Struct SocketCanBus 

pub struct SocketCanBus { /* private fields */ }

Linux SocketCAN bus.

Implementations

impl SocketCanBus

pub fn open(interface: &str, fd_enabled: bool) -> Result<Self, TransportError>

Open a SocketCAN interface.

With fd_enabled = true the socket is configured for CAN-FD (CAN_RAW_FD_FRAMES) and the bus advertises BusCapabilities::fd(); the interface itself must be FD-capable. With fd_enabled = false the bus is classical-only (no FD socket option, 8-byte payload cap).

Trait Implementations

impl CanBus for SocketCanBus

fn name(&self) -> &str

Human-readable interface name ("vcan0", "can0", "mock-0").

fn capabilities(&self) -> BusCapabilities

Runtime capabilities of this bus (FD support, max payload length).

fn send(&mut self, frame: &CanFrame) -> Result<(), TransportError>

Send a single frame. Must not call read or poll internally.

fn drain_inbound_nonblocking(&mut self) -> Result<Vec<CanFrame>, TransportError>

Drain every frame currently in the receive queue and return them in arrival order. Returns Ok(vec![]) immediately if the queue is empty.

fn raw_fd(&self) -> Option<RawFd>

Pollable file descriptor for poll(2)-based multiplexing. Returns None for transports that have no single pollable fd. The robot drains those transports from memory on every crate::Robot::tick call.