lincan/utils/rxtx.c

   1 #include <stdio.h>
   2 #include <string.h>
   3 #include <fcntl.h>
   4 #include <unistd.h>
   5 #include <sys/ioctl.h>
   6
   7 #include "../include/can.h"
   8 #define MAXL 40
   9
  10 int main(void)
  11 {
  12         int i=0, fd=0, ret=0, count=0;
  13         char loop=0;
  14         char ch, transmission[MAXL+1], specialfile[MAXL+1]="/dev/can0", emptystring[MAXL+1]="", buf[MAXL+1];
  15         char remote[MAXL+1];
  16         struct canmsg_t message;
  17
  18         printf("\nThis program allows you to send or receive Can messages.\n");
  19         printf("Please answer the following questions:\n\n");
  20
  21         while ( (*transmission!='s') && (*transmission!='r') ) {
  22                 printf("Would you like to send or receive a message?\n");
  23                 printf("send: <s> | receive: <r> ");
  24                 strcpy(transmission,emptystring);
  25                 count=0;
  26                 while ( (ch=getchar()) != '\n' )
  27                         transmission[count++]=ch;
  28                 transmission[count]='\0';
  29         }
  30
  31         while ( *remote!='y' && *remote!='n' ) {
  32                 printf("Should the message be configured for Remote Transmission Requests?\n");
  33                 printf("yes: <y> | no: <n> ");
  34                 strcpy(remote,emptystring);
  35                 count=0;
  36                 while ( (ch=getchar()) != '\n' )
  37                         remote[count++]=ch;
  38                 remote[count]='\0';
  39         }
  40         if (remote[0]=='y')
  41                 message.flags |= MSG_RTR;
  42         else
  43                 message.flags = 0;
  44 //      message.flags |= MSG_EXT;  hard code EXT for now
  45
  46         if (transmission[0]=='s') {
  47                         printf("From wich device file would you like to send the message?\n");
  48                         printf(specialfile);
  49                         *buf='\0';
  50                         fgets(buf,MAXL,stdin);
  51                         buf[strcspn(buf,"\n")]='\0';
  52                         if(*buf)
  53                                 strncpy(specialfile,buf,MAXL);
  54                         specialfile[MAXL]='\0';
  55                         specialfile[MAXL]='\0';
  56                 printf("Enter the Message ID ");
  57                 scanf("%lx",&message.id);
  58                 printf("Enter the Message Length ");
  59                 scanf("%d",&message.length);
  60                 for (i=0; i<message.length; i++) {
  61                         printf("Enter data byte [%d] ",i);
  62                         scanf("%x",(int *)&message.data[i]);
  63                 }
  64         }
  65         if (*transmission=='r') {
  66                         printf("At which device file would you like to receive the message?\n");
  67                         printf(specialfile);
  68                         *buf='\0';
  69                         fgets(buf,MAXL,stdin);
  70                         buf[strcspn(buf,"\n")]='\0';
  71                         if(*buf)
  72                                 strncpy(specialfile,buf,MAXL);
  73                         specialfile[MAXL]='\0';
  74                 printf("Enter the Message ID ");
  75                 scanf("%ld",&message.id);
  76                 getchar();
  77         }
  78
  79         fd=open(specialfile,O_RDWR);
  80         if (fd<0) {
  81                 printf("Error opening %s\n",specialfile);
  82                 return -1;
  83         }
  84
  85         if (transmission[0]=='s') {
  86                 printf("Press enter to send message\n");
  87                 getchar();
  88                 while (getchar() != '\n');
  89                 ret=write(fd, &message, sizeof(struct canmsg_t));
  90                 if (ret<0)
  91                         printf("Error sending message from %s\n",specialfile);
  92                 else
  93                         printf("Message successfully sent from %s\n",specialfile);
  94         }
  95
  96         if (*transmission=='r') {
  97                 ioctl(fd,CONF_FILTER,message.id);
  98                 printf("Press enter to receive message or <l>oop\n");
  99                 loop = 'l';
 100                 while ( loop == 'l') {
 101                         loop = getchar();
 102                         ret=read(fd, &message, sizeof(struct canmsg_t));
 103                         if (ret<0)
 104                                 printf("Error receiving message on %s\n",
 105                                                                 specialfile);
 106                         else {
 107                                 printf("Id      : %lx\n",message.id);
 108                                 printf("length  : %d\n",message.length);
 109                                 printf("flags   : 0x%02x\n", message.flags);
 110                                 printf("time    : %ld\n", message.timestamp);
 111                                 for (i=0; i<message.length; i++)
 112                                         printf("data%d  : %02x\n",i,
 113                                                         message.data[i]);
 114                         }
 115                 }
 116         }
 117
 118         if (close(fd)) {
 119                 printf("Error closing %s\n",specialfile);
 120                 return -1;
 121         }
 122
 123         return 0;
 124 }