Documentation ¶
Index ¶
- Constants
- func Dial(network, address string) (net.Conn, error)
- func DialContext(ctx context.Context, network, address string) (net.Conn, error)
- func NoLogger(cfg *emulatorCfg)
- type ControllerError
- type Emulator
- func (e *Emulator) Addr() net.Addr
- func (e *Emulator) Receiver() (*Receiver, error)
- func (e *Emulator) Run(ctx context.Context) error
- func (e *Emulator) TransmitFrame(ctx context.Context, f can.Frame) error
- func (e *Emulator) TransmitMessage(ctx context.Context, m can.Message) error
- func (e *Emulator) WaitForSenders(n int, timeout time.Duration) error
- type EmulatorOption
- type ErrorClass
- type ErrorFrame
- type FrameInterceptor
- type ProtocolViolationError
- type ProtocolViolationErrorLocation
- type Receiver
- type ReceiverOption
- type TransceiverError
- type Transmitter
- type TransmitterOption
Constants ¶
const (
// LengthOfControllerSpecificInformation is the number of error frame bytes with controller-specific information.
LengthOfControllerSpecificInformation = 3
)
error frame flag indices.
Variables ¶
This section is empty.
Functions ¶
func Dial ¶
Dial connects to the address on the named net.
Linux only: If net is "can" it creates a SocketCAN connection to the device (address is interpreted as a device name).
If net is "udp" it assumes UDP multicast and sets up 2 connections, one for receiving and one for transmitting. See: https://golang.org/pkg/net/#Dial
func DialContext ¶
DialContext connects to the address on the named net using the provided context.
Linux only: If net is "can" it creates a SocketCAN connection to the device (address is interpreted as a device name).
Types ¶
type ControllerError ¶
type ControllerError uint8
const ( ControllerErrorUnspecified ControllerError = 0x00 ControllerErrorRxBufferOverflow ControllerError = 0x01 ControllerErrorTxBufferOverflow ControllerError = 0x02 ControllerErrorRxWarning ControllerError = 0x04 ControllerErrorTxWarning ControllerError = 0x08 ControllerErrorRxPassive ControllerError = 0x10 ControllerErrorTxPassive ControllerError = 0x20 // at least one error counter exceeds 127 ControllerErrorActive ControllerError = 0x40 )
func (ControllerError) String ¶
func (i ControllerError) String() string
type Emulator ¶
Emulator emulates a CAN bus.
Emulator emulates a CAN bus by using UDP multicast. The emulator itself does not own the multicast group but rather establishes a common address/port pair for the CAN bus to be emulated on. Emulator exposes a thread-safe API to callees and may therefore be shared among different goroutines.
func NewEmulator ¶
func NewEmulator(options ...EmulatorOption) (*Emulator, error)
NewEmulator creates an Emulator to emulate a CAN bus.
If no error is returned it is safe to `socketcan.Dial` the address of the Emulator. The emulator will default to using multicast group `239.64.142.206` with a random port that's decided when calling Emulator
N.B. It is not possible to simply use `net.Dial` as for UDP multicast both a transmitting connection and a writing connection. This is handled by `socketcan.Dial` under the hood.
func (*Emulator) Receiver ¶
Receiver returns a Receiver connected to the Emulator.
The emulator owns the underlying network connection an will close it when the emulator is closed.
func (*Emulator) Run ¶
Run an Emulator.
This starts the listener and waits until the context is canceled before tidying up.
func (*Emulator) TransmitFrame ¶
TransmitFrame sends a CAN frame to the Emulator's multicast group.
func (*Emulator) TransmitMessage ¶
TransmitMessage sends a CAN message to every emulator connection.
type EmulatorOption ¶
type EmulatorOption func(*emulatorCfg)
EmulatorOption represents a way to configure an Emulator prior to creating it.
func WithLogger ¶
func WithLogger(l *log.Logger) EmulatorOption
WithLogger makes the Emulator print out status messages with the provided logger.
func WithMulticastAddress ¶
func WithMulticastAddress(address string) EmulatorOption
WithMulticastAddress sets the address for the multicast group that the Emulator should listen on. A multicast address starts with 239.x.x.x, and using an address that does not conform to this will lead to undefined behaviour.
