50 lines
1.6 KiB
Java
50 lines
1.6 KiB
Java
package com.rusefi.io.can;
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import com.sun.istack.internal.NotNull;
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import tel.schich.javacan.CanChannels;
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import tel.schich.javacan.CanFrame;
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import tel.schich.javacan.NetworkDevice;
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import tel.schich.javacan.RawCanChannel;
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import java.io.IOException;
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import static tel.schich.javacan.CanFrame.FD_NO_FLAGS;
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import static tel.schich.javacan.CanSocketOptions.RECV_OWN_MSGS;
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public class SocketCANHelper {
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@NotNull
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public static RawCanChannel createSocket() {
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final RawCanChannel socket;
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try {
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NetworkDevice canInterface = NetworkDevice.lookup(System.getProperty("CAN_DEVICE_NAME", "can0"));
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socket = CanChannels.newRawChannel();
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socket.bind(canInterface);
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socket.configureBlocking(true); // we want reader thread to wait for messages
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socket.setOption(RECV_OWN_MSGS, false);
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} catch (IOException e) {
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throw new IllegalStateException("Error looking up", e);
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}
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return socket;
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}
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public static void send(int id, byte[] payload, RawCanChannel channel) {
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CanFrame packet = CanFrame.create(id, FD_NO_FLAGS, payload);
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try {
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channel.write(packet);
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} catch (IOException e) {
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throw new IllegalStateException(e);
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}
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}
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public static CanSender create() {
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RawCanChannel canChannel = createSocket();
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return new CanSender() {
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@Override
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public void send(int id, byte[] payload) {
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SocketCANHelper.send(id, payload, canChannel);
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}
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};
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}
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}
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