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