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         int msglen;
  14         char loop=0;
  15         char ch, transmission[MAXL+1], specialfile[MAXL+1]="/dev/can0", emptystring[MAXL+1]="", buf[MAXL+1];
  16         char remote[MAXL+1];
  17         struct canmsg_t message;
  18
  19         printf("\nThis program allows you to send or receive Can messages.\n");
  20         printf("Please answer the following questions:\n\n");
  21
  22         while ( (*transmission!='s') && (*transmission!='r') ) {
  23                 printf("Would you like to send or receive a message?\n");
  24                 printf("send: <s> | receive: <r> ");
  25                 strcpy(transmission,emptystring);
  26                 count=0;
  27                 while ( (ch=getchar()) != '\n' )
  28                         transmission[count++]=ch;
  29                 transmission[count]='\0';
  30         }
  31
  32         while ( *remote!='y' && *remote!='n' ) {
  33                 printf("Should the message be configured for Remote Transmission Requests?\n");
  34                 printf("yes: <y> | no: <n> ");
  35                 strcpy(remote,emptystring);
  36                 count=0;
  37                 while ( (ch=getchar()) != '\n' )
  38                         remote[count++]=ch;
  39                 remote[count]='\0';
  40         }
  41         if (remote[0]=='y')
  42                 message.flags = MSG_RTR;
  43         else
  44                 message.flags = 0;
  45 //      message.flags |= MSG_EXT;  hard code EXT for now
  46
  47         if (transmission[0]=='s') {
  48                         printf("From wich device file would you like to send the message?\n");
  49                         printf(specialfile);
  50                         *buf='\0';
  51                         fgets(buf,MAXL,stdin);
  52                         buf[strcspn(buf,"\n")]='\0';
  53                         if(*buf)
  54                                 strncpy(specialfile,buf,MAXL);
  55                         specialfile[MAXL]='\0';
  56                         specialfile[MAXL]='\0';
  57                 printf("Enter the Message ID ");
  58                 scanf("%lx",&message.id);
  59                 if(message.id>=(1<<11))
  60                   message.flags |= MSG_EXT;
  61                 printf("Enter the Message Length ");
  62                 scanf("%d",&msglen);
  63                 message.length=msglen;
  64                 for (i=0; i<message.length; i++) {
  65                         int val;
  66                         printf("Enter data byte [%d] ",i);
  67                         scanf("%x",&val);
  68                         message.data[i]=val;
  69                 }
  70         }
  71         if (*transmission=='r') {
  72                         printf("At which device file would you like to receive the message?\n");
  73                         printf(specialfile);
  74                         *buf='\0';
  75                         fgets(buf,MAXL,stdin);
  76                         buf[strcspn(buf,"\n")]='\0';
  77                         if(*buf)
  78                                 strncpy(specialfile,buf,MAXL);
  79                         specialfile[MAXL]='\0';
  80                 printf("Enter the Message ID ");
  81                 scanf("%lx",&message.id);
  82                 getchar();
  83         }
  84
  85         fd=open(specialfile,O_RDWR);
  86         if (fd<0) {
  87                 printf("Error opening %s\n",specialfile);
  88                 return -1;
  89         }
  90
  91         if (transmission[0]=='s') {
  92                 printf("Press enter to send message\n");
  93                 getchar();
  94                 while (getchar() != '\n');
  95                 ret=write(fd, &message, sizeof(struct canmsg_t));
  96                 if (ret<0)
  97                         printf("Error sending message from %s\n",specialfile);
  98                 else
  99                         printf("Message successfully sent from %s\n",specialfile);
 100         }
 101
 102         if (*transmission=='r') {
 103                 ioctl(fd,CONF_FILTER,message.id);
 104                 printf("Press enter to receive message or <l>oop\n");
 105                 loop = 'l';
 106                 while ( loop == 'l') {
 107                         loop = getchar();
 108                         ret=read(fd, &message, sizeof(struct canmsg_t));
 109                         if (ret<0)
 110                                 printf("Error receiving message on %s\n",
 111                                                                 specialfile);
 112                         else {
 113                                 printf("Id      : %lx\n",message.id);
 114                                 printf("length  : %d\n",message.length);
 115                                 printf("flags   : 0x%02x\n", message.flags);
 116                                 #ifdef CAN_MSG_VERSION_2
 117                                 printf("time    : %lds %ldusec\n", message.timestamp.tv_sec,
 118                                         message.timestamp.tv_usec);
 119                                 #else /* CAN_MSG_VERSION_2 */
 120                                 printf("time    : %ld\n", message.timestamp);
 121                                 #endif /* CAN_MSG_VERSION_2 */
 122                                 for (i=0; i<message.length; i++)
 123                                         printf("data%d  : %02x\n",i,
 124                                                         message.data[i]);
 125                         }
 126                 }
 127         }
 128
 129         if (close(fd)) {
 130                 printf("Error closing %s\n",specialfile);
 131                 return -1;
 132         }
 133
 134         return 0;
 135 }