Struct SocketCan 

pub struct SocketCan { /* private fields */ }

A CANopen transport over a Linux SocketCAN interface.

Implementations

impl SocketCan

pub fn open(interface: &str) -> Result<Self>

Open the named CAN interface (e.g. "can0" or "vcan0").

Fails with a message naming the interface — and hinting that it may not be up — if it does not exist.

pub fn set_read_timeout(&self, timeout: Duration) -> Result<()>

Set a read timeout, so SocketCan::recv (and the SDO helpers) fail with a timeout error rather than blocking forever.

pub fn set_nonblocking(&self, nonblocking: bool) -> Result<()>

Put the socket into (non-)blocking mode.

pub fn send(&self, cob_id: u16, data: &[u8]) -> Result<()>

Transmit data on COB-ID cob_id as a standard data frame.

pub fn recv(&self) -> Result<Received>

Receive the next CANopen data frame, skipping remote and error frames and any frame with a 29-bit extended identifier.

pub fn send_nmt(&self, command: NmtCommand, target: NodeId) -> Result<()>

Send an NMT node-control command to target on COB-ID 0x000.

Use NodeId::BROADCAST to address every node at once — e.g. send_nmt(NmtCommand::StartRemoteNode, NodeId::BROADCAST).

pub fn sdo_read( &self, node: NodeId, addr: Address, data_type: DataType, ) -> Result<Value, SdoError>

Read object addr from node, interpreting the result as data_type.

Runs the full SDO upload transaction (expedited or segmented) and returns the value, or an SdoError on abort or I/O failure. Set a read timeout first so an unresponsive node cannot block forever.

pub fn sdo_write( &self, node: NodeId, addr: Address, value: Value, ) -> Result<(), SdoError>

Write value to object addr on node.

Runs the full SDO download transaction (expedited or segmented), choosing the transfer type from the value’s size.

Trait Implementations

impl Debug for SocketCan

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

Formats the value using the given formatter.