Fixed the user reported issues

VERSION

@@ -1 +1 @@
-0.4.5
+0.4.6

src/driver/GenericCanSetupPage.cpp

@@ -258,9 +258,10 @@ void GenericCanSetupPage::fillSamplePointsForBitrate(CanInterface *intf, unsigne
 void GenericCanSetupPage::fillFdBitrate(CanInterface *intf, unsigned selectedBitrate)
 {
     QList<uint32_t> fdBitrates;
+    unsigned currentArbBitrate = ui->cbBitrate->currentData().toUInt();
+
     for (CanTiming t : intf->getAvailableBitrates()) {
-        if (1) {
-        //if (t.getBitrate() == selectedBitrate) {
+        if (t.getBitrate() == currentArbBitrate) {
             if (t.isCanFD() && !fdBitrates.contains(t.getBitrateFD())) {
                 fdBitrates.append(t.getBitrateFD());
             }
@@ -272,7 +273,13 @@ void GenericCanSetupPage::fillFdBitrate(CanInterface *intf, unsigned selectedBit
     for (uint32_t fd_br : fdBitrates) {
         ui->cbBitrateFD->addItem(QString::number(fd_br), fd_br);
     }
-    ui->cbBitrateFD->setCurrentText(QString::number(selectedBitrate));
+
+    int idx = ui->cbBitrateFD->findData(selectedBitrate);
+    if (idx >= 0) {
+        ui->cbBitrateFD->setCurrentIndex(idx);
+    } else if (ui->cbBitrateFD->count() > 0) {
+        ui->cbBitrateFD->setCurrentIndex(0);
+    }
 }
 
 void GenericCanSetupPage::fillSamplePointsForFdBitrate(CanInterface *intf, unsigned selectedBitrate, unsigned selectedSamplePoint)

src/driver/SocketCanDriver/SocketCanInterface.cpp

@@ -91,6 +91,17 @@ QList<CanTiming> SocketCanInterface::getAvailableBitrates()
         }
     }
 
+    // Add CAN FD Data Bitrates if supported
+    if (supportsCanFD()) {
+        QList<unsigned> fdBitrates({500000, 1000000, 2000000, 4000000, 5000000, 8000000});
+        foreach (unsigned br, bitrates) {
+            foreach (unsigned fdbr, fdBitrates) {
+                // For simplicity, we add FD variants of common arbitration bitrates
+                retval << CanTiming(i++, br, fdbr, 800, 800);
+            }
+        }
+    }
+
     return retval;
 }
 
@@ -148,28 +159,52 @@ void SocketCanInterface::applyConfig(const MeasurementInterface &mi)
         return;
     }
 
-    log_info(QString("calling canifconfig to reconfigure interface %1").arg(getName()));
-    QStringList sl = buildCanIfConfigArgs(mi);
-    sl.prepend("canifconfig");
-    log_info(sl.join(" "));
+    QString cmd;
+    QStringList args;
 
-    QProcess canIfConfig;
-    canIfConfig.start("canifconfig", buildCanIfConfigArgs(mi));
-    if (!canIfConfig.waitForFinished()) {
-        log_error(QString("timeout waiting for canifconfig"));
-        return;
+    // Use ip link if CAN FD is requested, as it's the standard way now
+    if (mi.isCanFD()) {
+        log_info(QString("calling ip link to reconfigure interface %1 (CAN FD)").arg(getName()));
+
+        // First bring interface down
+        QProcess::execute("ip", {"link", "set", getName(), "down"});
+
+        cmd = "ip";
+        args << "link" << "set" << getName() << "up" << "type" << "can";
+        args << "bitrate" << QString::number(mi.bitrate());
+        args << "sample-point" << QString::number((float)mi.samplePoint()/1000.0, 'f', 3);
+        args << "dbitrate" << QString::number(mi.fdBitrate());
+        args << "dsample-point" << QString::number((float)mi.fdSamplePoint()/1000.0, 'f', 3);
+        args << "fd" << "on";
+
+        if (mi.doAutoRestart()) {
+            args << "restart-ms" << QString::number(mi.autoRestartMs());
+        }
+
+    } else {
+        log_info(QString("calling canifconfig to reconfigure interface %1").arg(getName()));
+        cmd = "canifconfig";
+        args = buildCanIfConfigArgs(mi);
     }
 
