lincan/utils/sendburst_rtl.c

   1 #include <rtl.h>
   2 #include <time.h>
   3 #include <signal.h>
   4 #include <pthread.h>
   5 #include <posix/unistd.h>
   6
   7 #define printf rtl_printf
   8
   9 #include "../include/can.h"
  10
  11 int canmsg_flags = 0;
  12 unsigned long canmsg_id = 5;
  13 int block = 10;
  14 int count = 0;
  15
  16 int can_wait_sec = 1;
  17 int o_sync_fl = 0;
  18
  19 char *can_dev_name = "/dev/can0";
  20
  21 #define PRT_PREFIX_SIZE 40
  22 char prt_prefix[PRT_PREFIX_SIZE];
  23
  24 char *prt_prefix_in = "CAN %s : ";
  25
  26 MODULE_PARM_DESC(can_dev_name,"name of CAN device [/dev/can0]");
  27 MODULE_PARM(can_dev_name,"1s");
  28 MODULE_PARM_DESC(canmsg_id,"ID of generated messages");
  29 MODULE_PARM(canmsg_id,"1i");
  30 MODULE_PARM_DESC(canmsg_flags,"CAN filter flags");
  31 MODULE_PARM(canmsg_flags,"1i");
  32 MODULE_PARM_DESC(o_sync_fl,"open in synchronous mode");
  33 MODULE_PARM(o_sync_fl,"1i");
  34 MODULE_PARM_DESC(can_wait_sec,"number of seconds to wait between messages");
  35 MODULE_PARM(can_wait_sec,"1i");
  36 MODULE_PARM_DESC(block,"number of messages in  block");
  37 MODULE_PARM(block,"1i");
  38 MODULE_PARM_DESC(count,"number of sent blocks of messages");
  39 MODULE_PARM(count,"1i");
  40 MODULE_PARM_DESC(prt_prefix_in,"string prefix for output");
  41 MODULE_PARM(prt_prefix_in,"1i");
  42
  43
  44 MODULE_SUPPORTED_DEVICE("sendburst_rtl");
  45 MODULE_AUTHOR("Pavel Pisa <pisa@cmp.felk.cvut.cz>");
  46 MODULE_DESCRIPTION("sendburst_rtl: generatot of CAN messages for RT-Linux interface to LinCAN driver");
  47 MODULE_LICENSE("GPL");
  48
  49 void sendburst_cleanup(void *arg)
  50 {
  51         printf("%scleanup handler called\n", prt_prefix);
  52         close((int)arg);
  53 }
  54
  55 int sendburst_main(void *arg)
  56 {
  57        #ifdef CAN_MSG_VERSION_2
  58         struct canmsg_t sendmsg={0,0,5,{0,0},8,{1,2,3,4,5,6,7,8}};
  59        #else /* CAN_MSG_VERSION_2 */
  60         struct canmsg_t sendmsg={0,0,5,0,8,{1,2,3,4,5,6,7,8}};
  61        #endif /* CAN_MSG_VERSION_2 */
  62         int fd, ret,i,j;
  63
  64
  65         if ((fd=open(can_dev_name, O_RDWR | (o_sync_fl? O_SYNC:0))) < 0) {
  66                 printf("Error opening %s\n", can_dev_name);
  67                 return -1;
  68         }
  69         pthread_cleanup_push(sendburst_cleanup,(void*)fd);
  70
  71         snprintf(prt_prefix, PRT_PREFIX_SIZE, prt_prefix_in, can_dev_name);
  72
  73         j=0;
  74         while (1) {
  75                 for(i=0;i<block;i++) {
  76                         sendmsg.flags=canmsg_flags;
  77                         sendmsg.id=canmsg_id;
  78                         sendmsg.data[0]=i;
  79                         sendmsg.data[1]=j;
  80                         if ((ret=write(fd,&sendmsg,sizeof(struct canmsg_t))) < 0) {
  81                                 printf("%sError sending message\n", prt_prefix);
  82                                 break;
  83                         }
  84                 }
  85                 printf("%sSent block of %d messages #: %u\n", prt_prefix, block, j);
  86                 j++;
  87                 pthread_testcancel();
  88                 usleep(1000000*can_wait_sec);
  89                 if(count)
  90                         if(!--count) break;
  91                 pthread_testcancel();
  92         }
  93         /* close(fd); is called by cleanup handler*/
  94         pthread_cleanup_pop(1);
  95         return 0;
  96 }
  97
  98
  99 /*===========================================================*/
 100
 101
 102 void * t1_routine(void *arg)
 103 {
 104   sendburst_main(NULL);
 105
 106   while (1) {
 107     pthread_wait_np ();
 108
 109   }
 110   return 0;
 111 }
 112
 113 pthread_t t1;
 114
 115 int init_module(void) {
 116
 117         return pthread_create (&t1, NULL, t1_routine, 0);
 118
 119 }
 120
 121 void cleanup_module(void) {
 122         /*pthread_delete_np (t1);*/
 123
 124         pthread_cancel(t1);
 125         pthread_join(t1, NULL);
 126 }