socketcan.h

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//
// Created by qiayuan on 3/3/21.
//
 
#pragma once
 
#include <linux/can.h>
#include <net/if.h>
// Multi-threading
#include <pthread.h>
#include <boost/function.hpp>
 
namespace can
{
class SocketCAN
{
private:
  ifreq interface_request_{};
  sockaddr_can address_{};
  pthread_t receiver_thread_id_{};
 
public:
  int sock_fd_ = -1;
  bool terminate_receiver_thread_ = false;
  bool receiver_thread_running_ = false;
 
  SocketCAN() = default;
  ~SocketCAN();
 
  bool open(const std::string& interface, boost::function<void(const can_frame& frame)> handler, int thread_priority);
  void close();
  bool isOpen() const;
  void write(can_frame* frame) const;
  bool startReceiverThread(int thread_priority);
  boost::function<void(const can_frame& frame)> reception_handler;
};
 
}  // namespace can