使用C++实现阻塞的SocketCAN通信

       在这个示例中，没有设置socket为非阻塞模式，因此read和write的调用会进行阻塞，直到有数据可读或可写。read调用会等待直到接收到一个CAN帧，而write调用会等待直到CAN帧被写入到socket的发送缓冲区。

#include <iostream>
#include <cstring>
#include <unistd.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <net/if.h>
#include <linux/can.h>
#include <linux/can/raw.h>

int main() {
    int s;
    struct sockaddr_can addr;
    struct ifreq ifr;
    struct can_frame frame;
    const char *ifname = "can0";  // 你的CAN接口名称

    // 创建socket
    if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
        perror("Error while opening socket");
        return -1;
    }

    // 设置CAN接口名称
    std::strcpy(ifr.ifr_name, ifname);
    if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
        perror("Error getting interface index");
        close(s);
        return -1;
    }

    // 绑定socket到CAN接口
    addr.can_family = AF_CAN;
    addr.can_ifindex = ifr.ifr_ifindex;
    if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
        perror("Error binding socket");
        close(s);
        return -1;
    }

    // 现在你可以阻塞地读取和写入数据了
    // 读取数据示例：
    std::cout << "Waiting for CAN frame..." << std::endl;
    if (read(s, &frame, sizeof(struct can_frame)) < 0) {
        perror("Error reading from socket");
    } else {
        std::cout << "Received CAN frame with data: " << std::hex << (int)frame.data[0] << std::endl;
    }

    // 写入数据示例：
    frame.can_id = 0x123;
    frame.can_dlc = 2;
    frame.data[0] = 0x11;
    frame.data[1] = 0x22;
    std::cout << "Sending CAN frame..." << std::endl;
    if (write(s, &frame, sizeof(struct can_frame)) < 0) {
        perror("Error writing to socket");
    } else {
        std::cout << "CAN frame sent" << std::endl;
    }

    // 关闭socket
    close(s);

    return 0;
}