7 #include "../include/can.h"
12 int i=0, fd=0, ret=0, count=0;
14 char ch, transmission[MAXL+1], specialfile[MAXL+1]="/dev/can0", emptystring[MAXL+1]="", buf[MAXL+1];
16 struct canmsg_t message;
18 printf("\nThis program allows you to send or receive Can messages.\n");
19 printf("Please answer the following questions:\n\n");
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);
26 while ( (ch=getchar()) != '\n' )
27 transmission[count++]=ch;
28 transmission[count]='\0';
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);
36 while ( (ch=getchar()) != '\n' )
41 message.flags = MSG_RTR;
44 // message.flags |= MSG_EXT; hard code EXT for now
46 if (transmission[0]=='s') {
47 printf("From wich device file would you like to send the message?\n");
50 fgets(buf,MAXL,stdin);
51 buf[strcspn(buf,"\n")]='\0';
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]);
67 if (*transmission=='r') {
68 printf("At which device file would you like to receive the message?\n");
71 fgets(buf,MAXL,stdin);
72 buf[strcspn(buf,"\n")]='\0';
74 strncpy(specialfile,buf,MAXL);
75 specialfile[MAXL]='\0';
76 printf("Enter the Message ID ");
77 scanf("%lx",&message.id);
81 fd=open(specialfile,O_RDWR);
83 printf("Error opening %s\n",specialfile);
87 if (transmission[0]=='s') {
88 printf("Press enter to send message\n");
90 while (getchar() != '\n');
91 ret=write(fd, &message, sizeof(struct canmsg_t));
93 printf("Error sending message from %s\n",specialfile);
95 printf("Message successfully sent from %s\n",specialfile);
98 if (*transmission=='r') {
99 ioctl(fd,CONF_FILTER,message.id);
100 printf("Press enter to receive message or <l>oop\n");
102 while ( loop == 'l') {
104 ret=read(fd, &message, sizeof(struct canmsg_t));
106 printf("Error receiving message on %s\n",
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,
121 printf("Error closing %s\n",specialfile);