Crate tokio_socketcan_isotp

Expand description

§tokio-socketcan-isotp

This library creates asynchronous wrapper around socketcan-isotp

Currently not dependent on the original, but rather on the modified of the socketcan-isotp libary, which adds read_to_vec method, in order to prevent mutable borrowing of the socket, when reading.

You may experience busy waiting, or soft locks when two consecutive locks. This is due to the error in Linux Kernel, which is now solved, but the maintainer of your Linux kernel might not have shipped it yet. I tested it on the mainline Kernel 6.6.5 and everything worked correctly. If you experience mentioned errors and cannot upgrade to newer kernel, refer to the src/lib.rs file to the poll method of the IsoTpWriteFuture, where a edit is suggested that might help with your situation.

The API is provided by the struct IsoTpSocket

Example of basic echoing server on vcan0:

use tokio_socketcan_isotp::{IsoTpSocket, StandardId, Error};

#[tokio::main]
async fn main() -> Result<(), Error> {
   let mut socket = IsoTpSocket::open(
       "vcan0",
       StandardId::new(0x123).expect("Invalid src id"),
       StandardId::new(0x321).expect("Invalid src id")
           )?;
            
    while let Ok(packet) = socket.read_packet()?.await {
        println!("{:?}", packet);
        let rx = socket.write_packet(packet)?.await;
    }
}

To setup vcan0 run following commands:

sudo modprobe can
sudo ip link add dev vcan0 type vcan
sudo ip link set up vcan0

Structs§

ExtendedId: Extended 29-bit CAN Identifier (0..=1FFF_FFFF).
FlowControlOptions: Flow control options aka can_isotp_fc_options
IsoTpBehaviour
IsoTpOptions: ISO-TP otions aka can_isotp_options
IsoTpReadFuture: Future for reading data from IsoTpSocket
IsoTpSocket: An asynchronous I/O wrapped socketcan_isotp::IsoTpSocket For reading and writting to the socket use IsoTpSocket::read_packet and IsoTpSocket::write_packet respectively.
IsoTpWriteFuture: Future for writing data to IsoTpSocket
LinkLayerOptions: Link layer options aka can_isotp_ll_options
StandardId: Standard 11-bit CAN Identifier (0..=0x7FF).
TxFlags

Enums§

Error: Possible errors
Id: A CAN Identifier (standard or extended).

Constants§

AF_CAN: CAN address family
CAN_ISOTP: ISO 15765-2 Transport Protocol
CAN_ISOTP_LL_OPTS: pass struct LinkLayerOptions
CAN_ISOTP_OPTS: pass struct IsoTpOptions
CAN_ISOTP_RECV_FC: pass struct FlowControlOptions
CAN_ISOTP_RX_STMIN: pass __u32 value in nano secs ignore received CF frames which timestamps differ less than val
CAN_ISOTP_TX_STMIN: pass __u32 value in nano secs use this time instead of value provided in FC from the receiver
CAN_MAX_DLEN: CAN_MAX_DLEN According to ISO 11898-1
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
PF_CAN: CAN protocol family
RECV_BUFFER_SIZE: Size of buffer allocated for reading TP data
RTR_FLAG: remote transmission request flag
SFF_MASK: valid bits in standard frame id
SOL_CAN_BASE: undocumented can.h constant
SOL_CAN_ISOTP: undocumented isotp.h constant