rk3588sdk/src/test/test_can.cpp

#include <stdio.h>

#include "zlinuxcomponents/zmainhelper.hpp"
//
#include "iflytopcpp/core/spdlogfactory/logger.hpp"
#include "iflytopcpp/core/thread/thread.hpp"
#include "spdlog/spdlog.h"
//

#include <linux/can.h>
#include <linux/can/raw.h>
#include <net/if.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <unistd.h>

#include "iflytopcpp/core/driver/socketcan/socket_can.hpp"

using namespace iflytop;
using namespace core;
using namespace std;
using namespace clipp;

// using sockcanpp::CanDriver;
// using sockcanpp::CanId;
// using sockcanpp::CanMessage;
// using sockcanpp::exceptions::CanException;
// using sockcanpp::exceptions::CanInitException;
// using sockcanpp::exceptions::InvalidSocketException;

/***********************************************************************/
/***********************************************************************/
/***********************************************************************/
/***********************************************************************/
class Main {
  ENABLE_LOGGER(Main);
  unique_ptr<Thread> thread;

  shared_ptr<SocketCan> socketCan;

 public:
  Main(/* args */) {}
  ~Main() {}
  void run(int argc, char* argv[]) {
    thread.reset(new Thread("main", [&]() { exit(main(argc, argv)); }));
    while (true) sleep(1000);
  }
  void onSIGINT() { exit(0); }
  int  main(int argCount, char* argValues[]) {
    socketCan.reset(new SocketCan());
    shared_ptr<SocketCanConfig> socketCanConfig = make_shared<SocketCanConfig>();
    socketCanConfig->m_canName                  = "can0";
    socketCanConfig->m_canBaudrate              = 500000;
    socketCanConfig->enablLoopback              = false;

    socketCan->initialize(socketCanConfig);
    socketCan->startListen();

    socketCan->onSocketCanFrame.connect([this](shared_ptr<SocketCanFrame> frame) { logger->info("RX:{}", frame->toString()); });

    ThisThread thisThread;
    int        i = 0;
    while (!thisThread.getExitFlag()) {
      uint8_t                    data[8]  = {1, 2, 3, 4, 5, 6, 7, 8};
      shared_ptr<SocketCanFrame> canframe = SocketCanFrame::createExtDataFrame(0x11223344, data, 8);
      logger->info("TX Frame {}", i);
      socketCan->sendFrame(canframe, 5);
      i++;
    }
    while (true) {
      sleep(1000);
    }

    return 0;
  }
};
MAIN_ENTRY();
// ip link set can0 down
// ip link set can0 type can bitrate 500000
// ip link set can0 up