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include/can_wrap.h

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+#ifndef CAN_WRAP_H
+#define CAN_WRAP_H
+
+#include <linux/if.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include <linux/can.h>
+#include <linux/can/raw.h>
+
+#include <stdbool.h>
+#include <string.h>
+
+/**
+ * @brief Opens socket for CAN bus communication via socketcan. 
+ * Returns socket identifier which is used as an argument for 
+ * future can::read(), can::write() and can::close() calls.
+ * 
+ * 
+ * @param fd Open as normal CAN or CANFD.
+ * @param channel Network channel to use, e.g. can0 or vcan0.
+ * @return const int Socket identifier.
+ * @return -1 If socket creation failed.
+ * @return -2 If could not enable CANFD.
+ * @return -3 If could not bind socket.
+ */
+const int can_connect( const char* channel, const bool fd  )
+{
+    const int canSocket = socket( PF_CAN, SOCK_RAW, CAN_RAW );
+    if( canSocket < 0 )
+        return -1;
+
+    struct ifreq ifr;
+    strncpy( ifr.ifr_name, channel, sizeof(ifr.ifr_name)-1 );
+    ioctl( canSocket, SIOCGIFINDEX, &ifr );
+
+    struct sockaddr_can addr;
+    memset( &addr, 0, sizeof(addr) );
+    addr.can_family = AF_CAN;
+    addr.can_ifindex = ifr.ifr_ifindex;
+
+    int enableCanFd = 1;
+    if( fd && setsockopt( canSocket, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
+            &enableCanFd, sizeof(enableCanFd) ) )
+        return -2;
+
+    if( bind( canSocket, (struct sockaddr*)&addr, sizeof(addr) ) < 0 )
+        return -3;
+
+    return canSocket;
+}
+
+/**
+ * @brief Close specified socketcan socket.
+ * 
+ * @param socket Socket identifer as returned from can::connect().
+ * 
+ * @return false If socket close failed
+ */
+bool can_close( const int socket )
+{
+    return close( socket ) >= 0;
+}
+
+/**
+ * @brief Passes call to can::_read<can_frame>() to read standard CAN frame.
+ * 
+ * @pre must call connect() successfully first.
+ * @param socket Socket identifer as returned from can_connect().
+ * @param frame CAN frame variable to place read data.
+ * @return Success.
+ */
+bool can_read( const int socket, struct can_frame* frame )
+{
+    return read( socket, frame, sizeof(struct can_frame) ) >= 0;
+}
+
+/**
+ * @brief Passes call to can::_read<canfd_frame>() to read CANFD frame.
+ * 
+ * @pre must call connectfd() successfully first.
+ * @param socket Socket identifer as returned from can_connect().
+ * @param frame CAN frame variable to place read data.
+ * @return Success.
+ */
+bool can_readfd( const int socket, struct canfd_frame* frame )
+{
+    return read( socket, frame, sizeof(struct canfd_frame) ) >= 0;
+}
+
+/**
+ * @brief Passes call to can::_write<can_frame>() to write standard CAN frame.
+ * 
+ * @param socket Socket identifer as returned from can_connect().
+ * @param frame CAN frame to be sent.
+ * @return Success.
+ */
+bool can_write( const int socket, struct can_frame* frame )
+{
+    return write( socket, frame, sizeof(struct can_frame) ) == sizeof(struct can_frame);
+}
+
+/**
+ * @brief Passes call to can::_write<canfd_frame>() to write CANFD frame.
+ * 
+ * @param socket Socket identifer as returned from can::connect().
+ * @param frame CANFD frame to be sent.
+ * @return Success.
+ */
+bool can_writefd( const int socket, struct canfd_frame* frame )
+{
+    return write( socket, frame, sizeof(struct canfd_frame) ) == sizeof(struct canfd_frame);
+}
+
+#endif