lincan/utils/readburst.c

   1 #include <stdio.h>
   2 #include <stdlib.h>
   3 #include <unistd.h>
   4 #include <errno.h>
   5 #include <signal.h>
   6 #include <getopt.h>
   7 #include <fcntl.h>
   8 #include <sys/types.h>
   9 #include <sys/stat.h>
  10 #include <sys/time.h>
  11 #include <sys/ioctl.h>
  12
  13 #include "../include/can.h"
  14
  15 int fd;
  16
  17 struct canfilt_t canfilt = {
  18         .flags = 0,
  19         .queid = 0,
  20         .cob = 0,
  21         .id = 0,
  22         .mask = 0
  23 };
  24
  25 int canfilt_fl;
  26
  27 int query_fl;
  28
  29 int can_wait_sec = 5;
  30
  31 char *can_dev_name = "/dev/can0";
  32
  33 #define PRT_PREFIX_SIZE 40
  34 char prt_prefix[PRT_PREFIX_SIZE];
  35
  36 char *prt_prefix_in = "CAN %s : ";
  37
  38 int can_fd_wait(int fd, int wait_sec)
  39 {
  40         int ret;
  41         struct timeval timeout;
  42         fd_set set;
  43
  44         FD_ZERO (&set);
  45         FD_SET (fd, &set);
  46         timeout.tv_sec = wait_sec;
  47         timeout.tv_usec = 0;
  48         while ((ret=select(FD_SETSIZE,&set, NULL, NULL,&timeout))==-1
  49           &&errno==-EINTR);
  50         return ret;
  51 }
  52
  53
  54 /*--- handler on SIGINT signal : the program quit with CTL-C ---*/
  55 void sortie(int sig)
  56 {
  57         close(fd);
  58         printf("Terminated by user\n");
  59         exit(0);
  60 }
  61
  62 static void
  63 usage(void)
  64 {
  65   printf("usage: readburst\n");
  66   printf("  -d, --device  <name>     name of CAN device [/dev/can0]\n");
  67   printf("  -m, --mask  <num>        CAN filter mask\n");
  68   printf("  -i, --id  <num>          CAN filter message ID\n");
  69   printf("  -f, --flags <num>        CAN filter flags\n");
  70   printf("  -w, --wait <num>         number of seconds to wait in select call\n");
  71   printf("  -p, --prefix <str>       string prefix for output\n");
  72   printf("  -q, --query              query driver features\n");
  73   printf("  -V, --version            show version\n");
  74   printf("  -h, --help               this usage screen\n");
  75 }
  76
  77
  78 int main(int argc, char *argv[])
  79 {
  80         static struct option long_opts[] = {
  81                 { "uldev", 1, 0, 'd' },
  82                 { "mask",  1, 0, 'm' },
  83                 { "id",    1, 0, 'i' },
  84                 { "flags", 1, 0, 'f' },
  85                 { "wait",  1, 0, 'w' },
  86                 { "prefix",1, 0, 'p' },
  87                 { "query" ,0 ,0, 'q' },
  88                 { "version",0,0, 'V' },
  89                 { "help",  0, 0, 'h' },
  90                 { 0, 0, 0, 0}
  91         };
  92         int opt;
  93
  94         int n,ret;
  95         unsigned long i=0;
  96        #ifdef CAN_MSG_VERSION_2
  97         struct canmsg_t readmsg={0,0,5,{0,0},0,{0,}};
  98        #else /* CAN_MSG_VERSION_2 */
  99         struct canmsg_t readmsg={0,0,5,0,0,{0,}};
 100        #endif /* CAN_MSG_VERSION_2 */
 101         struct sigaction act;
 102
 103
 104         while ((opt = getopt_long(argc, argv, "d:m:i:f:w:p:qVh",
 105                             &long_opts[0], NULL)) != EOF) switch (opt) {
 106                 case 'd':
 107                         can_dev_name=optarg;
 108                         break;
 109                 case 'm':
 110                         canfilt_fl=1;
 111                         canfilt.mask = strtol(optarg,NULL,0);
 112                         break;
 113                 case 'i':
 114                         canfilt_fl=1;
 115                         canfilt.id = strtol(optarg,NULL,0);
 116                         break;
 117                 case 'f':
 118                         canfilt_fl=1;
 119                         canfilt.flags = strtol(optarg,NULL,0);
 120                         break;
 121                 case 'w':
 122                         can_wait_sec = strtol(optarg,NULL,0);
 123                         break;
 124                 case 'p':
 125                         prt_prefix_in = optarg;
 126                         break;
 127                 case 'q':
 128                         query_fl=1;
 129                         break;
 130                 case 'V':
 131                         fputs("LinCAN utilities v0.2\n", stdout);
 132                         exit(0);
 133                 case 'h':
 134                 default:
 135                         usage();
 136                         exit(opt == 'h' ? 0 : 1);
 137         }
 138
 139
 140         /*------- register handler on SIGINT signal -------*/
 141         act.sa_handler=sortie;
 142         sigemptyset(&act.sa_mask);
 143         act.sa_flags=0;
 144         sigaction(SIGINT,&act,0);
 145         /*---------------------------------------*/
 146
 147         if ((fd=open(can_dev_name, O_RDWR)) < 0) {
 148                 perror("open");
 149                 printf("Error opening %s\n", can_dev_name);
 150                 exit(1);
 151         }
 152
 153         if (query_fl) {
 154                 n=ioctl(fd, CAN_DRV_QUERY, CAN_DRV_QRY_BRANCH);
 155                 printf("CAN driver branch:  %c%c%c%c\n",(n>>24)&0xff,(n>>16)&0xff,(n>>8)&0xff,n&0xff);
 156                 n=ioctl(fd, CAN_DRV_QUERY, CAN_DRV_QRY_VERSION);
 157                 printf("CAN driver version: %d.%d.%d\n",(n>>16)&0xff,(n>>8)&0xff,n&0xff);
 158                 n=ioctl(fd, CAN_DRV_QUERY, CAN_DRV_QRY_MSGFORMAT);
 159                 printf("CAN message format: %08x\n",n);
 160                 close(fd);
 161                 return 0;
 162         }
 163
 164         if (canfilt_fl) {
 165                 ret = ioctl(fd, CANQUE_FILTER, &canfilt);
 166                 if(ret<0) {
 167                         perror("ioctl FILTER_QUE");
 168                 }
 169         }
 170
 171         snprintf(prt_prefix, PRT_PREFIX_SIZE, prt_prefix_in, can_dev_name);
 172
 173         while (1) {
 174                 readmsg.flags=0;
 175                 readmsg.cob=0;
 176             #if 1
 177                 ret=can_fd_wait(fd, can_wait_sec);
 178                 printf("%scan_fd_wait returned %d\n", prt_prefix, ret);
 179             #endif
 180                 ret=read(fd,&readmsg,sizeof(struct canmsg_t));
 181                 if(ret <0) {
 182                         printf("%sError reading message\n", prt_prefix);
 183                 }
 184                 else if(ret == 0) {
 185                         printf("%sNo message arrived\n", prt_prefix);
 186                 } else {
 187                         printf("%sRx msg #%lu: id=%lX dlc=%u flg=0x%02x",
 188                                 prt_prefix,i,readmsg.id,readmsg.length,readmsg.flags);
 189                         for(n=0 ; n<readmsg.length ; n++)
 190                                 printf(" %.2X",(unsigned char)readmsg.data[n]);
 191                         printf("\n");
 192                         i++;
 193                 }
 194         }
 195         return 0;
 196 }