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95 lines
3.1 KiB
C++
95 lines
3.1 KiB
C++
// canrecv.cpp
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//
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// Linux SoxketCAN reader example.
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//
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//
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// --------------------------------------------------------------------------
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// This file is part of the "sockpp" C++ socket library.
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//
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// Copyright (c) 2021-2023 Frank Pagliughi
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are
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// met:
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//
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// 1. Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// 2. Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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//
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// 3. Neither the name of the copyright holder nor the names of its
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// contributors may be used to endorse or promote products derived from this
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// software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
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// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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// THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
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// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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// --------------------------------------------------------------------------
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#include <iostream>
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#include <iomanip>
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#include <string>
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#include <chrono>
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#include <thread>
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#include "sockpp/can_socket.h"
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#include "sockpp/can_frame.h"
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#include "sockpp/version.h"
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#include <net/if.h>
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#include <sys/ioctl.h>
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using namespace std;
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// The clock to use to get time and pace the app.
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using sysclock = chrono::system_clock;
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// --------------------------------------------------------------------------
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int main(int argc, char* argv[])
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{
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cout << "Sample SocketCAN reader for 'sockpp' "
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<< sockpp::SOCKPP_VERSION << endl;
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string canIface = (argc > 1) ? argv[1] : "can0";
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canid_t canID = (argc > 2) ? atoi(argv[2]) : 0x20;
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sockpp::socket_initializer sockInit;
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sockpp::can_address addr(canIface);
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sockpp::can_socket sock(addr);
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if (!sock) {
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cerr << "Error binding to the CAN interface '" << canIface << "'\n\t"
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<< sock.last_error_str() << endl;
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return 1;
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}
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cout << "Created CAN socket on " << sock.address() << endl;
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cout.setf(ios::fixed, ios::floatfield);
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cout << setfill('0');
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while (true) {
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sockpp::can_frame frame;
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sock.recv(&frame);
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auto t = sock.last_frame_timestamp();
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cout << t << " ";
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for (uint8_t i=0; i<frame.can_dlc; ++i)
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cout << hex << uppercase << setw(2) << unsigned(frame.data[i]) << " ";
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cout << endl;
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}
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return (!sock) ? 1 : 0;
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}
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