type ErrorClass ¶
type ErrorClass uint32
const ( ErrorClassTxTimeout ErrorClass = 0x00000001 ErrorClassLostArbitration ErrorClass = 0x00000002 ErrorClassController ErrorClass = 0x00000004 ErrorClassProtocolViolation ErrorClass = 0x00000008 ErrorClassTransceiver ErrorClass = 0x00000010 ErrorClassNoAck ErrorClass = 0x00000020 ErrorClassBusOff ErrorClass = 0x00000040 ErrorClassBusError ErrorClass = 0x00000080 ErrorClassRestarted ErrorClass = 0x00000100 )
func (ErrorClass) String ¶
func (i ErrorClass) String() string
type ErrorFrame ¶
type ErrorFrame struct { // Class is the error class ErrorClass ErrorClass // LostArbitrationBit contains the bit number when the error class is LostArbitration. LostArbitrationBit uint8 // ControllerError contains error information when the error class is Controller. ControllerError ControllerError // ProtocolViolationError contains error information when the error class is Protocol. ProtocolError ProtocolViolationError // ProtocolViolationErrorLocation contains error location when the error class is Protocol. ProtocolViolationErrorLocation ProtocolViolationErrorLocation // TransceiverError contains error information when the error class is Transceiver. TransceiverError TransceiverError // ControllerSpecificInformation contains controller-specific additional error information. ControllerSpecificInformation [3]byte }
func (*ErrorFrame) String ¶
func (e *ErrorFrame) String() string
type FrameInterceptor ¶
type FrameInterceptor func(fr can.Frame)
FrameInterceptor provides a hook to intercept the transmission of a CAN frame. The interceptor is called if and only if the frame transmission/receival is a success.
type ProtocolViolationError ¶
type ProtocolViolationError uint8
const ( ProtocolViolationErrorUnspecified ProtocolViolationError = 0x00 ProtocolViolationErrorSingleBit ProtocolViolationError = 0x01 ProtocolViolationErrorFrameFormat ProtocolViolationError = 0x02 ProtocolViolationErrorBitStuffing ProtocolViolationError = 0x04 ProtocolViolationErrorBit0 ProtocolViolationError = 0x08 // unable to send dominant bit ProtocolViolationErrorBit1 ProtocolViolationError = 0x10 // unable to send recessive bit ProtocolViolationErrorBusOverload ProtocolViolationError = 0x20 ProtocolViolationErrorActive ProtocolViolationError = 0x40 // active error announcement ProtocolViolationErrorTx ProtocolViolationError = 0x80 // error occurred on transmission )
func (ProtocolViolationError) String ¶
func (i ProtocolViolationError) String() string
type ProtocolViolationErrorLocation ¶
type ProtocolViolationErrorLocation uint8
const ( ProtocolViolationErrorLocationUnspecified ProtocolViolationErrorLocation = 0x00 ProtocolViolationErrorLocationStartOfFrame ProtocolViolationErrorLocation = 0x03 ProtocolViolationErrorLocationID28To21 ProtocolViolationErrorLocation = 0x02 // standard frames: 10 - 3 ProtocolViolationErrorLocationID20To18 ProtocolViolationErrorLocation = 0x06 // standard frames: 2 - 0 ProtocolViolationErrorLocationSubstituteRTR ProtocolViolationErrorLocation = 0x04 // standard frames: RTR ProtocolViolationErrorLocationIDExtension ProtocolViolationErrorLocation = 0x05 ProtocolViolationErrorLocationIDBits17To13 ProtocolViolationErrorLocation = 0x07 ProtocolViolationErrorLocationIDBits12To05 ProtocolViolationErrorLocation = 0x0F ProtocolViolationErrorLocationIDBits04To00 ProtocolViolationErrorLocation = 0x0E ProtocolViolationErrorLocationRTR ProtocolViolationErrorLocation = 0x0C ProtocolViolationErrorLocationReservedBit1 ProtocolViolationErrorLocation = 0x0D