X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/4cf24de229090b1ab6279570a564d224e13dd706..2827b727d2910a3b48f9de7d67b3a67f59e256c7:/lincan/utils/readburst.c

diff --git a/lincan/utils/readburst.c b/lincan/utils/readburst.c
index 139e558..c0e3ba1 100644
--- a/lincan/utils/readburst.c
+++ b/lincan/utils/readburst.c
@@ -1,29 +1,142 @@
 #include <stdio.h>
-#include <fcntl.h>
+#include <stdlib.h>
 #include <unistd.h>
+#include <errno.h>
+#include <signal.h>
+#include <getopt.h>
+#include <fcntl.h>
 #include <sys/types.h>
 #include <sys/stat.h>
-#include <signal.h>
+#include <sys/time.h>
+#include <sys/ioctl.h>
 
 #include "../include/can.h"
 
 int fd;
 
+struct canfilt_t canfilt = {
+	.flags = 0,
+	.queid = 0,
+	.cob = 0,
+	.id = 0,
+	.mask = 0
+};
+
+int canfilt_fl;
+
+int query_fl;
+
+int can_wait_sec = 5;
+
+char *can_dev_name = "/dev/can0";
+
+#define PRT_PREFIX_SIZE 40
+char prt_prefix[PRT_PREFIX_SIZE];
+
+char *prt_prefix_in = "CAN %s : ";
+
+int can_fd_wait(int fd, int wait_sec)
+{
+	int ret;
+	struct timeval timeout;
+	fd_set set;
+
+	FD_ZERO (&set);
+	FD_SET (fd, &set);
+	timeout.tv_sec = wait_sec;
+	timeout.tv_usec = 0;
+	while ((ret=select(FD_SETSIZE,&set, NULL, NULL,&timeout))==-1
+          &&errno==-EINTR);
+	return ret;
+}
+
+
 /*--- handler on SIGINT signal : the program quit with CTL-C ---*/
 void sortie(int sig)
-	{
+{
 	close(fd);
 	printf("Terminated by user\n");
 	exit(0);
-	}
+}
+
+static void
+usage(void)
+{
+  printf("usage: readburst\n");
+  printf("  -d, --device  <name>     name of CAN device [/dev/can0]\n");
+  printf("  -m, --mask  <num>        CAN filter mask\n");
+  printf("  -i, --id  <num>          CAN filter message ID\n");
+  printf("  -f, --flags <num>        CAN filter flags\n");
+  printf("  -w, --wait <num>         number of seconds to wait in select call\n");
+  printf("  -p, --prefix <str>       string prefix for output\n");
+  printf("  -q, --query              query driver features\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' },
+		{ "mask",  1, 0, 'm' },
+		{ "id",    1, 0, 'i' },
+		{ "flags", 1, 0, 'f' },
+		{ "wait",  1, 0, 'w' },
+		{ "prefix",1, 0, 'p' },
+		{ "query" ,0 ,0, 'q' },
+		{ "version",0,0, 'V' },
+		{ "help",  0, 0, 'h' },
+		{ 0, 0, 0, 0}
+	};
+	int opt;
 
-int main(void)
-	{
 	int n,ret;
 	unsigned long i=0;
+       #ifdef CAN_MSG_VERSION_2
+	struct canmsg_t readmsg={0,0,5,{0,0},0,{0,}};
+       #else /* CAN_MSG_VERSION_2 */
 	struct canmsg_t readmsg={0,0,5,0,0,{0,}};
+       #endif /* CAN_MSG_VERSION_2 */
 	struct sigaction act;
 
+
+	while ((opt = getopt_long(argc, argv, "d:m:i:f:w:p:qVh",
+			    &long_opts[0], NULL)) != EOF) switch (opt) {
+		case 'd':
+			can_dev_name=optarg;
+			break;
+		case 'm':
+			canfilt_fl=1;
+			canfilt.mask = strtol(optarg,NULL,0);
+			break;
+		case 'i':
+			canfilt_fl=1;
+			canfilt.id = strtol(optarg,NULL,0);
+			break;
+		case 'f':
+			canfilt_fl=1;
+			canfilt.flags = strtol(optarg,NULL,0);
+			break;
+		case 'w':
+			can_wait_sec = strtol(optarg,NULL,0);
+			break;
+		case 'p':
+			prt_prefix_in = optarg;
+			break;
+		case 'q':
+			query_fl=1;
+			break;
+		case 'V':
+			fputs("LinCAN utilities v0.2\n", stdout);
+			exit(0);
+		case 'h':
+		default:
+			usage();
+			exit(opt == 'h' ? 0 : 1);
+	}
+
+
 	/*------- register handler on SIGINT signal -------*/
 	act.sa_handler=sortie;
 	sigemptyset(&act.sa_mask);
@@ -31,31 +144,53 @@ int main(void)
 	sigaction(SIGINT,&act,0);
 	/*---------------------------------------*/	
 
-	if ((fd=open("/dev/can0",O_RDWR)) < 0) 
-		{
+	if ((fd=open(can_dev_name, O_RDWR)) < 0) {
 		perror("open");
-		printf("Error opening /dev/can0\n");
+		printf("Error opening %s\n", can_dev_name);
 		exit(1);	
+	}
+	
+	if (query_fl) {
+		n=ioctl(fd, CAN_DRV_QUERY, CAN_DRV_QRY_BRANCH);
+		printf("CAN driver branch:  %c%c%c%c\n",(n>>24)&0xff,(n>>16)&0xff,(n>>8)&0xff,n&0xff);
+		n=ioctl(fd, CAN_DRV_QUERY, CAN_DRV_QRY_VERSION);
+		printf("CAN driver version: %d.%d.%d\n",(n>>16)&0xff,(n>>8)&0xff,n&0xff);
+		n=ioctl(fd, CAN_DRV_QUERY, CAN_DRV_QRY_MSGFORMAT);
+		printf("CAN message format: %08x\n",n);
+		close(fd);
+		return 0;
+	}
+
+	if (canfilt_fl) {
+		ret = ioctl(fd, CANQUE_FILTER, &canfilt);
+		if(ret<0) {
+			perror("ioctl FILTER_QUE");
 		}
+	}
 
-	while (1)
-		{
+	snprintf(prt_prefix, PRT_PREFIX_SIZE, prt_prefix_in, can_dev_name);
+	
+	while (1) {
 		readmsg.flags=0;
 		readmsg.cob=0;
-		readmsg.timestamp=0;
+	    #if 1
+		ret=can_fd_wait(fd, can_wait_sec);
+		printf("%scan_fd_wait returned %d\n", prt_prefix, ret);
+	    #endif
 		ret=read(fd,&readmsg,sizeof(struct canmsg_t));
-		if(ret <0) 
-			{
-			printf("Error reading message\n");
-			}
-		else 
-			{
-			printf("Received message #%lu: id=%lX dlc=%u",i,readmsg.id,readmsg.length);
+		if(ret <0) {
+			printf("%sError reading message\n", prt_prefix);
+		}
+		else if(ret == 0) {
+			printf("%sNo message arrived\n", prt_prefix);
+		} else {
+			printf("%sRx msg #%lu: id=%lX dlc=%u flg=0x%02x",
+				prt_prefix,i,readmsg.id,readmsg.length,readmsg.flags);
 			for(n=0 ; n<readmsg.length ; n++)
 				printf(" %.2X",(unsigned char)readmsg.data[n]);
 			printf("\n");
 			i++;
-			}
 		}
+	}
 	return 0;
 }