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//============================================================================
// 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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