isotp-cpp

This project is inspired by lishen2/isotp-c and implementes CPP wrapper on it.

Build Instruction

$ git clone https://github.com/shashiwakale/socket-can-wrapper-cpp.git
$ cd socket-can-wrapper-cpp
$ make

Add Virtual CAN Interface in Linux

$ sudo ip link add vcan0 type vcan
$ sudo ip link set vcan0 up

Run the binary

$ ./isotp_sample

API Usage

Send isotp frame

#include "socket_can.h"
#include "isotp_wrapper.h"

int main(int argc, char** argv)
{
    /*Open CAN Channel*/
    socketcan::SocketCAN* sock = socketcan::SocketCAN::OpenChannel("vcan0", 500000);

    /*
     * Create isotp object
     * sock - socket can handler
     * 0x18DA00FA - Source address
     * 0x18DAFA00 - Destination address
     * true - Extended CAN ID
     */
    isotp::Iisotp15765* isotp = new isotp::isotp15765(sock, 0x18DA00FA, 0x18DAFA00, true);

    /*Data*/
    std::vector<unsigned char> data = { 0, 1, 2, 3, 4, 5, 6 };

    isotp::isotp_message responseMessage;

    /*Send Data*/
    responseMessage = isotp->send(data);

    for(auto byte : responseMessage.data)
    {
        std::cout << std::hex << (int) byte << " ";
    }

    /*Send data more than 8 bytes*/
    std::vector<unsigned char> data2 (512, 0xFF);
    responseMessage = isotp->send (data2);

    for(auto byte : responseMessage.data)
    {
        std::cout << std::hex << (int) byte << " ";
    }

    delete isotp;
    delete sock;
}

Receive isotp frame asynchronously

#include "socket_can.h"
#include "isotp_wrapper.h"

int main(int argc, char** argv)
{
    /*Open CAN Channel*/
    socketcan::SocketCAN* sock = socketcan::SocketCAN::OpenChannel("vcan0", 500000);

    /*
     * Create isotp object
     * sock - socket can handler
     * 0x18DA00FA - Source address
     * 0x18DAFA00 - Destination address
     * true - Extended CAN ID
     */
    isotp::Iisotp15765* isotp = new isotp::isotp15765(sock, 0x18DA00FA, 0x18DAFA00, true);

    isotp::isotp_message responseMessage;

    while(1)
    {
        /*Receive isotp message asynchronoulsy*/
        responseMessage  = isotp->receive();

        for(auto byte : responseMessage.data)
        {
            std::cout << std::hex << (int) byte << " ";
        }
        std::cout<<std::endl;
        std::this_thread::sleep_for (std::chrono::milliseconds (100));;
    }

    delete isotp;
    delete sock;
}

License

MIT

Contact

shashi.wakale@gmail.com