updated test config

tests/devel_tests/test_asio_can.cpp

@@ -0,0 +1,79 @@
+// source: https://stackoverflow.com/questions/10467178/boostasio-over-socketcan
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <iostream>
+
+#include <net/if.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+
+#include <linux/can.h>
+#include <linux/can/raw.h>
+
+#define ASIO_ENABLE_OLD_SERVICES
+#define ASIO_HAS_POSIX_STREAM_DESCRIPTOR
+
+#include "asio.hpp"
+#include <functional>
+
+#include "asio/posix/basic_stream_descriptor.hpp"
+
+void data_send(void)
+{
+    std::cout << "omg sent" << std::endl;
+}
+
+void data_rec(struct can_frame &rec_frame,
+              asio::posix::basic_stream_descriptor<> &stream)
+{
+    std::cout << std::hex << rec_frame.can_id << "  ";
+    for (int i = 0; i < rec_frame.can_dlc; i++)
+    {
+        std::cout << std::hex << int(rec_frame.data[i]) << " ";
+    }
+    std::cout << std::dec << std::endl;
+    stream.async_read_some(
+        asio::buffer(&rec_frame, sizeof(rec_frame)),
+        std::bind(data_rec, std::ref(rec_frame), std::ref(stream)));
+}
+
+int main(void)
+{
+    struct sockaddr_can addr;
+    struct can_frame frame;
+    struct can_frame rec_frame;
+    struct ifreq ifr;
+
+    int natsock = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+
+    strcpy(ifr.ifr_name, "can1");
+    ioctl(natsock, SIOCGIFINDEX, &ifr);
+
+    addr.can_family = AF_CAN;
+    addr.can_ifindex = ifr.ifr_ifindex;
+    if (bind(natsock, (struct sockaddr *)&addr, sizeof(addr)) < 0)
+    {
+        perror("Error in socket bind");
+        return -2;
+    }
+
+    frame.can_id = 0x123;
+    frame.can_dlc = 2;
+    frame.data[0] = 0x11;
+    frame.data[1] = 0x23;
+
+    asio::io_service ios;
+    asio::posix::basic_stream_descriptor<> stream(ios);
+    stream.assign(natsock);
+
+    stream.async_write_some(asio::buffer(&frame, sizeof(frame)),
+                            std::bind(data_send));
+    stream.async_read_some(
+        asio::buffer(&rec_frame, sizeof(rec_frame)),
+        std::bind(data_rec, std::ref(rec_frame), std::ref(stream)));
+    ios.run();
+}