lincan/utils/readburst.c

   1 #include <stdio.h>
   2 #include <fcntl.h>
   3 #include <unistd.h>
   4 #include <errno.h>
   5 #include <sys/types.h>
   6 #include <sys/stat.h>
   7 #include <sys/time.h>
   8 #include <signal.h>
   9
  10 #include "../include/can.h"
  11
  12 int fd;
  13
  14 int can_fd_wait(int fd, int wait_sec)
  15 {
  16   int ret;
  17   struct timeval timeout;
  18   fd_set set;
  19
  20   FD_ZERO (&set);
  21   FD_SET (fd, &set);
  22   timeout.tv_sec = wait_sec;
  23   timeout.tv_usec = 0;
  24   while ((ret=select(FD_SETSIZE,&set, NULL, NULL,&timeout))==-1
  25           &&errno==-EINTR);
  26   return ret;
  27 }
  28
  29
  30 /*--- handler on SIGINT signal : the program quit with CTL-C ---*/
  31 void sortie(int sig)
  32         {
  33         close(fd);
  34         printf("Terminated by user\n");
  35         exit(0);
  36         }
  37
  38 int main(void)
  39         {
  40         int n,ret;
  41         unsigned long i=0;
  42         struct canmsg_t readmsg={0,0,5,0,0,{0,}};
  43         struct sigaction act;
  44
  45         /*------- register handler on SIGINT signal -------*/
  46         act.sa_handler=sortie;
  47         sigemptyset(&act.sa_mask);
  48         act.sa_flags=0;
  49         sigaction(SIGINT,&act,0);
  50         /*---------------------------------------*/
  51
  52         if ((fd=open("/dev/can0",O_RDWR)) < 0)
  53                 {
  54                 perror("open");
  55                 printf("Error opening /dev/can0\n");
  56                 exit(1);
  57                 }
  58
  59         while (1)
  60                 {
  61                 readmsg.flags=0;
  62                 readmsg.cob=0;
  63                 readmsg.timestamp=0;
  64             #if 1
  65                 ret=can_fd_wait(fd, 5);
  66                 printf("can_fd_wait returnet %d\n",ret);
  67             #endif
  68                 ret=read(fd,&readmsg,sizeof(struct canmsg_t));
  69                 if(ret <0)
  70                         {
  71                         printf("Error reading message\n");
  72                         }
  73                 else if(ret == 0)
  74                         {
  75                         printf("No message arrived\n");
  76                         }
  77                 else
  78                         {
  79                         printf("Received message #%lu: id=%lX dlc=%u",i,readmsg.id,readmsg.length);
  80                         for(n=0 ; n<readmsg.length ; n++)
  81                                 printf(" %.2X",(unsigned char)readmsg.data[n]);
  82                         printf("\n");
  83                         i++;
  84                         }
  85                 }
  86         return 0;
  87 }