CanKit.Pro.RawCan 1.2.3

CanKit.Pro.RawCan

Raw-CAN service layer for CanKit: multi-protocol demultiplexing / subscriptions (arc42 §5.3, ADR-5; SRS FR-RAW-010..014) and a TX-confirm abstraction (arc42 §6.3, ADR-7; SRS FR-RAW-030..034).

One ICanBusService wraps one ICanBus and turns its single FrameObserved RX stream into N independent, filtered, read-only ISubscriptions — so several protocol instances (ISO-TP, J1939, CANopen, …) can each see their own view of the same bus without competing over ReceiveAsync and without one slow consumer blocking the others.

using CanKit.Core;
using CanKit.Pro.RawCan;

using var bus = CanBus.Open("virtual://demo/0", cfg => cfg.SetProtocolMode(CanProtocolMode.Can20).Baud(500_000));
using var service = new CanBusService(bus);

// Fast path: one 11-bit ID range per protocol instance (no per-frame delegate).
using var isoTp = service.Subscribe(CanIdFilter.Range(0x700, 0x7FF));

// Generic predicate when a range/mask is not enough.
using var custom = service.Subscribe(view => view.IsExtendedFrame && view.Len == 8);

await foreach (var frame in isoTp.Frames.WithCancellation(token))
{
    // frame is a read-only CanFrameView (no ownership/disposal concerns)
}

Each subscription owns its own bounded, drop-oldest buffer (FR-RAW-011). Disposing a subscription deterministically deregisters it and completes its Frames stream; disposing the service unwinds all subscriptions and detaches from the bus (FR-RAW-012). Call subscription.Reconfigure(CanIdFilter) or Reconfigure(predicate) to change filter criteria at runtime without recreating the subscription (FR-RAW-014); only frames observed after the call follow the new criterion. This layer is built purely on the public ICanBus.FrameObserved surface, so it works identically for every adapter.

TX-Confirm

SendConfirmed gives a uniform "was this frame actually sent" answer regardless of whether the bus has hardware TX echo enabled:

// Bus opened with CanFeature.Echo + WorkMode = ChannelWorkMode.Echo -> real echo matching.
// Otherwise -> confirmed as soon as the driver accepts the frame (TxConfirmation.IsApproximated).
var result = await service.SendConfirmed(CanFrame.Classic(0x123, new byte[] { 1, 2, 3 }));

if (result.Confirmed)
{
    // result.IsApproximated tells you whether this was a real echo or driver-acceptance only.
}
else
{
    // result.FailureReason: Timeout, BusOff, or Rejected -- never an indefinite hang.
}

Concurrent, byte-identical sends are matched to their own confirmation in FIFO order, never cross-matched (FR-RAW-031). The per-call timeout is configurable (FR-RAW-034); disposing the service cancels any outstanding SendConfirmed calls rather than leaving them to time out.

Install

dotnet add package CanKit.Pro.RawCan

# plus a CanKit adapter for the hardware you actually talk to, e.g.
dotnet add package CanKit.Adapter.Virtual   # loopback, no hardware
# dotnet add package CanKit.Adapter.PCAN    # Kvaser, Vector, SocketCAN, ZLG, ... likewise

Dependencies: CanKit.Abstractions.

Part of CanKit.Pro — higher CAN protocol layers built on top of CanKit, which is consumed as a NuGet package rather than forked.

License

MIT — see LICENSE. CanKit itself is a separate project licensed under Apache-2.0; see THIRD-PARTY-NOTICES.md.