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

use std::time;
use tokio_socketcan_bcm::*;
use futures_util::stream::StreamExt;

#[tokio::main]
async fn main() {
    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) = can_frame_stream.next().await {
        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