lincan/utils/readburst.c

   1 #include <stdio.h>
   2 #include <fcntl.h>
   3 #include <unistd.h>
   4 #include <sys/types.h>
   5 #include <sys/stat.h>
   6 #include <signal.h>
   7
   8 #include "../include/can.h"
   9
  10 int fd;
  11
  12 /*--- handler on SIGINT signal : the program quit with CTL-C ---*/
  13 void sortie(int sig)
  14         {
  15         close(fd);
  16         printf("Terminated by user\n");
  17         exit(0);
  18         }
  19
  20 int main(void)
  21         {
  22         int n,ret;
  23         unsigned long i=0;
  24         struct canmsg_t readmsg={0,0,5,0,0,{0,}};
  25         struct sigaction act;
  26
  27         /*------- register handler on SIGINT signal -------*/
  28         act.sa_handler=sortie;
  29         sigemptyset(&act.sa_mask);
  30         act.sa_flags=0;
  31         sigaction(SIGINT,&act,0);
  32         /*---------------------------------------*/
  33
  34         if ((fd=open("/dev/can0",O_RDWR)) < 0)
  35                 {
  36                 perror("open");
  37                 printf("Error opening /dev/can0\n");
  38                 exit(1);
  39                 }
  40
  41         while (1)
  42                 {
  43                 readmsg.flags=0;
  44                 readmsg.cob=0;
  45                 readmsg.timestamp=0;
  46                 ret=read(fd,&readmsg,sizeof(struct canmsg_t));
  47                 if(ret <0)
  48                         {
  49                         printf("Error reading message\n");
  50                         }
  51                 else
  52                         {
  53                         printf("Received message #%lu: id=%lX dlc=%u",i,readmsg.id,readmsg.length);
  54                         for(n=0 ; n<readmsg.length ; n++)
  55                                 printf(" %.2X",(unsigned char)readmsg.data[n]);
  56                         printf("\n");
  57                         i++;
  58                         }
  59                 }
  60         return 0;
  61 }