package socketcan
Library
Module
Module type
Parameter
Class
Class type
A CAN socket: This is a file descriptor on which CAN message frames can be sent and received.
val create : string -> (t, [> `EUnix of Unix.error ]) Result.result
create s
opens the can-interface named s
(e.g. "can0")
val close : t -> unit
close s
closes the socket s
.
val set_receive_filter :
t ->
Filter.t list ->
(t, [> `EUnix of Unix.error ]) Result.result
set_receive_filter s fs
adds the list of input filters fs
to the socket s
; the socket will then only receive frames the can-id of which matches any of the given filters; Calling set_receive_filter s []
-- with an empty filter list -- will filter out all incoming messages! The original socket is modified and returned for convenience.
val set_error_flags :
t ->
error_flag list ->
(t, [> `EUnix of Unix.error ]) Result.result
set_error_flags s es
will alter the socket s
such that all errors as selected in es
will now be sent as CAN frames to the socket. The original socket is modified and returned for convenience.
val receive : t -> (Frame.t, [> `EUnix of Unix.error ]) Result.result
receive s
will blocking wait for the next frame on the socket s
; the returned frame is a copy and will not be altered by subsequent calls to receive
. The timestamp of the frame is set to the (not necessarily monotonic) system time indicating the time of arrival of the frame.
val send : t -> Frame.t -> (int, [> `EUnix of Unix.error ]) Result.result
send s f
will send the frame f
on the socket s
; this call will block if the interface is not ready.
val fd : t -> Unix.file_descr
fs s
will return a Unix-file-descriptor of the socket s
; this file-descriptor can then be used with e.g. Unix.select
.