autoware::drivers::socketcan::SocketCanSender Class Reference

Simple RAII wrapper around a raw CAN sender. More...

#include <socket_can_sender.hpp>

Public Member Functions
	SocketCanSender (const std::string &interface="can0", const CanId &default_id=CanId{})
	Constructor. More...
	~SocketCanSender () noexcept
	Destructor. More...
void	send (const void *const data, const std::size_t length, const std::chrono::nanoseconds timeout=std::chrono::nanoseconds::zero()) const
void	send (const void *const data, const std::size_t length, const CanId id, const std::chrono::nanoseconds timeout=std::chrono::nanoseconds::zero()) const
template<typename T , typename = std::enable_if_t<!std::is_pointer<T>::value>>
void	send (const T &data, const std::chrono::nanoseconds timeout=std::chrono::nanoseconds::zero()) const
template<typename T , typename = std::enable_if_t<!std::is_pointer<T>::value>>
void	send (const T &data, const CanId id, const std::chrono::nanoseconds timeout=std::chrono::nanoseconds::zero()) const
CanId	default_id () const noexcept
	Get the default CAN id. More...

Detailed Description

Simple RAII wrapper around a raw CAN sender.

Constructor & Destructor Documentation

SocketCanSender()

autoware::drivers::socketcan::SocketCanSender::SocketCanSender ( const std::string &  interface = "can0", const CanId &  default_id = CanId{}  )

explicit

Constructor.

~SocketCanSender()

autoware::drivers::socketcan::SocketCanSender::~SocketCanSender ( )

noexcept

Destructor.

Member Function Documentation

default_id()

CanId autoware::drivers::socketcan::SocketCanSender::default_id ( ) const

noexcept

Get the default CAN id.

send() [1/4]

template<typename T , typename = std::enable_if_t<!std::is_pointer<T>::value>>

void autoware::drivers::socketcan::SocketCanSender::send ( const T &  data, const CanId  id, const std::chrono::nanoseconds  timeout = std::chrono::nanoseconds::zero()  ) const

inline

Send typed data with an explicit CAN Id

Template Parameters

Type	of data to send, must be 8 bytes or smaller

Parameters

[in]	data	The data to send
[in]	timeout	Maximum duration to wait for file descriptor to be free for write. Negative durations are treated the same as zero timeout
[in]	id	The id field for the CAN frame

Exceptions

SocketCanTimeout	On timeout
std::runtime_error	on other errors

send() [2/4]

template<typename T , typename = std::enable_if_t<!std::is_pointer<T>::value>>

void autoware::drivers::socketcan::SocketCanSender::send ( const T &  data, const std::chrono::nanoseconds  timeout = std::chrono::nanoseconds::zero()  ) const

inline

Send typed data with the default id

Template Parameters

Type	of data to send, must be 8 bytes or smaller

Parameters

[in]	data	The data to send
[in]	timeout	Maximum duration to wait for file descriptor to be free for write. Negative durations are treated the same as zero timeout

Exceptions

SocketCanTimeout	On timeout
std::runtime_error	on other errors

send() [3/4]

void autoware::drivers::socketcan::SocketCanSender::send	(	const void *const	data,
		const std::size_t	length,
		const CanId	id,
		const std::chrono::nanoseconds	timeout = std::chrono::nanoseconds::zero()
	)		const

Send raw data with an explicit CAN id

Parameters

[in]	data	A pointer to the beginning of the data to send
[in]	timeout	Maximum duration to wait for file descriptor to be free for write. Negative durations are treated the same as zero timeout
[in]	id	The id field for the CAN frame
[in]	length	The amount of data to send starting from the data pointer

Exceptions

std::domain_error	If length is > 8
SocketCanTimeout	On timeout
std::runtime_error	on other errors

send() [4/4]

void autoware::drivers::socketcan::SocketCanSender::send	(	const void *const	data,
		const std::size_t	length,
		const std::chrono::nanoseconds	timeout = std::chrono::nanoseconds::zero()
	)		const

Send raw data with the default id

Parameters

[in]	data	A pointer to the beginning of the data to send
[in]	timeout	Maximum duration to wait for file descriptor to be free for write. Negative durations are treated the same as zero timeout
[in]	length	The amount of data to send starting from the data pointer

Exceptions

std::domain_error	If length is > 8
SocketCanTimeout	On timeout
std::runtime_error	on other errors

---

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

• socket_can_sender.hpp
• socket_can_sender.cpp