Struct CanMessage 

pub struct CanMessage { /* private fields */ }

Unified CAN message type.

This structure represents a CAN message in a hardware-independent way. It supports both CAN 2.0 and CAN-FD messages.

Examples

use canlink_hal::{CanMessage, CanId};

// Create a standard CAN 2.0 message
let msg = CanMessage::new_standard(0x123, &[1, 2, 3, 4]).unwrap();
assert_eq!(msg.id(), CanId::Standard(0x123));
assert_eq!(msg.data(), &[1, 2, 3, 4]);

// Create a CAN-FD message
let fd_msg = CanMessage::new_fd(CanId::Standard(0x456), &[1; 64]).unwrap();
assert_eq!(fd_msg.data().len(), 64);

Implementations

impl CanMessage

pub fn new_standard(id: u16, data: &[u8]) -> Result<CanMessage, CanError>

Create a standard CAN 2.0 data frame.

Arguments

• id - Standard 11-bit CAN ID (0x000-0x7FF)
• data - Data bytes (0-8 bytes)

Errors

Returns CanError::InvalidId if the ID is out of range. Returns CanError::InvalidDataLength if data length exceeds 8 bytes.

Examples

use canlink_hal::CanMessage;

let msg = CanMessage::new_standard(0x123, &[1, 2, 3, 4]).unwrap();
assert_eq!(msg.data(), &[1, 2, 3, 4]);

pub fn new_extended(id: u32, data: &[u8]) -> Result<CanMessage, CanError>

Create an extended CAN 2.0B data frame.

Arguments

• id - Extended 29-bit CAN ID (0x00000000-0x1FFFFFFF)
• data - Data bytes (0-8 bytes)

Errors

Returns CanError::InvalidId if the ID is out of range. Returns CanError::InvalidDataLength if data length exceeds 8 bytes.

Examples

use canlink_hal::CanMessage;

let msg = CanMessage::new_extended(0x12345678, &[1, 2, 3, 4]).unwrap();
assert_eq!(msg.data(), &[1, 2, 3, 4]);

pub fn new_fd(id: CanId, data: &[u8]) -> Result<CanMessage, CanError>

Create a CAN-FD data frame.

Arguments

• id - CAN identifier (standard or extended)
• data - Data bytes (0-64 bytes)

Errors

Returns CanError::InvalidDataLength if data length exceeds 64 bytes.

Examples

use canlink_hal::{CanMessage, CanId};

let msg = CanMessage::new_fd(CanId::Standard(0x123), &[1; 64]).unwrap();
assert_eq!(msg.data().len(), 64);

pub fn new_remote(id: CanId, dlc: u8) -> Result<CanMessage, CanError>

Create a remote frame (RTR).

Arguments

• id - CAN identifier (standard or extended)
• dlc - Data Length Code (0-8)

Errors

Returns CanError::InvalidDataLength if DLC exceeds 8.

Examples

use canlink_hal::{CanMessage, CanId};

let msg = CanMessage::new_remote(CanId::Standard(0x123), 4).unwrap();
assert!(msg.is_remote());

pub const fn id(&self) -> CanId

Get the CAN identifier.

pub fn data(&self) -> &[u8]

Get the message data.

pub const fn timestamp(&self) -> Option<Timestamp>

Get the timestamp.

pub const fn flags(&self) -> MessageFlags

Get the message flags.

pub fn set_timestamp(&mut self, timestamp: Timestamp)

Set the timestamp.

pub fn is_remote(&self) -> bool

Check if this is a remote frame.

pub fn is_fd(&self) -> bool

Check if this is a CAN-FD frame.

pub fn is_brs(&self) -> bool

Check if this frame uses bit rate switching.

pub fn is_esi(&self) -> bool

Check if this frame has error state indicator set.

Trait Implementations

impl Clone for CanMessage

fn clone(&self) -> CanMessage

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for CanMessage

fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for CanMessage

fn deserialize<__D>( __deserializer: __D, ) -> Result<CanMessage, <__D as Deserializer<'de>>::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl PartialEq for CanMessage

fn eq(&self, other: &CanMessage) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Serialize for CanMessage

fn serialize<__S>( &self, __serializer: __S, ) -> Result<<__S as Serializer>::Ok, <__S as Serializer>::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl Eq for CanMessage

impl StructuralPartialEq for CanMessage