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                 if(message.id>=(1<<11))
  59                   message.flags |= MSG_EXT;
  60                 printf("Enter the Message Length ");
  61                 scanf("%d",&message.length);
  62                 for (i=0; i<message.length; i++) {
  63                         printf("Enter data byte [%d] ",i);
  64                         scanf("%x",(int *)&message.data[i]);
  65                 }
  66         }
  67         if (*transmission=='r') {
  68                         printf("At which device file would you like to receive the message?\n");
  69                         printf(specialfile);
  70                         *buf='\0';
  71                         fgets(buf,MAXL,stdin);
  72                         buf[strcspn(buf,"\n")]='\0';
  73                         if(*buf)
  74                                 strncpy(specialfile,buf,MAXL);
  75                         specialfile[MAXL]='\0';
  76                 printf("Enter the Message ID ");
  77                 scanf("%lx",&message.id);
  78                 getchar();
  79         }
  80
  81         fd=open(specialfile,O_RDWR);
  82         if (fd<0) {
  83                 printf("Error opening %s\n",specialfile);
  84                 return -1;
  85         }
  86
  87         if (transmission[0]=='s') {
  88                 printf("Press enter to send message\n");
  89                 getchar();
  90                 while (getchar() != '\n');
  91                 ret=write(fd, &message, sizeof(struct canmsg_t));
  92                 if (ret<0)
  93                         printf("Error sending message from %s\n",specialfile);
  94                 else
  95                         printf("Message successfully sent from %s\n",specialfile);
  96         }
  97
  98         if (*transmission=='r') {
  99                 ioctl(fd,CONF_FILTER,message.id);
 100                 printf("Press enter to receive message or <l>oop\n");
 101                 loop = 'l';
 102                 while ( loop == 'l') {
 103                         loop = getchar();
 104                         ret=read(fd, &message, sizeof(struct canmsg_t));
 105                         if (ret<0)
 106                                 printf("Error receiving message on %s\n",
 107                                                                 specialfile);
 108                         else {
 109                                 printf("Id      : %lx\n",message.id);
 110                                 printf("length  : %d\n",message.length);
 111                                 printf("flags   : 0x%02x\n", message.flags);
 112                                 printf("time    : %ld\n", message.timestamp);
 113                                 for (i=0; i<message.length; i++)
 114                                         printf("data%d  : %02x\n",i,
 115                                                         message.data[i]);
 116                         }
 117                 }
 118         }
 119
 120         if (close(fd)) {
 121                 printf("Error closing %s\n",specialfile);
 122                 return -1;
 123         }
 124
 125         return 0;
 126 }