X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/4ddb8468e0688f83f24fc041cfb62512ee45194a..4cf24de229090b1ab6279570a564d224e13dd706:/lincan/utils/readburst.c

diff --git a/lincan/utils/readburst.c b/lincan/utils/readburst.c
new file mode 100644
index 0000000..139e558
--- /dev/null
+++ b/lincan/utils/readburst.c
@@ -0,0 +1,61 @@
+#include <stdio.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <signal.h>
+
+#include "../include/can.h"
+
+int fd;
+
+/*--- handler on SIGINT signal : the program quit with CTL-C ---*/
+void sortie(int sig)
+	{
+	close(fd);
+	printf("Terminated by user\n");
+	exit(0);
+	}
+
+int main(void)
+	{
+	int n,ret;
+	unsigned long i=0;
+	struct canmsg_t readmsg={0,0,5,0,0,{0,}};
+	struct sigaction act;
+
+	/*------- register handler on SIGINT signal -------*/
+	act.sa_handler=sortie;
+	sigemptyset(&act.sa_mask);
+	act.sa_flags=0;
+	sigaction(SIGINT,&act,0);
+	/*---------------------------------------*/	
+
+	if ((fd=open("/dev/can0",O_RDWR)) < 0) 
+		{
+		perror("open");
+		printf("Error opening /dev/can0\n");
+		exit(1);	
+		}
+
+	while (1)
+		{
+		readmsg.flags=0;
+		readmsg.cob=0;
+		readmsg.timestamp=0;
+		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);
+			for(n=0 ; n<readmsg.length ; n++)
+				printf(" %.2X",(unsigned char)readmsg.data[n]);
+			printf("\n");
+			i++;
+			}
+		}
+	return 0;
+}