Linux::CAN Class Reference

#include <CAN.h>

Inheritance diagram for Linux::CAN:

Collaboration diagram for Linux::CAN:

Classes
struct	RxItem
struct	TxItem

Public Member Functions
	CAN (int socket_fd=0)
	~CAN ()
bool	begin (uint32_t bitrate) override
void	end () override
void	reset () override
bool	is_initialized () override
int32_t	tx_pending () override
int32_t	available () override
int	getFileDescriptor () const
int16_t	send (const uavcan::CanFrame &frame, uavcan::MonotonicTime tx_deadline, uavcan::CanIOFlags flags) override
int16_t	receive (uavcan::CanFrame &out_frame, uavcan::MonotonicTime &out_ts_monotonic, uavcan::UtcTime &out_ts_utc, uavcan::CanIOFlags &out_flags) override
bool	hasReadyTx () const
bool	hasReadyRx () const
void	poll (bool read, bool write)
int16_t	configureFilters (const uavcan::CanFilterConfig *filter_configs, uint16_t num_configs) override
uint16_t	getNumFilters () const override
uint64_t	getErrorCount () const override

Static Public Member Functions
static int	openSocket (const std::string &iface_name)

Private Member Functions
void	_pollWrite ()
void	_pollRead ()
int	_write (const uavcan::CanFrame &frame) const
int	_read (uavcan::CanFrame &frame, uavcan::UtcTime &ts_utc, bool &loopback) const
void	_incrementNumFramesInSocketTxQueue ()
void	_confirmSentFrame ()
bool	_wasInPendingLoopbackSet (const uavcan::CanFrame &frame)
bool	_checkHWFilters (const can_frame &frame) const
void	_registerError (SocketCanError e)

Private Attributes
uint32_t	_bitrate
bool	_initialized
int	_fd
const unsigned	_max_frames_in_socket_tx_queue
unsigned	_frames_in_socket_tx_queue
uint64_t	_tx_frame_counter
std::map< SocketCanError, uint64_t >	_errors
std::priority_queue< TxItem >	_tx_queue
std::queue< RxItem >	_rx_queue
std::unordered_multiset< uint32_t >	_pending_loopback_ids
std::vector< can_filter >	_hw_filters_container

Detailed Description

Definition at line 54 of file CAN.h.

Constructor & Destructor Documentation

CAN()

Linux::CAN::CAN ( int  socket_fd = 0 )

inline

Definition at line 56 of file CAN.h.

~CAN()

Linux::CAN::~CAN ( )

inline

Definition at line 61 of file CAN.h.

Here is the call graph for this function:

Member Function Documentation

_checkHWFilters()

bool Linux::CAN::_checkHWFilters ( const can_frame &  frame ) const

private

_confirmSentFrame()

void Linux::CAN::_confirmSentFrame ( )

private

_incrementNumFramesInSocketTxQueue()

void Linux::CAN::_incrementNumFramesInSocketTxQueue ( )

private

_pollRead()

void Linux::CAN::_pollRead ( )

private

_pollWrite()

void Linux::CAN::_pollWrite ( )

private

_read()

int Linux::CAN::_read ( uavcan::CanFrame &  frame, uavcan::UtcTime &  ts_utc, bool &  loopback  ) const

private

_registerError()

void Linux::CAN::_registerError ( SocketCanError  e )

inlineprivate

Definition at line 154 of file CAN.h.

_wasInPendingLoopbackSet()

bool Linux::CAN::_wasInPendingLoopbackSet ( const uavcan::CanFrame &  frame )

private

_write()

int Linux::CAN::_write ( const uavcan::CanFrame &  frame ) const

private

available()

int32_t Linux::CAN::available ( )

override

begin()

bool Linux::CAN::begin ( uint32_t  bitrate )

override

configureFilters()

int16_t Linux::CAN::configureFilters ( const uavcan::CanFilterConfig *  filter_configs, uint16_t  num_configs  )

override

end()

void Linux::CAN::end ( )

override

getErrorCount()

uint64_t Linux::CAN::getErrorCount ( ) const

override

getFileDescriptor()

int Linux::CAN::getFileDescriptor ( ) const

inline

Definition at line 77 of file CAN.h.

Here is the call graph for this function:

getNumFilters()

uint16_t Linux::CAN::getNumFilters ( ) const

override

hasReadyRx()

bool Linux::CAN::hasReadyRx

(

)

const

hasReadyTx()

bool Linux::CAN::hasReadyTx

(

)

const

is_initialized()

bool Linux::CAN::is_initialized ( )

override

openSocket()

static int Linux::CAN::openSocket ( const std::string &  iface_name )

static

poll()

void Linux::CAN::poll	(	bool	read,
		bool	write
	)

receive()

int16_t Linux::CAN::receive ( uavcan::CanFrame &  out_frame, uavcan::MonotonicTime &  out_ts_monotonic, uavcan::UtcTime &  out_ts_utc, uavcan::CanIOFlags &  out_flags  )

override

reset()

void Linux::CAN::reset ( )

override

send()

int16_t Linux::CAN::send ( const uavcan::CanFrame &  frame, uavcan::MonotonicTime  tx_deadline, uavcan::CanIOFlags  flags  )

override

tx_pending()

int32_t Linux::CAN::tx_pending ( )

override

Member Data Documentation

_bitrate

uint32_t Linux::CAN::_bitrate

private

Definition at line 156 of file CAN.h.

_errors

std::map<SocketCanError, uint64_t> Linux::CAN::_errors

private

Definition at line 166 of file CAN.h.

_fd

int Linux::CAN::_fd

private

Definition at line 160 of file CAN.h.

_frames_in_socket_tx_queue

unsigned Linux::CAN::_frames_in_socket_tx_queue

private

Definition at line 163 of file CAN.h.

_hw_filters_container

std::vector<can_filter> Linux::CAN::_hw_filters_container

private

Definition at line 170 of file CAN.h.

_initialized

bool Linux::CAN::_initialized

private

Definition at line 158 of file CAN.h.

_max_frames_in_socket_tx_queue

const unsigned Linux::CAN::_max_frames_in_socket_tx_queue

private

Definition at line 162 of file CAN.h.

_pending_loopback_ids

std::unordered_multiset<uint32_t> Linux::CAN::_pending_loopback_ids

private

Definition at line 169 of file CAN.h.

_rx_queue

std::queue<RxItem> Linux::CAN::_rx_queue

private

Definition at line 168 of file CAN.h.

_tx_frame_counter

uint64_t Linux::CAN::_tx_frame_counter

private

Definition at line 164 of file CAN.h.

_tx_queue

std::priority_queue<TxItem> Linux::CAN::_tx_queue

private

Definition at line 167 of file CAN.h.

---

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

• libraries/AP_HAL_Linux/CAN.h