open_source / socket-cpp

  #include <iostream>
  #include <iomanip>
  #include <string>
  #include <chrono>
  #include <thread>

  #include "socket-cpp/can_socket.h"
  #include "socket-cpp/can_frame.h"
  #include "socket-cpp/version.h"

  
  #include <net/if.h>
  #include <sys/ioctl.h>
  
  using namespace std;
  
  // The clock to use to get time and pace the app.
  using sysclock = chrono::system_clock;
  
  // --------------------------------------------------------------------------
  
  int main(int argc, char* argv[])
  {
  	cout << "Sample SocketCAN writer for 'sockpp' "

  		<< osdev::components::socket-cpp::SOCKPP_VERSION << endl;

  
  	string canIface = (argc > 1) ? argv[1] : "can0";
  	canid_t canID = (argc > 2) ? atoi(argv[2]) : 0x20;
  

  	osdev::components::socket-cpp::socket_initializer sockInit;

  	osdev::components::socket-cpp::can_address addr(canIface);
  	osdev::components::socket-cpp::can_socket sock(addr);

  
  	if (!sock) {
  		cerr << "Error binding to the CAN interface " << canIface << "\n\t"
  			<< sock.last_error_str() << endl;
  		return 1;
  	}
  
  	cout << "Created CAN socket on " << sock.address() << endl;
  	time_t t = sysclock::to_time_t(sysclock::now());
  
  	cout.setf(ios::fixed, ios::floatfield);
  	cout << setfill('0');
  
  	while (true) {

  		osdev::components::socket-cpp::can_frame frame;

  		sock.recv(&frame);
  		auto t = sock.last_frame_timestamp();
  
  		cout << t << "  ";
  		for (uint8_t i=0; i<frame.can_dlc; ++i)
  			cout << hex << uppercase << setw(2) << unsigned(frame.data[i]) << " ";
  		cout << endl;
  	}
  
  	return (!sock) ? 1 : 0;
  }