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ofxSocketCAN

github.com/haradama/ofxSocketCAN · @haradama

OF 0.12 Hardware Interface Linux

openFrameworks addon for SocketCAN

1 0 Last commit 1y ago Created 3y ago

README

ofxSocketCAN

A minimal, header‑only wrapper that makes Linux SocketCAN available inside openFrameworks. It lets you send and receive both classical CAN and CAN‑FD frames with a simple, modern C++17 interface that follows openFrameworks logging conventions.

Features

Requirement	Notes
Linux kernel ≥ 3.6	SocketCAN is part of the mainline kernel from 2.6.25, but CAN‑FD requires ≥ 3.6
openFrameworks ≥ 0.12	Tested with 0.12.2 (gcc/clang, Make & QtCreator)
C++17 toolchain	E.g. GCC 10+, Clang 12+

Method	Description
`bool setup(const std::string& iface, bool enableFD=false)`	Open the interface and optionally enable CAN‑FD.
`bool send(const can_frame& frame)`	Send a classical 8‑byte frame (fails if FD mode is enabled).
`bool send(const canfd_frame& frame)`	Send a CAN‑FD frame up to 64 bytes (fails if FD mode is disabled).
`bool receive(can_frame& frame)`	Receive a classical frame (blocking).
`bool receive(canfd_frame& frame)`	Receive a CAN‑FD frame (blocking).
`bool isOpen() const`	`true` if the socket is valid.

Classical CAN & CAN‑FD RAII — socket is closed automatically Detailed error logs via ofLog [[nodiscard]] returns to prevent silent failures

Prerequisites

Requirement Notes
Linux kernel ≥ 3.6 SocketCAN is part of the mainline kernel from 2.6.25, but CAN‑FD requires ≥ 3.6
openFrameworks ≥ 0.12 Tested with 0.12.2 (gcc/clang, Make & QtCreator)
C++17 toolchain E.g. GCC 10+, Clang 12+

Installation

cd /path/to/openFrameworks/addons HTTPS git clone https://github.com/haradama/ofxSocketCAN.git or SSH git clone git@github.com:haradama/ofxSocketCAN.git

Add the addon to your project with the projectGenerator or by editing addons.make.

Quick Start

#include "ofxSocketCAN.h" ofxSocketCAN can; void ofApp::setup() { if (!can.setup("vcan0")) { // classical CAN on virtual interface ofLogError() << "Failed to open CAN"; return; } can_frame frame{}; frame.can_id = 0x321; frame.can_dlc = 2; frame.data[0] = 0xAB; frame.data[1] = 0xCD; can.send(frame); } void ofApp::update() { can_frame rx; if (can.receive(rx)) { ofLogNotice() << "ID: 0x" << std::hex << rx.can_id << " len: " << std::dec << rx.can_dlc; } }

API Reference

Method Description
bool setup(const std::string& iface, bool enableFD=false) Open the interface and optionally enable CAN‑FD.
bool send(const can_frame& frame) Send a classical 8‑byte frame (fails if FD mode is enabled).
bool send(const canfd_frame& frame) Send a CAN‑FD frame up to 64 bytes (fails if FD mode is disabled).
bool receive(can_frame& frame) Receive a classical frame (blocking).
bool receive(canfd_frame& frame) Receive a CAN‑FD frame (blocking).
bool isOpen() const true if the socket is valid.
All functions return false on error; check the log for details.

Build & Run

1. Generate a project with the addon. 2. Ensure PKG_CONFIG_PATH includes libsocketcan if you use it for extra helpers (not required for this addon). 3. Compile & run with your usual oF workflow.

For CAN‑FD you also need to bring the interface up with an appropriate data‑phase bitrate, e.g.:

> sudo ip link set can0 type can bitrate 500000 dbitrate 2000000 fd on sudo ip link set up can0

Error Handling

On failure, the class logs with ofLogError("ofxSocketCAN") and returns false. Always check return values (the methods are marked [[nodiscard]]). Use dmesg or candump for deeper diagnosis.

License

ofxSocketCAN is released under the MIT License — see LICENSE for details.

Get this addon

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