ark::canbus::SocketCanDevice

Defined in header “ark/canbus/socket_can_device.hh”.

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A class that allows interacting with CAN devices (on Linux) via the socketcan interface. This abstracts away some of the C-level socket (and netlink) details.

Methods

• SocketCanDevice()
  Constructor. Initializes a SocketCAN device.

• ~SocketCanDevice()
  Destructor. Closes the CAN device.

• native_handle_type native_handle()
  Returns the underlying native handle for this object.

• void bind(const std::string & device_name)
  Binds to the given CAN device; throws if there is a problem doing so.

• void set_nonblocking(bool value)
  Sets if this socket is non-blocking or not.

• void enable_canfd_frames(bool enabled)
  Sets if this socket supports CANFD frames or not. Enabling this means that you may get back CAN data that is larger than 8 bytes.

• std::optional< CanPacket > read()
  Reads a single CAN packet off the bus.

• bool read(CanPacket & packet)
  Reads a single CAN packet off this bus. Returns true if a packet was read, or false otherwise.

• bool read(CanPacket & packet, std::chrono::system_clock::time_point & receive_time)
  Reads a CAN packet off the bus, and then retrieves the kernel timestamp that the CAN packet was received. Otherwise, equivalent to read().

• bool write(const CanPacket & packet)
  Writes a CAN packet onto this bus. Returns true if a packet was written, or false if the underlying buffer is full and a packet could not be written out. Throws on any other error.

• SocketCanLinkStatus link_status()
  Returns the link status of this CAN device.