#include <stdio.h>
+#include <stdlib.h>
#include <fcntl.h>
#include <unistd.h>
+#include <getopt.h>
#include <sys/types.h>
#include <sys/stat.h>
-
#include "../include/can.h"
-int main(void)
- {
+int canmsg_flags = 0;
+unsigned long canmsg_id = 5;
+int block = 10;
+int count = 0;
+
+int can_wait_sec = 1;
+int o_sync_fl = 0;
+
+char *can_dev_name = "/dev/can0";
+
+#define PRT_PREFIX_SIZE 40
+char prt_prefix[PRT_PREFIX_SIZE];
+
+char *prt_prefix_in = "CAN %s : ";
+
+
+static void
+usage(void)
+{
+ printf("usage: sendburst\n");
+ printf(" -d, --device <name> name of CAN device [/dev/can0]\n");
+ printf(" -i, --id <num> ID of generated messages\n");
+ printf(" -f, --flags <num> CAN filter flags\n");
+ printf(" -s, --sync open in synchronous mode\n");
+ printf(" -w, --wait <num> number of seconds to wait between messages\n");
+ printf(" -b, --block <num> number of messages in block\n");
+ printf(" -c, --count <num> number of sent blocks of messages\n");
+ printf(" -p, --prefix <str> string prefix for output\n");
+ printf(" -V, --version show version\n");
+ printf(" -h, --help this usage screen\n");
+}
+
+int main(int argc, char *argv[])
+{
+ static struct option long_opts[] = {
+ { "uldev", 1, 0, 'd' },
+ { "id", 1, 0, 'i' },
+ { "flags", 1, 0, 'f' },
+ { "sync", 0, 0, 's' },
+ { "wait", 1, 0, 'w' },
+ { "block", 1, 0, 'b' },
+ { "count", 1, 0, 'c' },
+ { "prefix",1, 0, 'p' },
+ { "version",0,0, 'V' },
+ { "help", 0, 0, 'h' },
+ { 0, 0, 0, 0}
+ };
+ int opt;
+
+ #ifdef CAN_MSG_VERSION_2
+ struct canmsg_t sendmsg={0,0,5,{0,0},8,{1,2,3,4,5,6,7,8}};
+ #else /* CAN_MSG_VERSION_2 */
struct canmsg_t sendmsg={0,0,5,0,8,{1,2,3,4,5,6,7,8}};
+ #endif /* CAN_MSG_VERSION_2 */
int fd, ret,i,j;
- if ((fd=open("/dev/can0",O_RDWR)) < 0 )
- {
+ while ((opt = getopt_long(argc, argv, "d:i:f:sw:b:c:p:Vh",
+ &long_opts[0], NULL)) != EOF) switch (opt) {
+ case 'd':
+ can_dev_name=optarg;
+ break;
+ case 'i':
+ canmsg_id = strtol(optarg,NULL,0);
+ break;
+ case 'f':
+ canmsg_flags = strtol(optarg,NULL,0);
+ break;
+ case 's':
+ o_sync_fl = 1;
+ break;
+ case 'w':
+ can_wait_sec = strtol(optarg,NULL,0);
+ break;
+ case 'b':
+ block = strtol(optarg,NULL,0);
+ break;
+ case 'c':
+ count = strtol(optarg,NULL,0);
+ break;
+ case 'p':
+ prt_prefix_in = optarg;
+ break;
+ case 'V':
+ fputs("LinCAN utilities v0.2\n", stdout);
+ exit(0);
+ case 'h':
+ default:
+ usage();
+ exit(opt == 'h' ? 0 : 1);
+ }
+
+ if ((fd=open(can_dev_name, O_RDWR | (o_sync_fl? O_SYNC:0))) < 0) {
perror("open");
- printf("Error opening /dev/can0\n");
- exit(1);
- }
+ printf("Error opening %s\n", can_dev_name);
+ exit(1);
+ }
+
+ snprintf(prt_prefix, PRT_PREFIX_SIZE, prt_prefix_in, can_dev_name);
+
j=0;
- while (1)
- {
- for(i=0;i<10;i++)
- {
+ while (1) {
+ for(i=0;i<block;i++) {
+ sendmsg.flags=canmsg_flags;
+ sendmsg.id=canmsg_id;
sendmsg.data[0]=i;
sendmsg.data[1]=j;
- if ((ret=write(fd,&sendmsg,sizeof(struct canmsg_t))) < 0)
- {
+ if ((ret=write(fd,&sendmsg,sizeof(struct canmsg_t))) < 0) {
perror("write");
- printf("Error sending message\n");
+ printf("%sError sending message\n", prt_prefix);
break;
- }
}
- printf("Sent block of 10 messages #: %u\n",j);
- j++;
- usleep(500000);
}
+ printf("%sSent block of %d messages #: %u\n", prt_prefix, block, j);
+ j++;
+ usleep(1000000*can_wait_sec);
+ if(count)
+ if(!--count) break;
+ }
close(fd);
return 0;
- }
+}