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class QCanSocket : public QObject
{
    Q_OBJECT

    QTcpSocket  *   fsocket;
    QTimer      *   ftimer;
    QString         fhost;
    quint16         fport;
    bool            freconnect;

    int             freconnectTimerId;
    void            timerEvent(QTimerEvent *);

    CCanQueue   *   fqueue;

public:

    explicit QCanSocket(QObject *parent = 0);
    ~QCanSocket();

    void        moveToThread(QThread *thread);

    quint16     port() const;
    QString     host() const;

signals:

    void    sigPacketDataReceived();
    void    sigConnected();
    void    sigDisconnected();
    void    sigError(QAbstractSocket::SocketError socketError);

public slots:

    void    start();
    void    stop();

private slots:

    void    dataReady();
    void    connectedToServer();
    void    disconnectedFromServer();
    void    sendRequest();
    void    socketError(QAbstractSocket::SocketError socketError);

};

QCanSocket::QCanSocket(QObject *parent) :
    QObject(parent)
{
    fhost = "192.168.1.33";
    fport = 10003;
    fsocket = new QTcpSocket();
    ftimer = new QTimer();
    connect(fsocket,SIGNAL(connected()),this,SLOT(connectedToServer()));
    connect(fsocket,SIGNAL(disconnected()),this,SLOT(disconnectedFromServer()));
    connect(fsocket,SIGNAL(readyRead()),this,SLOT(dataReady()));
    connect(fsocket,SIGNAL(error(QAbstractSocket::SocketError)),this,SLOT(disconnectedFromServer()));
    connect(ftimer,SIGNAL(timeout()),this,SLOT(sendRequest()));
    freconnect = false;
    freconnectTimerId = -1;
    fbufferSize = 4096;
    fsocket->setReadBufferSize(fbufferSize);
    fconnected = false;
}

QCanSocket::~QCanSocket()
{
    stop();
    delete  ftimer;
    delete  fsocket;
    delete  fbuffer;
}

void     QCanSocket::moveToThread(QThread *thread)
{
    QObject::moveToThread(thread);
    fsocket->moveToThread(thread);
    ftimer->moveToThread(thread);
}

void    QCanSocket::connectedToServer()
{
    emit    sigConnected();
}

void    QCanSocket::disconnectedFromServer()
{
    emit    sigDisconnected();
    if(freconnect)
    {
        freconnectTimerId = startTimer(2000);
    }
}

void    QCanSocket::socketError(QAbstractSocket::SocketError socketError)
{
    emit    sigError(socketError);
    if(freconnect)
    {
        freconnectTimerId = startTimer(2000);
    }
}

void    QCanSocket::timerEvent(QTimerEvent * event)
{
    if(freconnectTimerId==event->timerId())
    {
        killTimer(event->timerId());
        fsocket->connectToHost(fhost,fport);
        freconnectTimerId = -1;
    }
}

void    QCanSocket::start()
{
    freconnect = true;
    if(fsocket->state()==QAbstractSocket::UnconnectedState)
    {
        fsocket->connectToHost(fhost,fport);
    }
}

void    QCanSocket::stop()
{
    freconnect = false;
    if(fsocket->state()==QAbstractSocket::ConnectedState)
    {
        fsocket->disconnectFromHost();
    }
}

class QCanThread : public QThread
{
    Q_OBJECT

    QCanSocket  *   fcanSocket;

public:

    explicit    QCanThread(QObject *parent = 0);
    ~QCanThread();
    void        run();

    QCanSocket  *   canSocket() const {return fcanSocket;}

signals:

    void    sigConnected();
    void    sigDisconnected();

public slots:

    void     onTerminate();

};

QCanThread::QCanThread(QObject *parent) :
    QThread(parent)
{
    /*
    connect(this,SIGNAL(terminated()),this,SLOT(onTerminate()));
    connect(this,SIGNAL(finished()),this,SLOT(onTerminate()));
    */
    fcanSocket = new QCanSocket();
    fcanSocket->moveToThread(this);
}

void    QCanThread::run()
{
    fcanSocket->start();
    exec();
}

QCanThread::~QCanThread()
{
    delete  fcanSocket;
}

void     QCanThread::onTerminate()
{
    disconnect(fcanSocket,SIGNAL(sigPacketDataReceived()));
}

void    CArmDspLogic::connectToServer()
{
    if(!fcanThread)
    {
        fcanThread = new QCanThread;
        fproject->fieldContainer()->canParser()->setCanSocket(fcanThread->canSocket());
        connect(fcanThread->canSocket(),SIGNAL(sigConnected()),this,SLOT(connectedToServer()));
        connect(fcanThread->canSocket(),SIGNAL(sigDisconnected()),this,SLOT(disconnectedToServer()));
        fcanThread->start();
    }
}

void    CArmDspLogic::disconnectFromServer()
{
    if(fcanThread)
    {
        fproject->fieldContainer()->canParser()->setCanSocket(NULL);
        fcanThread->quit();
        fcanThread->wait();
        delete fcanThread;
        fcanThread = NULL;
    }
}

void    CArmDspLogic::connectedToServer()
{
    fconnLabel->setText(trUtf8("Подключён"));
}

void    CArmDspLogic::disconnectedToServer()
{
    fconnLabel->setText(trUtf8("Отключён"));
}

ASSERT failure in QCoreApplication::sendEvent: "Cannot send events to objects owned by a different thread. Current thread bff9850. Receiver '' (of type 'QNativeSocketEngine') was created in thread 11b3d718", file c:\ndk_buildrepos\qt-desktop\src\corelib\kernel\qcoreapplication.cpp, line 349
Invalid parameter passed to C runtime function.
Invalid parameter passed to C runtime function.

QCanThread::~QCanThread()
{
    //delete  fcanSocket; //закоментируем удаление сокета в деструктрое программы
}