-    if (canIfConfig.exitStatus()!=QProcess::NormalExit) {
-        log_error(QString("canifconfig crashed"));
+    log_info(cmd + " " + args.join(" "));
+
+    QProcess proc;
+    proc.start(cmd, args);
+    if (!proc.waitForFinished()) {
+        log_error(QString("timeout waiting for %1").arg(cmd));
         return;
     }
 
-    if (canIfConfig.exitCode() != 0) {
-        log_error(QString("canifconfig failed: ") + QString(canIfConfig.readAllStandardError()).trimmed());
+    if (proc.exitStatus()!=QProcess::NormalExit) {
+        log_error(QString("%1 crashed").arg(cmd));
         return;
     }
 
+    if (proc.exitCode() != 0) {
+        log_error(QString("%1 failed: ").arg(cmd) + QString(proc.readAllStandardError()).trimmed());
+        return;
+    }
 }
 
 #if (LIBNL_CURRENT<=216)
@@ -482,7 +517,7 @@ void SocketCanInterface::sendMessage(const CanMessage &msg) {
 
 bool SocketCanInterface::readMessage(QList<CanMessage> &msglist, unsigned int timeout_ms) {
 
-    struct can_frame frame;
+    struct canfd_frame frame;
     struct timespec ts_rcv;
     struct timeval tv_rcv;
     struct timeval timeout;
@@ -498,8 +533,8 @@ bool SocketCanInterface::readMessage(QList<CanMessage> &msglist, unsigned int ti
 
     int rv = select(_fd+1, &fdset, NULL, NULL, &timeout);
     if (rv > 0) {
-
-        if (::read(_fd, &frame, sizeof(struct can_frame)) < 0) {
+        int nbytes = ::read(_fd, &frame, sizeof(struct canfd_frame));
+        if (nbytes < 0) {
             return false;
         }
 
@@ -521,15 +556,19 @@ bool SocketCanInterface::readMessage(QList<CanMessage> &msglist, unsigned int ti
             msg.setTimestamp(tv_rcv.tv_sec, tv_rcv.tv_usec);
         }
 
-        msg.setId(frame.can_id);
+        msg.setId(frame.can_id & CAN_EFF_MASK);
         msg.setExtended((frame.can_id & CAN_EFF_FLAG)!=0);
         msg.setRTR((frame.can_id & CAN_RTR_FLAG)!=0);
         msg.setErrorFrame((frame.can_id & CAN_ERR_FLAG)!=0);
         msg.setInterfaceId(getId());
 
-        uint8_t len = frame.can_dlc;
-        if (len > 8) { len = 8; }
+        bool isFD = (nbytes == CANFD_MTU);
+        msg.setFD(isFD);
+        if (isFD) {
+            msg.setBRS((frame.flags & CANFD_BRS) != 0);
+        }
 
+        uint8_t len = frame.len;
         msg.setLength(len);
         for (int i=0; i<len; i++) {
             msg.setByte(i, frame.data[i]);

src/mainwindow.cpp

@@ -63,7 +63,7 @@ MainWindow::MainWindow(QWidget *parent) :
 
     QLabel* versionLabel = new QLabel(this);
     versionLabel->setText(QString("v%1").arg(CANGAROO_VERSION_STR));
-    versionLabel->setStyleSheet("padding-right: 15px; color: #000000; font-weight: bold; font-size: 11px;");
+    versionLabel->setStyleSheet("padding-right: 15px; font-weight: bold; font-size: 11px;");
     statusBar()->addPermanentWidget(versionLabel);
 
     QIcon icon(":/assets/cangaroo.png");
@@ -113,6 +113,29 @@ MainWindow::MainWindow(QWidget *parent) :
 
     _showSetupDialog_first = false;
 
