Crate tokio_socketcan_bcm

The Broadcast Manager protocol provides a command based configuration interface to filter and send (e.g. cyclic) CAN messages in kernel space. Filtering messages in kernel space may significantly reduce the load in an application.

A BCM socket is not intended for sending individual CAN frames. To send invidiual frames use the tokio-socketcan crate.

Example 1

use futures::stream::Stream;
use std::time;
use tokio_socketcan_bcm::*;

fn main() {
    let socket = BCMSocket::open_nb("vcan0").unwrap();
    // Throttle messages in kernel space to max every 5 seconds
    let ival = time::Duration::from_secs(5);
    let f = socket
        .filter_id_incoming_frames(0x123.into(), ival, ival)
        .unwrap()
        .map_err(|err| eprintln!("IO error {:?}", err))
        .for_each(|frame| {
            println!("Frame {:?}", frame);
            Ok(())
        });
    tokio::run(f);
}

Example 2 (async/await)

Notice: async/await currently requires nightly rust and the tokio async-await-preview feature.

#![feature(await_macro, async_await, futures_api)]

#[macro_use]
extern crate tokio;

use std::time;
use tokio::prelude::*;
use tokio_socketcan_bcm::*;

fn main() {
    tokio::run_async(
        async {
            let socket = BCMSocket::open_nb("vcan0").unwrap();
            let ival = time::Duration::from_millis(0);

            // create a stream of messages that filters by the can frame id 0x123
            let mut can_frame_stream = socket
                .filter_id_incoming_frames(0x123.into(), ival, ival)
                .unwrap();

            while let Some(frame) = await!(can_frame_stream.next()) {
                println!("Frame {:?}", frame);
                ()
            }
        },
    );
}

Structs

BCMSocket	A socket for a CAN device, specifically for broadcast manager operations.
BcmFrameStream
BcmMsgHead	BcmMsgHead
BcmMsgHeadFrameLess	BcmMsgHeadFrameLess
BcmStream
CANAddr
CANFrame	CANFrame
FrameFlags
TxMsg

Enums

CANMessageId	11-bit or 29-bit identifier of can frame.
ConstructionError	Error that occurs when creating CAN packets

Constants

AF_CAN	defined in socket.h
CAN_BCM
CAN_FD_FRAME
MAX_NFRAMES
PF_CAN	defined in socket.h
RX_ANNOUNCE_RESUM	refers also to the time-out supervision of the management RX_SETUP. By setting this flag, when an RX-outs occours, a RX_CHANGED will be generated when the (cyclic) receive restarts. This will happen even if the user data have not changed.
RX_CHANGED	sent if the first or a revised CAN message was received
RX_CHECK_DLC	A change of the DLC leads to an RX_CHANGED.
RX_DELETE	remove RX content filter subscription
RX_FILTER_ID	Filter by can_id alone, no frames required (nframes=0)
RX_NO_AUTOTIMER	If the timer ival1 in the RX_SETUP has been set equal to zero, on receipt of the CAN message the timer for the timeout monitoring is automatically started. Setting this flag prevents the automatic start timer.
RX_READ	read properties of RX content filter subscription
RX_RTR_FRAME	the filter passed is used as CAN message to be sent when receiving an RTR frame.
RX_SETUP	create RX content filter subscription
RX_STATUS	reply to RX_READ request
RX_TIMEOUT	cyclic message is absent
SETTIMER	Flags
SOCK_DGRAM	datagram (connection less) socket
STARTTIMER	start the timer with the actual value of ival1, ival2 and count. Starting the timer leads simultaneously to emit a can_frame.
TX_ANNOUNCE	A change of data by the process is emitted immediatly. (Requirement of 'Changing Now' - BAES)
TX_COUNTEVT	create the message TX_EXPIRED when count expires
TX_CP_CAN_ID	Copies the can_id from the message header to each subsequent frame in frames. This is intended only as usage simplification.
TX_DELETE	remove (cyclic) transmission task
TX_EXPIRED	notification on performed transmissions (count=0)
TX_READ	read properties of (cyclic) transmission task
TX_RESET_MULTI_ID	forces a reset of the index counter from the update to be sent by multiplex message even if it would not be necessary because of the length.
TX_SEND	send one CAN frame
TX_SETUP	OpCodes
TX_STATUS	reply to TX_READ request

Traits

IntoBcmStream