Rectangle {}