docs

README.md

@@ -45,7 +45,7 @@ The automotive crate also supplies interfaces for various diagnostic protocols s
 The following CAN adapters are supported.
 
 ### Supported CAN adapters
- - SocketCAN (Linux only, supported using [socketcan-rs](https://github.com/socketcan-rs/socketcan-rs))
+ - SocketCAN (Linux only)
  - comma.ai panda (all platforms using [rusb](https://crates.io/crates/rusb))
 
 ### Known limitations / Notes

src/socketcan/mod.rs

@@ -1,4 +1,4 @@
-//! This module provides a [`CanAdapter`] implementation for the [`socketcan`] crate.
+//! This module provides a [`CanAdapter`] implementation for SocketCAN interfaces
 use crate::can::{AsyncCanAdapter, CanAdapter, Frame};
 use crate::socketcan::socket::CanFdSocket;
 use crate::Result;
@@ -10,7 +10,7 @@ mod socket;
 
 const IFF_ECHO: u64 = 1 << 18; // include/uapi/linux/if.h
 
-/// Aadapter for a [`socketcan::CanFdSocket`].
+/// SocketCAN Adapter
 pub struct SocketCan {
     socket: CanFdSocket,
     /// If the IFF_ECHO flag is set on the interface, it will implement proper ACK logic.
@@ -33,11 +33,13 @@ fn read_iff_echo(if_name: &str) -> Option<bool> {
 }
 
 impl SocketCan {
+    /// Creates a new [`AsyncCanAdapter`] from a SocketCAN iface name (e.g. `can0`)
     pub fn new_async(name: &str) -> Result<AsyncCanAdapter> {
         let socket = SocketCan::new(name)?;
         Ok(AsyncCanAdapter::new(socket))
     }
 
+    /// Creates a new blocking [`SocketCan`] from a SocketCAN iface name (e.g. `can0`)
     pub fn new(name: &str) -> Result<SocketCan> {
         let socket = match CanFdSocket::open(name) {
             Ok(socket) => socket,
@@ -65,7 +67,7 @@ impl SocketCan {
         };
 
         if iff_echo {
-            // socket.set_recv_own_msgs(true).unwrap();
+            socket.set_recv_own_msgs(true).unwrap();
         } else {
             tracing::warn!("IFF_ECHO is not set on the interface. ACK support is emulated.");
         }

src/socketcan/socket.rs

@@ -1,8 +1,8 @@
 //! Low Level SocketCAN code
-//! Code based on https://github.com/socketcan-rs/socketcan-rs
+//! Code based on socketcan-rs
 use libc::{
     c_int, c_void, can_frame, canfd_frame, sa_family_t, sockaddr_can, socklen_t, AF_CAN, CANFD_MTU,
-    CAN_MTU, CAN_RAW, CAN_RAW_FD_FRAMES, CAN_RAW_LOOPBACK, SOL_CAN_RAW,
+    CAN_MTU, CAN_RAW, CAN_RAW_FD_FRAMES, CAN_RAW_LOOPBACK, CAN_RAW_RECV_OWN_MSGS, SOL_CAN_RAW,
 };
 use nix::net::if_::if_nametoindex;
 use std::io::Write;
@@ -106,15 +106,22 @@ impl CanFdSocket {
         }
     }
 
+    /// Enable or disable FD mode on a socket.
     pub fn set_fd_mode(&self, enabled: bool) -> std::io::Result<()> {
         let enable = c_int::from(enabled);
         self.set_socket_option(SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &enable)
     }
 
+    /// Change socket to non-blocking mode or back to blocking mode.
     pub fn set_nonblocking(&self, nonblocking: bool) -> std::io::Result<()> {
         self.as_raw_socket().set_nonblocking(nonblocking)
     }
 
+    /// Enable or disable loopback.
+    ///
+    /// By default, loopback is enabled, causing other applications that open
+    /// the same CAN bus to see frames emitted by different applications on
+    /// the same system.
     pub fn set_loopback(&self, enabled: bool) -> std::io::Result<()> {
         let loopback = c_int::from(enabled);
         self.set_socket_option(SOL_CAN_RAW, CAN_RAW_LOOPBACK, &loopback)
@@ -128,6 +135,15 @@ impl CanFdSocket {
         self.as_raw_socket().recv_buffer_size()
     }
 
+    /// Enable or disable receiving of own frames.
+    ///
+    /// When enabled, this settings controls if CAN frames sent
+    /// are received back by sender when ACKed. Default is off.
+    pub fn set_recv_own_msgs(&self, enabled: bool) -> std::io::Result<()> {
+        let recv_own_msgs = c_int::from(enabled);
+        self.set_socket_option(SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS, &recv_own_msgs)
+    }
+
     fn as_raw_socket(&self) -> &socket2::Socket {
         &self.0
     }