#include <socketcan.h>

Public Member Functions
	SocketCAN ()=default

	~SocketCAN ()

bool	open (const std::string &interface, boost::function< void(const can_frame &frame)> handler, int thread_priority)
	Open and bind socket.

void	close ()
	Close and unbind socket.

bool	isOpen () const
	Returns whether the socket is open or closed.

void	write (can_frame *frame) const
	Sends the referenced frame to the bus.

bool	startReceiverThread (int thread_priority)
	Starts a new thread, that will wait for socket events.

Public Attributes
int	sock_fd_ = -1

bool	terminate_receiver_thread_ = false

bool	receiver_thread_running_ = false

boost::function< void(const can_frame &frame)>	reception_handler

Constructor & Destructor Documentation

◆ SocketCAN()

can::SocketCAN::SocketCAN ( )

default

◆ ~SocketCAN()

can::SocketCAN::~SocketCAN ( )

Member Function Documentation

◆ close()

void can::SocketCAN::close ( )

Close and unbind socket.

◆ isOpen()

bool can::SocketCAN::isOpen ( ) const

Returns whether the socket is open or closed.

Returns: True if socket has opened.

◆ open()

bool can::SocketCAN::open	(	const std::string &	interface,
		boost::function< void(const can_frame &frame)>	handler,
		int	thread_priority )

Open and bind socket.

Parameters

interface	bus's name(example: can0).
handler	Pointer to a function which shall be called when frames are being received from the CAN bus.

Returns: true if it successfully open and bind socket.

◆ startReceiverThread()

bool can::SocketCAN::startReceiverThread ( int thread_priority )

Starts a new thread, that will wait for socket events.

◆ write()

void can::SocketCAN::write ( can_frame * frame ) const

Sends the referenced frame to the bus.

Parameters

frame referenced frame which you want to send.

Member Data Documentation

◆ receiver_thread_running_

bool can::SocketCAN::receiver_thread_running_ = false

◆ reception_handler

boost::function<void(const can_frame& frame)> can::SocketCAN::reception_handler

Pointer to a function which shall be called when frames are being received from the CAN bus

◆ sock_fd_

int can::SocketCAN::sock_fd_ = -1

CAN socket file descriptor

◆ terminate_receiver_thread_

bool can::SocketCAN::terminate_receiver_thread_ = false

Request for the child thread to terminate

The documentation for this class was generated from the following files:

rm_hw/include/rm_hw/hardware_interface/socketcan.h
rm_hw/src/hardware_interface/socketcan.cpp

Public Member Functions

Public Attributes