ProtocolViolationErrorLocationReservedBit0 ProtocolViolationErrorLocation = 0x09 ProtocolViolationErrorLocationDataLengthCode ProtocolViolationErrorLocation = 0x0B ProtocolViolationErrorLocationData ProtocolViolationErrorLocation = 0x0A ProtocolViolationErrorLocationCRCSequence ProtocolViolationErrorLocation = 0x08 ProtocolViolationErrorLocationCRCDelimiter ProtocolViolationErrorLocation = 0x18 ProtocolViolationErrorLocationACKSlot ProtocolViolationErrorLocation = 0x19 ProtocolViolationErrorLocationACKDelimiter ProtocolViolationErrorLocation = 0x1B ProtocolViolationErrorLocationEndOfFrame ProtocolViolationErrorLocation = 0x1A ProtocolViolationErrorLocationIntermission ProtocolViolationErrorLocation = 0x12 )
func (ProtocolViolationErrorLocation) String ¶
func (i ProtocolViolationErrorLocation) String() string
type Receiver ¶
type Receiver struct {
// contains filtered or unexported fields
}
func NewReceiver ¶
func NewReceiver(rc io.ReadCloser, opt ...ReceiverOption) *Receiver
func (*Receiver) ErrorFrame ¶
func (r *Receiver) ErrorFrame() ErrorFrame
func (*Receiver) HasErrorFrame ¶
type ReceiverOption ¶
type ReceiverOption func(*receiverOpts)
func ReceiverFrameInterceptor ¶
func ReceiverFrameInterceptor(i FrameInterceptor) ReceiverOption
ReceiverFrameInterceptor returns a ReceiverOption that sets the FrameInterceptor for the receiver. Only one frame interceptor can be installed.
type TransceiverError ¶
type TransceiverError uint8
const ( TransceiverErrorUnspecified TransceiverError = 0x00 TransceiverErrorCANHNoWire TransceiverError = 0x04 TransceiverErrorCANHShortToBat TransceiverError = 0x05 TransceiverErrorCANHShortToVCC TransceiverError = 0x06 TransceiverErrorCANHShortToGND TransceiverError = 0x07 TransceiverErrorCANLNoWire TransceiverError = 0x40 TransceiverErrorCANLShortToBat TransceiverError = 0x50 TransceiverErrorCANLShortToVcc TransceiverError = 0x60 TransceiverErrorCANLShortToGND TransceiverError = 0x70 TransceiverErrorCANLShortToCANH TransceiverError = 0x80 )
func (TransceiverError) String ¶
func (i TransceiverError) String() string
type Transmitter ¶
type Transmitter struct {
// contains filtered or unexported fields
}
Transmitter transmits CAN frames.
func NewTransmitter ¶
func NewTransmitter(conn net.Conn, opt ...TransmitterOption) *Transmitter
NewTransmitter creates a new transmitter that transmits CAN frames to the provided io.Writer.
func (*Transmitter) Close ¶
func (t *Transmitter) Close() error
Close the transmitter's underlying connection.
func (*Transmitter) TransmitFrame ¶
func (t *Transmitter) TransmitFrame(ctx context.Context, f can.Frame) error
TransmitFrame transmits a CAN frame.
func (*Transmitter) TransmitMessage ¶
func (t *Transmitter) TransmitMessage(ctx context.Context, m can.Message) error
TransmitMessage transmits a CAN message.
type TransmitterOption ¶
type TransmitterOption func(*transmitterOpts)
func TransmitterFrameInterceptor ¶
func TransmitterFrameInterceptor(i FrameInterceptor) TransmitterOption
TransmitterFrameInterceptor returns a TransmitterOption that sets the FrameInterceptor for the transmitter. Only one frame interceptor can be installed.
Source Files ¶
- canrawaddr.go
- controllererror.go
- controllererror_string.go
- dial.go
- dialraw_linux.go
- emulator.go
- errorclass.go
- errorclass_string.go
- errorframe.go
- fileconn.go
- frame.go
- protocolviolationerror.go
- protocolviolationerror_string.go
- protocolviolationerrorlocation.go
- protocolviolationerrorlocation_string.go
- receiver.go
- transceivererror.go
- transceivererror_string.go
- transmitter.go
- udp.go