Awesome

tokio-socketcan-bcm

The Broadcast Manager protocol provides a command based configuration interface to filter and send (e.g. cyclic) CAN messages in kernel space. Filtering messages in kernel space may significantly reduce the load in an application.

A BCM socket is not intended for sending individual CAN frames. To send invidiual frames use the tokio-socketcan crate.

This crate would not have been possible without the socketcan crate.

Example

use std::time;
use futures_util::stream::StreamExt;
use tokio_socketcan_bcm::{BCMSocket, Id, StandardId};

#[tokio::main]
async fn main() {
    let socket = BCMSocket::open_nb("vcan0").unwrap();
    let ival = time::Duration::from_millis(0);

    // create a stream of messages that filters by the can frame id 0x123
    let id = Id::Standard(StandardId::new(0x123).unwrap());
    let mut can_frame_stream = socket
        .filter(id, ival, ival)
        .unwrap();

    while let Some(frame) = can_frame_stream.next().await {
        println!("Frame {:?}", frame);
        ()
    }
}