osaRTSocketCAN Class Reference

A Real Time Socket CAN device. More...

#include <osaRTSocketCAN.h>

Inheritance diagram for osaRTSocketCAN:

Public Member Functions
	osaRTSocketCAN (const std::string &devicename, osaCANBus::Rate rate, osaCANBus::Loopback loopback=osaCANBus::LOOPBACK_OFF)
	Constructor. More...
	~osaRTSocketCAN ()
	Destructor. More...
osaCANBus::Errno	Open ()
	Open and configure the CAN socket. More...
osaCANBus::Errno	Close ()
	Close the CAN socket. More...
osaCANBus::Errno	Send (const osaCANBusFrame &frame, osaCANBus::Flags flags=osaCANBus::MSG_NOFLAG)
	Send a CAN frame on the bus. More...
osaCANBus::Errno	Recv (osaCANBusFrame &frame, osaCANBus::Flags flags=osaCANBus::MSG_NOFLAG)
	Receive a CAN frame. More...
osaCANBus::Errno	AddFilter (const osaCANBus::Filter &filter)
	Add a filter to the RTSocketCAN device. More...
Public Member Functions inherited from osaCANBus
	osaCANBus (osaCANBus::Rate rate, osaCANBus::Loopback loopback=osaCANBus::LOOPBACK_OFF)
	Default constructor. More...
virtual	~osaCANBus ()
	Default destructor. More...

Additional Inherited Members
Public Types inherited from osaCANBus
enum	Rate { RATE_150 =150000, RATE_300 =300000, RATE_1000 =1000000 }
	The different CAN rates. More...
enum	Errno { ESUCCESS, EFAILURE }
	The different CAN rates. More...
enum	Flags { MSG_NOFLAG = 0x00, MSG_CONFIRM = 0x01, MSG_DONTWAIT = 0x02 }
enum	Loopback { LOOPBACK_ON, LOOPBACK_OFF }
Protected Attributes inherited from osaCANBus
osaCANBus::Rate	rate
	The rate of the device. More...
osaCANBus::Loopback	loopback

Detailed Description

A Real Time Socket CAN device.

Most harware in Linux use the /dev interface. Typically, your device (usb, serial port, ...) will be represented by a file in /dev. CAN hardware is no exception except for the socket CAN module. SocketCAN implements a CAN stack and extend the BSD sockets just like you have a ethernet stack and sockets. RT SocketCAN is the "real time" version for the Xenomai framework. To use osaRTSocketCAN, you must have a Xenomai patched Linux kernel with the RT CAN module enabled

Constructor & Destructor Documentation

osaRTSocketCAN::osaRTSocketCAN	(	const std::string &	devicename,
		osaCANBus::Rate	rate,
		osaCANBus::Loopback	loopback = osaCANBus::LOOPBACK_OFF
	)

Constructor.

Initialize the device name and the rate of the CAN device

Parameters

devicename	The name of the device (rtcan0, rtcan1, ...)
rate	The CAN rate (RATE_150, RATE_300, RATE_1000)

osaRTSocketCAN::~osaRTSocketCAN

(

)

Destructor.

Member Function Documentation

osaCANBus::Errno osaRTSocketCAN::AddFilter ( const osaCANBus::Filter &  filter )

virtual

Add a filter to the RTSocketCAN device.

Implements osaCANBus.

osaCANBus::Errno osaRTSocketCAN::Close ( )

virtual

Close the CAN socket.

Implements osaCANBus.

osaCANBus::Errno osaRTSocketCAN::Open ( )

virtual

Open and configure the CAN socket.

Creates and configure a RT CAN socket.

Implements osaCANBus.

osaCANBus::Errno osaRTSocketCAN::Recv ( osaCANBusFrame &  frame, osaCANBus::Flags  flags = osaCANBus::MSG_NOFLAG  )

virtual

Receive a CAN frame.

Call this method to receive a CAN frame.

Parameters

frame[out]	The CAN frame received from the bus
flags	Block the device until a CAN frame is received. This parameter is irrelevant for osaRTSocketCAN.

Implements osaCANBus.

osaCANBus::Errno osaRTSocketCAN::Send ( const osaCANBusFrame &  frame, osaCANBus::Flags  flags = osaCANBus::MSG_NOFLAG  )

virtual

Send a CAN frame on the bus.

Call this method to send a CAN frame on the bus.

Parameters

frame[in]	The CAN frame to send on the bus
flags	Block the device until the operation is completed. This parameter is irrelevant for osaRTSocketCAN.

Implements osaCANBus.

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

• /home/adeguet1/catkin_ws/src/cisst-saw/sawCANBus/include/sawCANBus/osaRTSocketCAN.h