csock-raw (Can Socket Raw)

Header: udo/csock-raw.h

Table of contents (click to go)

Macros

Enums

Unions

Structs

1. udo_csock_raw

2. udo_csock_raw_create_info

Functions

1. udo_csock_raw_create()

2. udo_csock_raw_send_data()

3. udo_csock_raw_recv_data()

4. udo_csock_raw_get_fd()

5. udo_csock_raw_get_iface()

6. udo_csock_raw_destroy()

7. udo_csock_raw_get_sizeof()

API Documentation

Kernel Modules

On Host Machine

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

udo_csock_raw (private)

Structure defining UDO CAN Socket Raw context.

struct udo_csock_raw

struct udo_log_error_struct err;

bool free;

int fd;

char iface[IFNAMSIZ];

err

Stores information about the error that occured

for the given context and may later be retrieved

by caller.

free

If structure allocated with calloc(3) member will be

set to true so that, we know to call free(3) when

destroying the context.

fd

File descriptor to the open CAN socket

iface

Textual CAN interface name in string format to bind(2) to.

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udo_csock_raw_create_info

Structure passed to udo_csock_raw_create()

used to define how to create the CAN socket.

struct udo_csock_raw_create_info

const char *iface;

iface

Must pass textual CAN interface

name in string format.

udo_csock_raw_create

struct udo_csock_raw *udo_csock_raw_create(struct udo_csock_raw *csock, const void *csock_info);

Creates a socket that may be utilized

for sending & receiving CAN frames. On

a caller specified CAN interface.

Param	Decription
csock	May be NULL or a pointer to a struct udo_csock_raw. If NULL memory will be allocated and return to caller. If not NULL address passed will be used to store the newly created struct udo_csock_raw context.
csock_info	Implementation uses a pointer to a struct udo_csock_raw_create_info.

Returns:

on success: Pointer to a struct udo_csock_raw

on failure: NULL

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udo_csock_raw_send_data

ssize_t udo_csock_raw_send_data(struct udo_csock_raw *csock, const struct can_frame *frame, const void *csock_info);

Send CAN frame through socket bounded to CAN interface

specified by a call to udo_csock_raw_create().

Param	Decription
csock	Must pass a pointer to a struct udo_csock_raw.
frame	Pointer to frame buffer to send through socket.
csock_info	Reserved for future usage. For now used to set the flag argument of send(2).

Returns:

on success: Size of CAN frame

on failure: # < 0

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udo_csock_raw_recv_data

ssize_t udo_csock_raw_recv_data(struct udo_csock_raw *csock, struct can_frame *frame, const void *csock_info);

Receive CAN frame from socket bounded to CAN interface

specified by a call to udo_csock_raw_create().

Param	Decription
csock	Must pass a pointer to a struct udo_csock_raw.
frame	Pointer to buffer to store data received from a socket.
csock_info	Reserved for future usage. For now used to set the flag argument of send(2).

Returns:

on success: Size of CAN frame

on failure: # < 0

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udo_csock_raw_get_fd

int udo_csock_raw_get_fd(struct udo_csock_raw *csock);

Acquire socket file descriptor associated with

struct udo_csock_raw context.

Param	Decription
csock	Must pass a pointer to a struct udo_csock_raw.

Returns:

on success: RAW socket file descriptor

on failure: -1

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udo_csock_raw_get_iface

const char *udo_csock_raw_get_iface(struct udo_csock_raw *csock);

Acquire textual CAN interface name in string format

associated with struct udo_csock_raw context.

Param	Decription
csock	Must pass a pointer to a struct udo_csock_raw.

Returns:

on success: Textual CAN interface name in string format

on failure: NULL

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udo_csock_raw_destroy

void udo_csock_raw_destroy(struct udo_csock_raw *csock);

Frees any allocated memory and closes FD’s (if open)

created after udo_csock_raw_create() call.

Param	Decription
csock	Pointer to a valid struct udo_csock_raw.

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udo_csock_raw_get_sizeof

int udo_csock_raw_get_sizeof(void);

Returns size of the internal structure. So,

if caller decides to allocate memory outside

of API interface they know the exact amount

of bytes.

Returns:

on success: sizeof(struct udo_csock_raw)

on failure: sizeof(struct udo_csock_raw)

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