fpsdk::common::can::RawCan Class Reference

Raw CAN helper class using SocketCAN. More...

#include <can.hpp>

Inheritance diagram for fpsdk::common::can::RawCan:

Collaboration diagram for fpsdk::common::can::RawCan:

Public Member Functions
	RawCan (const std::string &device)
	Constructor.
	~RawCan ()
	Destructor.
bool	Open ()
	Open CAN interface.
bool	SetFilters (const std::vector< struct can_filter > &filters)
	Set filters.
void	Close ()
	Close CAN interface.
bool	IsOpen () const
	Check if CAN is open.
int	GetSocket () const
	Get socket.
int	GetErrno () const
	Get last error (errno)
std::string	GetStrerror ()
	Get last error string (strerror)
void	FlushInput ()
	Flush all pending input data.
bool	SendFrame (CanFrame &frame)
	Send raw CAN frame (standard, extended and FD, and combinations thereof)
bool	ReadFrame (struct can_frame &frame, const int timeout=0)
	Read raw classical CAN frame.
bool	SendFrame (const struct can_frame &frame)
	Send raw classical CAN frame.
bool	SendFrame (const struct canfd_frame &frame)
	Send raw CAN FD frame.
bool	ReadFrame (struct canfd_frame &frame, const int timeout=0)
	Read raw CAN FD frame.
bool	ReadFrame (CanFrame &frame, const int timeout=0)
	Read raw CAN frame (standard, extended and FD, and combinations thereof)

Protected Attributes
std::string	device_
	Device name.
int	sock_
	The socket to the CAN inferface.
int	saved_errno_
	Saved errno.

Detailed Description

Raw CAN helper class using SocketCAN.

Definition at line 142 of file can.hpp.

Constructor & Destructor Documentation

RawCan()

fpsdk::common::can::RawCan::RawCan

(

const std::string &

device

)

Constructor.

Parameters

[in]

device

Device name (e.g. "can0")

Member Function Documentation

Open()

bool fpsdk::common::can::RawCan::Open

(

)

Open CAN interface.

Returns

true if device was successfully opened, false otherwise

SetFilters()

bool fpsdk::common::can::RawCan::SetFilters

(

const std::vector< struct can_filter > &

filters

)

Set filters.

Parameters

[in]

filters

List of filters to apply to the CAN interface

Returns

true if filters were applied successfully, false othwise

See https://www.kernel.org/doc/html/latest/networking/can.html#raw-socket-option-can-raw-filter and linux/can.h for the can_filter struct documentation (for example, the filter flags).

IsOpen()

bool fpsdk::common::can::RawCan::IsOpen

(

)

const

Check if CAN is open.

Returns

true if socket is open, false otherwise

GetSocket()

int fpsdk::common::can::RawCan::GetSocket

(

)

const

Get socket.

Returns

the socket, -1 if interface is not opened

GetErrno()

int fpsdk::common::can::RawCan::GetErrno

(

)

const

Get last error (errno)

Returns

the last error (errno), 0 = no error

GetStrerror()

std::string fpsdk::common::can::RawCan::GetStrerror

(

)

Get last error string (strerror)

Returns

the last error string

SendFrame() [1/3]

bool fpsdk::common::can::RawCan::SendFrame

(

CanFrame &

frame

)

Send raw CAN frame (standard, extended and FD, and combinations thereof)

Parameters

[in,out]

frame

The CAN frame to send

Returns

true if sent successfully, false otherwise

ReadFrame() [1/3]

bool fpsdk::common::can::RawCan::ReadFrame	(	struct can_frame &	frame,
		const int	timeout = 0 )

Read raw classical CAN frame.

Parameters

[out]	frame	The received frame
[in]	timeout	Timeout to wait for a frame [ms], use 0 for no wait, < 0 for infinite wait (like poll())

Returns

true if a frame was received, false otherwise

SendFrame() [2/3]

bool fpsdk::common::can::RawCan::SendFrame

(

const struct can_frame &

frame

)

Send raw classical CAN frame.

Parameters

[in]

frame

The CAN frame to send

Returns

true if sent successfully, false otherwise

SendFrame() [3/3]

bool fpsdk::common::can::RawCan::SendFrame

(

const struct canfd_frame &

frame

)

Send raw CAN FD frame.

Parameters

[in]

frame

The CAN frame to send

Returns

true if sent successfully, false otherwise

ReadFrame() [2/3]

bool fpsdk::common::can::RawCan::ReadFrame	(	struct canfd_frame &	frame,
		const int	timeout = 0 )

Read raw CAN FD frame.

Parameters

[out]	frame	The received frame
[in]	timeout	Timeout to wait for a frame [ms], use 0 for no wait, < 0 for infinite wait (like poll())

Returns

true if a frame was received, false otherwise

ReadFrame() [3/3]

bool fpsdk::common::can::RawCan::ReadFrame	(	CanFrame &	frame,
		const int	timeout = 0 )

Read raw CAN frame (standard, extended and FD, and combinations thereof)

Parameters

[out]	frame	The received frame
[in]	timeout	Timeout to wait for a frame [ms], use 0 for no wait, < 0 for infinite wait (like poll())

Returns

true if a frame was received, false otherwise

Member Data Documentation

device_

std::string fpsdk::common::can::RawCan::device_

protected

Device name.

Definition at line 272 of file can.hpp.

sock_

int fpsdk::common::can::RawCan::sock_

protected

The socket to the CAN inferface.

Definition at line 273 of file can.hpp.

saved_errno_

int fpsdk::common::can::RawCan::saved_errno_

protected

Saved errno.

Definition at line 274 of file can.hpp.

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The documentation for this class was generated from the following file:

• fpsdk_common/include/fpsdk_common/can.hpp