tokio-socketcan-bcm
The Broadcast Manager protocol provides a command based configuration interface to filter and send (e.g. cyclic) CAN messages in kernel space. Filtering messages in kernel space may significantly reduce the load in an application.
A BCM socket is not intended for sending individual CAN frames. To send invidiual frames use the tokio-socketcan crate.
This crate would not have been possible without the socketcan crate.
Example 1
use futures::stream::Stream;
use std::time;
use tokio_socketcan_bcm::*;
fn main() {
let socket = BCMSocket::open_nb("vcan0").unwrap();
// Throttle messages in kernel space to max every 5 seconds
let ival = time::Duration::from_secs(5);
let f = socket
.filter_id_incoming_frames(0x123.into(), ival, ival)
.unwrap()
.map_err(|err| eprintln!("IO error {:?}", err))
.for_each(|frame| {
println!("Frame {:?}", frame);
Ok(())
});
tokio::run(f);
}
Example 2 (async/await)
Notice: async/await currently requires nightly rust and the tokio async-await-preview feature.
#![feature(await_macro, async_await, futures_api)]
#[macro_use]
extern crate tokio;
use std::time;
use tokio::prelude::*;
use tokio_socketcan_bcm::*;
fn main() {
tokio::run_async(
async {
let socket = BCMSocket::open_nb("vcan0").unwrap();
let ival = time::Duration::from_millis(0);
// create a stream of messages that filters by the can frame id 0x123
let mut can_frame_stream = socket
.filter_id_incoming_frames(0x123.into(), ival, ival)
.unwrap();
while let Some(frame) = await!(can_frame_stream.next()) {
println!("Frame {:?}", frame);
()
}
},
);
}