+    // Theme Toggle Button in top-left (actually after spacer, so top-right)
+    _btnThemeToggle = new QPushButton(this);
+    _btnThemeToggle->setFixedSize(32, 32);
+    _btnThemeToggle->setCursor(Qt::PointingHandCursor);
+    _btnThemeToggle->setToolTip(tr("Toggle Dark/Light Mode"));
+    _btnThemeToggle->setFlat(true);
+    _btnThemeToggle->setStyleSheet(
+        "QPushButton {"
+        "  font-size: 18px;"
+        "  border-radius: 16px;"
+        "  background: transparent;"
+        "}"
+        "QPushButton:hover {"
+        "  background: rgba(0, 0, 0, 0.1);"
+        "}"
+    );
+
+    ui->horizontalLayoutControls->addWidget(_btnThemeToggle);
+    connect(_btnThemeToggle, &QPushButton::clicked, this, &MainWindow::onThemeToggleClicked);
+
+    // Default to Light
+    setTheme("light");
+
     setStyleSheet(
         "QMainWindow::separator {"
         "  background: transparent;"
@@ -210,10 +233,7 @@ Backend &MainWindow::backend()
 QMainWindow *MainWindow::createTab(QString title)
 {
     QMainWindow *mm = new QMainWindow(this);
-    QPalette pal(palette());
-    pal.setColor(QPalette::Window, QColor(0xeb, 0xeb, 0xeb));
     mm->setAutoFillBackground(true);
-    mm->setPalette(pal);
     ui->mainTabs->addTab(mm, title);
     return mm;
 }
@@ -798,3 +818,67 @@ void MainWindow::on_actionGenerator_View_triggered()
     addTxGeneratorWidget();
 }
 
+void MainWindow::onThemeToggleClicked()
+{
+    if (_currentTheme == "light") {
+        setTheme("dark");
+    } else {
+        setTheme("light");
+    }
+}
+
+void MainWindow::setTheme(const QString &theme)
+{
+    _currentTheme = theme;
+
+    if (theme == "light") {
+        qApp->setPalette(style()->standardPalette());
+        qApp->setStyleSheet("");
+        if (_btnThemeToggle) {
+            _btnThemeToggle->setText("🌙");
+            _btnThemeToggle->setStyleSheet(
+                "QPushButton {"
+                "  font-size: 18px;"
+                "  border-radius: 16px;"
+                "  background: transparent;"
+                "}"
+                "QPushButton:hover {"
+                "  background: rgba(0, 0, 0, 0.1);"
+                "}"
+            );
+        }
+    } else if (theme == "dark") {
+        QPalette darkPalette;
+        darkPalette.setColor(QPalette::Window, QColor(53, 53, 53));
+        darkPalette.setColor(QPalette::WindowText, Qt::white);
+        darkPalette.setColor(QPalette::Base, QColor(25, 25, 25));
+        darkPalette.setColor(QPalette::AlternateBase, QColor(53, 53, 53));
+        darkPalette.setColor(QPalette::ToolTipBase, Qt::white);
+        darkPalette.setColor(QPalette::ToolTipText, Qt::white);
+        darkPalette.setColor(QPalette::Text, Qt::white);
+        darkPalette.setColor(QPalette::Button, QColor(53, 53, 53));
+        darkPalette.setColor(QPalette::ButtonText, Qt::white);
+        darkPalette.setColor(QPalette::BrightText, Qt::red);
+        darkPalette.setColor(QPalette::Link, QColor(42, 130, 218));
+        darkPalette.setColor(QPalette::Highlight, QColor(42, 130, 218));
+        darkPalette.setColor(QPalette::HighlightedText, Qt::black);
+        qApp->setPalette(darkPalette);
+        qApp->setStyleSheet("QToolTip { color: #ffffff; background-color: #2a82da; border: 1px solid white; }");
+
+        if (_btnThemeToggle) {
+            _btnThemeToggle->setText("☀️");
+            _btnThemeToggle->setStyleSheet(
+                "QPushButton {"
+                "  font-size: 18px;"
+                "  border-radius: 16px;"
+                "  background: transparent;"
+                "  color: white;"
+                "}"
+                "QPushButton:hover {"
+                "  background: rgba(255, 255, 255, 0.1);"
+                "}"
+            );
+        }
+    }
+}
+

src/mainwindow.h

@@ -24,6 +24,7 @@
 #include <QMainWindow>
 #include <QList>
 #include <core/Backend.h>
+#include <QPushButton>
 
 QT_BEGIN_NAMESPACE
 class QAction;
@@ -50,6 +51,8 @@ class MainWindow : public QMainWindow
     explicit MainWindow(QWidget *parent = 0);
     ~MainWindow();
 
