Raw CAN socket class. More...

#include <CANRawSocket.h>

Public Types
enum	ShutdownDirection { STOP_SEND = SHUT_WR , STOP_RECEIVE = SHUT_RD , STOP_BOTH = SHUT_RDWR }

Public Member Functions
void	bind (std::string_view interface="")

	CANRawSocket ()

void	connect (std::string_view interface="")

void	disconnect ()
	Disconnect and unset any foreign addresses.

std::string	getForeignInterface () const

std::string	getLocalInterface () const

int	nativeHandle ()
	return the native handle of the open socket

bool	peerDisconnected () const
	returns whether a peer disconnected

int	receive (void *buffer, size_t len)
	receive data from a bound socket

int	receiveFrom (void *buffer, size_t len, std::string &interface)

int	send (const void *buffer, size_t len)
	send data through a connected socket

void	sendTo (const void *buffer, size_t len, std::string_view interface)

void	setErrorFilter (const can_filter *filters, size_t len)

void	setLocalLoopback (bool enable)

void	setReceiveFilter (const can_filter *filters, size_t len)

void	setReceiveOwnMessages (bool enable)

void	shutdown (ShutdownDirection type)
	shutdown the connection in the specified direction

int	timedReceive (void *buffer, size_t len, int timeout)
	receive data from a bound socket, return after the given timespan

int	timedReceiveFrom (void *buffer, size_t len, std::string &interface, int timeout)

Protected Types
enum	SocketDomain { INTERNET = PF_INET , UNIX = PF_LOCAL , CAN = PF_CAN }

enum	SocketType { RAW = SOCK_RAW , STREAM = SOCK_STREAM , DATAGRAM = SOCK_DGRAM }

Protected Member Functions
int	getInterfaceIndex (std::string_view interface) const
	get CAN interface index from interface name

std::string	getInterfaceName (const sockaddr_can &addr) const
	get CAN interface name from socket address structure

Protected Attributes
bool	m_peerDisconnected

int	m_socket

Detailed Description

Raw CAN socket class.

Definition at line 10 of file CANRawSocket.h.

Member Enumeration Documentation

◆ ShutdownDirection

enum NET::SimpleSocket::ShutdownDirection

inherited

Enumerator
STOP_SEND	disable all variants of send() on the socket, receive calls still work
STOP_RECEIVE	disable all variants of receive() on the socket, send calls still work
STOP_BOTH	disable all send() and receive() calls on the socket

Definition at line 51 of file SimpleSocket.h.

◆ SocketDomain

enum NET::SimpleSocket::SocketDomain

protectedinherited

Enumerator
INTERNET
UNIX
CAN

Definition at line 183 of file SimpleSocket.h.

◆ SocketType

enum NET::SimpleSocket::SocketType

protectedinherited

Enumerator
RAW
STREAM
DATAGRAM

Definition at line 190 of file SimpleSocket.h.

Constructor & Destructor Documentation

◆ CANRawSocket()

CANRawSocket::CANRawSocket ( )

Construct a raw CAN socket

Exceptions

SocketException thrown if unable to create the socket

Definition at line 11 of file CANRawSocket.cpp.

Member Function Documentation

◆ sendTo()

void CANRawSocket::sendTo	(	const void *	buffer,
		size_t	len,
		std::string_view	interface )

Send the given CAN frame using the specified interface.

Can be substituted with send() if the socket is first connected to any interface. If sendTo() is used on a connected socket, the destination parameters will be ignored, and the datagram will be sent to the connected socket.

Like send(), sendTo() blocks until the message was sent.

Parameters

buffer	pointer to CAN frame structure to be send
len	size of the can frame structure
interface	specifies the CAN interface to send used for sending

Exceptions

SocketException thrown if unable to send frame

Definition at line 15 of file CANRawSocket.cpp.

◆ receiveFrom()

int CANRawSocket::receiveFrom	(	void *	buffer,
		size_t	len,
		std::string &	interface )

Read one CAN frame from this socket.

In order to receive data, the socket has to be bound at least to a specific interface. This is done by explicitly binding the socket, or sending data through the socket.

Parameters

buffer	pointer to CAN frame structure
len	size of the can frame structure
interface	specifies the CAN interface used for reception

Returns: number of bytes received

Exceptions

SocketException thrown if unable to receive datagram

Definition at line 28 of file CANRawSocket.cpp.

