.. _program_listing_file__tmp_ws_src_ros2_socketcan_ros2_socketcan_include_ros2_socketcan_socket_can_common.hpp:

Program Listing for File socket_can_common.hpp
==============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros2_socketcan_ros2_socketcan_include_ros2_socketcan_socket_can_common.hpp>` (``/tmp/ws/src/ros2_socketcan/ros2_socketcan/include/ros2_socketcan/socket_can_common.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 the Autoware Foundation
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   //
   // Co-developed by Tier IV, Inc. and Apex.AI, Inc.
   
   #ifndef ROS2_SOCKETCAN__SOCKET_CAN_COMMON_HPP_
   #define ROS2_SOCKETCAN__SOCKET_CAN_COMMON_HPP_
   
   #include <sys/select.h>
   #include <sys/time.h>
   #include <linux/can.h>
   
   #include <chrono>
   #include <string>
   #include <vector>
   
   namespace drivers
   {
   namespace socketcan
   {
   
   int32_t bind_can_socket(const std::string & interface, bool enable_fd);
   
   void set_can_filter(int32_t fd, const std::vector<struct can_filter> & f_list);
   
   void set_can_err_filter(int32_t fd, can_err_mask_t err_mask);
   
   void set_can_filter_join(int32_t fd, bool join_filters);
   
   struct timeval to_timeval(const std::chrono::nanoseconds timeout) noexcept;
   uint64_t from_timeval(const struct timeval tv) noexcept;
   fd_set single_set(int32_t file_descriptor) noexcept;
   
   }  // namespace socketcan
   }  // namespace drivers
   
   #endif  // ROS2_SOCKETCAN__SOCKET_CAN_COMMON_HPP_