CANUTILS

Canutils is a C ++ library for accessing the CAN bus. It abstracts the socket interface of the Linux kernel and provides an interface to query the settings and statistics of the CAN bus. In addition, canutils provides various buffer implementations and a software CAN mux to split the messages.

Classes

SocketCan

Interface to access the CAN bus.

SocketCanBuffer

Interface for various CAN buffer implementations.

SocketCanStatistics

Interface for CAN bus statistics

SocketCanInfo

Interface to query CAN bus and device settings

SocketCanWorker

Interface for software CAN mux.

Build

Requirements

• make
• cmake
• libnl-3-dev (Linux, library)
• libnl-3-200 (Linux, library)
• libnl-route-3-200 (Linux, library)
• doxygen (documentation)
• graphviz (documentation)
• libgtest-dev (testing)
• google-mock (testing)

compile

cmake options

Options        Description               Default
BUILD_EXAMPLE  "Build exmaples"          FALSE
BUILD_TEST     "Build test"              FALSE
BUILD_DOC      "Create documentation"    FALSE
BUILD_PARANOID "Use paranoid gcc checks" TRUE
USE_GCOV       "Enable gcov flags"       FALSE

execute

Build with default settings

$ mkdir build
$ cd build
$ cmake ..
$ make

Build with all options

$ mkdir build/
$ cd build/
$ cmake -DBUILD_EXAMPLE=ON -DBUILD_TEST=ON -DBUILD_DOC=ON -DBUILD_PARANOID=true -DUSE_GCOV ..
$ make

clean up

rm -r build/

create documentation

Enable the option 'BUILD_DOC' during cmake configuration and execute

$ cd build/
$ make doc

Wrapper Makefile

There is a wrapper makefile that executes the build steps described above. To use this, the following commands must be executed.

$ ln -s makefile.linux Makefile
$ make

# other commands
$ make all          # compile all
$ make install      # install binaries and libraries
$ make clean        # delete compiled sources
$ make dist-clean   # delete cmake work dir

Testing

To run the test the cmake option BUILD_TEST must be enabled.

Start vcan interface:

$ sudo ./scripts/vcan.sh start vcan0
$ sudo ./scripts/vcan.sh up vcan0

Run tests

$ ./scripts/run_test.sh

Run code coverage

$ ./scripts/run_gcov.sh

Run valgrind

$ ./scripts/run_cppcheck.sh

Run valgrind

$ ./scripts/run_valgrind.sh