canrecv.cpp
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#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;
}