From 33613a85afc4b1481367fbe92a17ee59c240250b Mon Sep 17 00:00:00 2001
From: Sven Eisenhauer <sven@sven-eisenhauer.net>
Date: Fri, 10 Nov 2023 15:11:48 +0100
Subject: add new repo

---
 Master/Real-Time Systems/mki/src/libcanio.h | 81 +++++++++++++++++++++++++++++
 1 file changed, 81 insertions(+)
 create mode 100644 Master/Real-Time Systems/mki/src/libcanio.h

(limited to 'Master/Real-Time Systems/mki/src/libcanio.h')

diff --git a/Master/Real-Time Systems/mki/src/libcanio.h b/Master/Real-Time Systems/mki/src/libcanio.h
new file mode 100644
index 0000000..8f57b14
--- /dev/null
+++ b/Master/Real-Time Systems/mki/src/libcanio.h	
@@ -0,0 +1,81 @@
+//============================================================================
+// Name:
+//   libcanio.h
+//
+// Summary:
+//   A pretty simple interface to the SocketCan layer,
+//   which trys to make the communication with the can interfaces easier.
+//
+// Created on:
+//   Sep 24, 2010
+//
+// Author:
+//   Christian Steiger
+//============================================================================
+
+#ifndef LIBCANIO_H_
+#define LIBCANIO_H_
+
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#include <cerrno>
+
+#include <unistd.h>
+#include <net/if.h>
+#include <sys/time.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <linux/can.h>
+#include <linux/can/raw.h>
+#include <linux/can/error.h>
+
+class CanIO
+{
+	public:
+		// constructor and destructor
+		CanIO();
+		virtual ~CanIO();
+
+		// connect and disconnect
+		int connect(const char* const interface = "can0");
+		int disconnect(void);
+
+		// read and write messages
+		ssize_t readMsg(can_frame* frame, timeval* timestamp = 0);
+		ssize_t writeMsg(const can_frame* const frame);
+
+		// socketcan options
+		int showCanErrors(const can_err_mask_t err_mask = 0);
+		int hideCanErrors(void);
+		int enableLoopBack(void);
+		int disableLoopBack(void);
+		int enableRecvOwnMsgs(void);
+		int disableRecvOwnMsgs(void);
+
+		// filter functions
+		int addFilter(const can_filter* const filter, const unsigned int size);
+		int enableFilter(void);
+		int disableFilter(void);
+		int clearFilter(void);
+
+		// debugging help
+		void hideErrors(void);
+		void showErrors(void);
+
+	protected:
+		// class members
+		int	m_socket;
+		char m_print_errors;
+		char m_filter_active;
+		can_filter*	m_filter;
+		unsigned short int m_filter_size;
+
+	private:
+		// dont use this function, it will be obsolete when
+		// the filter functions get a better implementation
+		char isVisible(const unsigned int id);
+
+};
+
+#endif
-- 
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