◆ timedReceiveFrom()

int CANRawSocket::timedReceiveFrom	(	void *	buffer,
		size_t	len,
		std::string &	interface,
		int	timeout )

Read one CAN frame from this socket. If no interface has received a frame before the timeout runs out, the function will return without changing the buffer.

In order to receive data, the socket has to be bound at least to a specific interface. This is done by explicitly binding the socket, or sending data through the socket.

Parameters

buffer	pointer to CAN frame structure
len	size of the can frame structure
interface	specifies the CAN interface used for reception
timeout	timeout in milliseconds

Returns: number of bytes received, 0 on timeout

Exceptions

SocketException thrown if unable to receive datagram

Definition at line 41 of file CANRawSocket.cpp.

◆ setReceiveFilter()

void CANRawSocket::setReceiveFilter	(	const can_filter *	filters,
		size_t	len )

Parameters

filters
len	number of filters to set

Exceptions

SocketException

Definition at line 61 of file CANRawSocket.cpp.

◆ setErrorFilter()

void CANRawSocket::setErrorFilter	(	const can_filter *	filters,
		size_t	len )

Parameters

filters
len	number of filters to set

Exceptions

SocketException

Definition at line 71 of file CANRawSocket.cpp.

◆ setLocalLoopback()

void CANRawSocket::setLocalLoopback ( bool enable )

Parameters

enable

Exceptions

SocketException

Definition at line 81 of file CANRawSocket.cpp.

◆ setReceiveOwnMessages()

void CANRawSocket::setReceiveOwnMessages ( bool enable )

Parameters

enable

Exceptions

SocketException

Definition at line 92 of file CANRawSocket.cpp.

◆ connect()

void CANSocket::connect ( std::string_view interface = "" )

inherited

Establish a socket connection with the given socket

Parameters

interface specifies the CAN interface to connect to

Exceptions

SocketException thrown if unable to establish connection

Definition at line 16 of file CANSocket.cpp.

◆ bind()

void CANSocket::bind ( std::string_view interface = "" )

inherited

Set the local interface to the specified interface

Parameters

interface specifies the CAN interface to bind to

Exceptions

SocketException thrown if setting local path fails

Definition at line 26 of file CANSocket.cpp.

◆ getLocalInterface()

std::string CANSocket::getLocalInterface ( ) const

inherited

Get the local interface (after binding the socket)

Returns: local interface of socket

Exceptions

SocketException thrown if fetch fails

Definition at line 36 of file CANSocket.cpp.

◆ getForeignInterface()

std::string CANSocket::getForeignInterface ( ) const

inherited

Get the foreign interface. Call connect() before using this function.

Returns: foreign interface

Exceptions

SocketException thrown if fetch fails

Definition at line 47 of file CANSocket.cpp.

◆ getInterfaceName()

std::string CANSocket::getInterfaceName ( const sockaddr_can & addr ) const

protectedinherited

get CAN interface name from socket address structure

Definition at line 58 of file CANSocket.cpp.

◆ getInterfaceIndex()

int CANSocket::getInterfaceIndex ( std::string_view interface ) const

protectedinherited

get CAN interface index from interface name

Definition at line 69 of file CANSocket.cpp.

◆ nativeHandle()

int NET::SimpleSocket::nativeHandle ( )

inlineinherited

return the native handle of the open socket

Definition at line 61 of file SimpleSocket.h.

◆ send()

int SimpleSocket::send	(	const void *	buffer,
		size_t	len )

inherited

send data through a connected socket

send() can only be used on a socket that called connect() before. If you try to use send() on a not connected socket, SocketException will be thrown.

If you are using a stream oriented socket (like TCPSocket), the operating system is allowed to send only a part of the packet you told it to send, so send() will return the number of bytes actually sent. It is your responsibility to resend the data not sent by send()

If you are using a datagram oriented socket (like UDPSocket or SCTPSocket) the operating system will only send and receive complete datagrams, but send() will fail if you are trying to send too much data. In that case SocketException will be thrown.

Parameters

buffer	data to be send
len	length of the data to be sent

Returns: number of bytes sent

Exceptions

SocketException if sending went wrong

Definition at line 44 of file SimpleSocket.cpp.

◆ receive()

int SimpleSocket::receive	(	void *	buffer,
		size_t	len )

inherited

receive data from a bound socket

receive() can only be used on a socket that called bind() or connect() before. If you try to use receive() on a not bound socket, SocketException will be thrown.

If using a stream oriented Socket, receive can return a part of a received messge, e.g. if you send 100 bytes, it's possible you will receive 50 bytes two times in a row. However, the order of the sent data will be preserved.

