Crate socketcan2

SocketCAN support.

Features

• Receive can frames
• Accurate timestamps (timestamps also support multi threading in contrast to receiving the TIMESTAMP via an ioctl call, which does not support mt)
• epoll-support (allows to wait on multiple CAN devices in the same thread)
• Send CAN frames (not implemented yet)
• Filter CAN frames (not implemented yet)

Usage example

#[cfg(test)]
fn on_recv(msg: &Box<Msg>, _user_data: &u64) {
  println!("timestamp: {:?}", msg.timestamp());
  print!("received CAN frame (id: {}): ", msg.can_id());
  for i in 0..msg.len() {
    print!("{} ", msg[i as usize]);
  }
  println!("");
}
 
#[cfg(test)]
mod tests {
  use super::*;
  #[test]
  fn it_works() {
    let can = Can::open("vcan0").unwrap();
    let mut cg = CanGroup::<u64>::new();
    cg.add(can, 0).unwrap();
    match cg.next(Duration::milliseconds(-1), on_recv) {
      Ok(no_timeout) => if !no_timeout { panic!("timeout"); },
      Err(_) => panic!("error"),
    }
  }
}

Structs

Can

CAN socket

CanGroup

Type for receiving data from multiple CAN devices. This type also supports timeouts.

Msg

CAN message type.

Constants

EFF_FLAG

if set, indicate 29 bit extended format

EFF_MASK

valid bits in extended frame id

ERR_FLAG

error flag

ERR_MASK

valid bits in error frame

ERR_MASK_ALL

an error mask that will cause SocketCAN to report all errors

ERR_MASK_NONE

an error mask that will cause SocketCAN to silently drop all errors

RTR_FLAG

remote transmission request flag

SFF_MASK

valid bits in standard frame id