+    void setTheme(const QString &theme);
+
 protected:
     void closeEvent(QCloseEvent *event) Q_DECL_OVERRIDE;
 
@@ -81,6 +84,11 @@ private slots:
     void on_actionCan_Status_View_triggered();
     void on_actionGenerator_View_triggered();
     void on_actionReport_Issue_triggered();
+    void onThemeToggleClicked();
+
+private:
+    QString _currentTheme;
+    QPushButton *_btnThemeToggle;
 
 private:
     Ui::MainWindow *ui;

src/version.h

@@ -1,4 +1,4 @@
 #ifndef VERSION_H
 #define VERSION_H
-#define CANGAROO_VERSION_STR "0.4.5"
+#define CANGAROO_VERSION_STR "0.4.6"
 #endif // VERSION_H

src/window/GraphWindow/GaugeVisualization.cpp

@@ -44,7 +44,9 @@ void GaugeWidget::paintEvent(QPaintEvent *)
     painter.scale(side / 200.0, side / 200.0);
 
     // Draw background ring (Ghost Bar)
-    painter.setPen(QPen(QColor(240, 240, 240), 18, Qt::SolidLine, Qt::RoundCap));
+    QColor ghostColor = palette().color(QPalette::WindowText);
+    ghostColor.setAlpha(30);
+    painter.setPen(QPen(ghostColor, 18, Qt::SolidLine, Qt::RoundCap));
     painter.drawArc(-85, -85, 170, 170, -30 * 16, 240 * 16);
 
     // Active Radial Bar (The colored arc)
@@ -57,7 +59,7 @@ void GaugeWidget::paintEvent(QPaintEvent *)
     painter.drawArc(-85, -85, 170, 170, 210 * 16 - span, span);
 
     // Text: Value (Primary Readout, Centered)
-    painter.setPen(QColor(33, 37, 41)); // High contrast dark gray
+    painter.setPen(palette().color(QPalette::WindowText));
     QFont font = painter.font();
     font.setPixelSize(40);
     font.setBold(true);
@@ -68,14 +70,16 @@ void GaugeWidget::paintEvent(QPaintEvent *)
     font.setPixelSize(16);
     font.setBold(false);
     painter.setFont(font);
-    painter.setPen(QColor(108, 117, 125));
+    QColor unitColor = palette().color(QPalette::WindowText);
+    unitColor.setAlpha(160);
+    painter.setPen(unitColor);
     painter.drawText(QRect(-70, 15, 140, 20), Qt::AlignCenter, _unit);
 
     // Text: Name (Bottom Center)
     font.setPixelSize(13);
     font.setBold(true);
     painter.setFont(font);
-    painter.setPen(Qt::black);
+    painter.setPen(palette().color(QPalette::WindowText));
     painter.drawText(QRect(-100, 75, 200, 25), Qt::AlignCenter, _name);
 }
 

src/window/GraphWindow/ScatterVisualization.cpp

@@ -56,19 +56,20 @@ ScatterVisualization::ScatterVisualization(QWidget *parent, Backend &backend)
 
     // Create cursor line
     _cursorLine = new QGraphicsLineItem(_chart);
-    QPen cursorPen(Qt::gray, 1, Qt::DashLine);
+    QPen cursorPen(palette().color(QPalette::WindowText), 1, Qt::DashLine);
     _cursorLine->setPen(cursorPen);
     _cursorLine->setZValue(1000);
     _cursorLine->hide();
 
     // Create Tooltip Box
     _tooltipBox = new QGraphicsRectItem(_chart);
-    _tooltipBox->setBrush(QBrush(Qt::white));
-    _tooltipBox->setPen(QPen(Qt::lightGray, 1));
+    _tooltipBox->setBrush(QBrush(palette().color(QPalette::ToolTipBase)));
+    _tooltipBox->setPen(QPen(palette().color(QPalette::ToolTipText), 1));
     _tooltipBox->setZValue(2000);
     _tooltipBox->hide();
 
     _tooltipText = new QGraphicsTextItem(_tooltipBox);
+    _tooltipText->setDefaultTextColor(palette().color(QPalette::ToolTipText));
     _tooltipText->setTextInteractionFlags(Qt::NoTextInteraction);
     _tooltipText->setZValue(2001);