If you are using a datagram oriented sockets, you will only receive whole datagrams. But beware of using a too small buffer. If the receive buffer is too small for the received datagram, the data you didn't read in the receive call will be discared.

If the remote host has closed the connection (on a connection based socket like TCP or SCTP) receive() will return 0. If you are using a connectionless protocol (like UDP) there is no way to determine wheter the connection has been closed by the remote host or not.

Parameters

buffer	the buffer the received data will be written to
len	length of the provided buffer, receive will not read more than that

Returns: number of bytes received

Exceptions

SocketException in case an error occured

Definition at line 62 of file SimpleSocket.cpp.

◆ timedReceive()

int SimpleSocket::timedReceive	(	void *	buffer,
		size_t	len,
		int	timeout )

inherited

receive data from a bound socket, return after the given timespan

timedReceive() can only be used on a socket that called bind() or connect before. If you try to use receive() on a not bound socket, SocketException will be thrown.

If using a stream oriented Socket, receive can return a part of a received messge, e.g. if you send 100 bytes, it's possible you will receive 50 bytes two times in a row. However, the order of the sent data will be preserved.

If you are using a datagram oriented sockets, you will only receive whole datagrams. But beware of using a too small buffer. If the receive buffer is too small for the received datagram, the data you didn't read in the receive call will be discared.

If the remote host has closed the connection (on a connection based socket like TCP or SCTP) receive() will return 0. If you are using a connectionless protocol (like UDP) there is no way to determine wheter the connection has been closed by the remote host or not.

Parameters

buffer	the buffer the received data will be written to
len	length of the provided buffer, receive will not read more than that
timeout	the timeout in ms after which receive will give up and return

Returns: number of bytes received, 0 on timeout

Exceptions

SocketException in case an error occured

Definition at line 69 of file SimpleSocket.cpp.

◆ disconnect()

void SimpleSocket::disconnect ( )

inherited

Disconnect and unset any foreign addresses.

This will ungracefully abort the connection by sending an RST frame. disconnect() should not be used under normal circumstances, as it will terminate the connection OOB, preventing the other end of the communication from retrieving data that would still be available in the OS buffer.

For normal termination of a connection use shutdown().

Exceptions

SocketException thrown if unable to disconnect

Definition at line 93 of file SimpleSocket.cpp.

◆ shutdown()

void SimpleSocket::shutdown ( ShutdownDirection type )

inherited

shutdown the connection in the specified direction

This will gracefully end a connection by sending a FIN frame. Use this to end a normal communication cycle. To abort a connection see disconnect().

Depending on the specified ShutdownDirection, calls for that direction will stop working. Use this function if you want to have more control than just destroing the socket. It allows you to cut the connection in one direction, or both.

If you use shutdown() on an unconnected socket, the corresponding calls will simply stop working.

Parameters

type	the ShutdownDirection that be used

Exceptions

SocketException in case an error occured

Definition at line 108 of file SimpleSocket.cpp.

◆ peerDisconnected()

bool SimpleSocket::peerDisconnected ( ) const

inherited

returns whether a peer disconnected

Will only work if you use a connection oriented, connected socket. Returns true if the peer disconnected. Use this function after a call to receive, returned 0 received bytes.

Returns: true if a peer disconnected

Definition at line 114 of file SimpleSocket.cpp.

Member Data Documentation

◆ m_socket

int NET::SimpleSocket::m_socket

protectedinherited

Definition at line 204 of file SimpleSocket.h.

◆ m_peerDisconnected

bool NET::SimpleSocket::m_peerDisconnected

protectedinherited

Definition at line 205 of file SimpleSocket.h.

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

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ ShutdownDirection

◆ SocketDomain

◆ SocketType

Constructor & Destructor Documentation

◆ CANRawSocket()

Member Function Documentation

◆ sendTo()

◆ receiveFrom()

◆ timedReceiveFrom()

◆ setReceiveFilter()

◆ setErrorFilter()

◆ setLocalLoopback()

◆ setReceiveOwnMessages()

◆ connect()

◆ bind()

◆ getLocalInterface()

◆ getForeignInterface()

◆ getInterfaceName()

◆ getInterfaceIndex()

◆ nativeHandle()

◆ send()

◆ receive()

◆ timedReceive()

◆ disconnect()

◆ shutdown()

◆ peerDisconnected()

Member Data Documentation

◆ m_socket

◆ m_peerDisconnected