SocketCANSharp 0.13.0

SocketCAN# (SocketCANSharp)

SocketCAN# is a .NET managed wrapper for the Linux CAN subsystem (SocketCAN). SocketCAN# enables developers to create either object-oriented or procedural style applications that leverage SocketCAN.

Raw CAN Support

CanNetworkInterface vcan0 = CanNetworkInterface.GetAllInterfaces(true).First(iface => iface.Name.Equals("vcan0"));

using (var rawCanSocket = new RawCanSocket())
{
 rawCanSocket.Bind(vcan0);
 int bytesWritten = rawCanSocket.Write(new CanFrame(0x123, new byte[] { 0x45, 0x67, 0x89, 0xab, 0xcd, 0xef }));
 int bytesRead = rawCanSocket.Read(out CanFrame frame);
}

ISO 15765-2 (ISO-TP) Support

CanNetworkInterface vcan0 = CanNetworkInterface.GetAllInterfaces(true).First(iface => iface.Name.Equals("vcan0"));

using (var testerSocket = new IsoTpCanSocket())
{
 testerSocket.BaseOptions = new CanIsoTpOptions()
 {
 Flags = IsoTpFlags.CAN_ISOTP_TX_PADDING | IsoTpFlags.CAN_ISOTP_WAIT_TX_DONE,
 };

 testerSocket.Bind(vcan0, 0x600, 0x700);
 int bytesWritten = testerSocket.Write(new byte[] { 0x3e, 0x00 });
 var receiveBuffer = new byte[4095];
 int bytesRead = testerSocket.Read(receiveBuffer);
}

SAE J1939 Support

var vcan0 = CanNetworkInterface.GetAllInterfaces(true).FirstOrDefault(iface => iface.Name.Equals("vcan0"));

using (var j1939Socket = new J1939CanSocket())
{
 j1939Socket.EnableBroadcast = true;
 j1939Socket.SendPriority = 3;
 j1939Socket.Bind(vcan0, SocketCanConstants.J1939_NO_NAME, 0x0F004, 0x01);
 var destAddr = new SockAddrCanJ1939(vcan0.Index)
 {
 Name = SocketCanConstants.J1939_NO_NAME,
 PGN = 0x0F004,
 Address = SocketCanConstants.J1939_NO_ADDR,
 };
 j1939Socket.WriteTo(new byte[] { 0xFF, 0xFF, 0xFF, 0x6C, 0x50, 0xFF, 0xFF, 0xFF }, MessageFlags.None, destAddr);
}

Broadcast Manager (BCM) Support

CanNetworkInterface vcan0 = CanNetworkInterface.GetAllInterfaces(true).First(iface => iface.Name.Equals("vcan0"));

using (var bcmCanSocket = new BcmCanSocket())
{
 bcmCanSocket.Connect(vcan0);
 var canFrame = new CanFrame(0x333, new byte[] { 0xDE, 0xAD, 0xBE, 0xEF });
 var frames = new CanFrame[] { canFrame };
 var config = new BcmCyclicTxTaskConfiguration()
 {
 Id = 0x333,
 StartTimer = true,
 SetInterval = true,
 InitialIntervalConfiguration = new BcmInitialIntervalConfiguration(10, new BcmTimeval(0, 5000)), // 10 messages at 5 ms
 PostInitialInterval = new BcmTimeval(0, 100000), // Then at 100 ms
 };
 int nBytes = bcmCanSocket.CreateCyclicTransmissionTask(config, frames);
}

CAN Gateway (CGW) Support

var vcan0 = CanNetworkInterface.GetAllInterfaces(true).FirstOrDefault(iface => iface.Name.Equals("vcan0"));
var vcan1 = CanNetworkInterface.GetAllInterfaces(true).FirstOrDefault(iface => iface.Name.Equals("vcan1"));

using (var cgwSocket = new CanGatewaySocket())
{
 cgwSocket.ReceiveTimeout = 1000;
 cgwSocket.SendTimeout = 1000;
 cgwSocket.Bind(new SockAddrNetlink(0, 0));
 var rule = new CgwCanToCanRule(CgwCanFrameType.ClassicalCAN)
 {
 SourceIndex = (uint)vcan0.Index,
 DestinationIndex = (uint)vcan1.Index,
 EnableLocalCanSocketLoopback = true,
 ReceiveFilter = new CanFilter(0x123, 0x7FF),
 SetModifier = new ClassicalCanGatewayModifier(CanGatewayModificationType.CGW_MOD_LEN, new CanFrame(0x000, new byte[] { 0x00, 0x00, 0x00, 0x00, 0x00 })),
 ChecksumXorConfiguration = new CgwChecksumXor(0, 3, 4, 0xCC),
 UpdateIdentifier = 0xFFEEEEDD,
 };
 cgwSocket.AddOrUpdateCanToCanRule(rule);
 
 var data = new byte[8192];
 int bytesRead = cgwSocket.Read(data);
 var realData = data.Take(bytesRead).ToArray();
 NetlinkMessageHeader header = NetlinkUtils.PeekAtHeader(realData);
 if (header.MessageType == NetlinkMessageType.NLMSG_ERROR)
 {
 NetlinkMessageError nlMsgErr = NetlinkMessageError.FromBytes(realData);
 if (nlMsgErr.Error == 0)
 {
 Console.WriteLine("Successfully added CGW Rule!");
 }
 }
}

CAN Network Interface Support

CanNetworkInterface can0 = CanNetworkInterface.GetAllInterfaces(false).First(iface => iface.Name.Equals("can0"));

Console.WriteLine("Bringing Link Down...");
can0.SetLinkDown();

Console.WriteLine("Configuring Interface...");
can0.BitTiming = new CanBitTiming() { BitRate = 125000 };
can0.CanControllerModeFlags = CanControllerModeFlags.CAN_CTRLMODE_LOOPBACK | CanControllerModeFlags.CAN_CTRLMODE_ONE_SHOT;
can0.AutoRestartDelay = 5;
can0.MaximumTransmissionUnit = SocketCanConstants.CAN_MTU;

Console.WriteLine("Bringing Link Up...");
can0.SetLinkUp();

Console.WriteLine("Reading Interface Properties...");
Console.WriteLine($"Inteface Device Flags: {can0.DeviceFlags}");
Console.WriteLine($"Inteface Operational Status: {can0.OperationalStatus}");
Console.WriteLine($"Controller State: {can0.CanControllerState}");
Console.WriteLine($"Auto-Restart Delay: {can0.AutoRestartDelay} ms");
Console.WriteLine($"Bit Timing: {can0.BitTiming.BitRate} bit/s");
Console.WriteLine($"Controller Mode Flags: {can0.CanControllerModeFlags}");
Console.WriteLine($"MTU: {can0.MaximumTransmissionUnit}");

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