[libsocketcan] Start / stop CAN boards from userspace

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[libsocketcan] Start / stop CAN boards from userspace

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Hi there,

I am trying to start / stop CAN boards or to update their baudrate using SocketCAN from userspace. My tests are performed on PeakSystem and IXXAT USB-to-CAN V1/V2 boards.

My first attempt was to use visudo and to enable NOPASSWD to "ip link set ...", and then to call "sudo ip link set ..." in my C++ code.
(complete visudo line is "%sudo  ALL=(ALL:ALL) NOPASSWD: /bin/ip link set can[0123456789]* type can bitrate [0123456789]*, /bin/ip link set can[0123456789]* up, /bin/ip link set can[0123456789]* down")

Then, I tried with Linux capabilities by adding capabilities to /bin/ip: "sudo setcap cap_net_raw,cap_net_admin+ep /bin/ip". That allows me to call "ip link set ..." from my C++ code which was even better.

But then I discovered "libsocketcan" which is a far better approach than calling command lines from C++. However when calling "can_set_bitrate" or "can_do_start", I have an error "RTNETLINK: Operation not permitted". But things are working fine when my program is launched as root. Other functions like can_get_state are working fine in userspace (actually, they are returning : 4 -> CAN_STATE_STOPPED).
I tried to adding capabilities to my program without any success ""sudo setcap cap_net_raw,cap_net_admin+ep ./myprogram".

How can I allow my program to use libsocketcan in userspace?

Thanks for your help!