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

diff --git a/lincan/utils/rxtx.c b/lincan/utils/rxtx.c
new file mode 100644
index 0000000..0adcef1
--- /dev/null
+++ b/lincan/utils/rxtx.c
@@ -0,0 +1,124 @@
+#include <stdio.h>
+#include <string.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+
+#include "../include/can.h"
+#define MAXL 40
+
+int main(void)
+{
+	int i=0, fd=0, ret=0, count=0;
+	char loop=0;
+	char ch, transmission[MAXL+1], specialfile[MAXL+1]="/dev/can0", emptystring[MAXL+1]="", buf[MAXL+1];
+	char remote[MAXL+1];
+	struct canmsg_t message;
+
+	printf("\nThis program allows you to send or receive Can messages.\n");
+	printf("Please answer the following questions:\n\n");
+
+	while ( (*transmission!='s') && (*transmission!='r') ) {
+		printf("Would you like to send or receive a message?\n");
+		printf("send: <s> | receive: <r> ");
+		strcpy(transmission,emptystring);
+		count=0;
+		while ( (ch=getchar()) != '\n' )
+			transmission[count++]=ch;
+		transmission[count]='\0';
+	}
+
+	while ( *remote!='y' && *remote!='n' ) {
+		printf("Should the message be configured for Remote Transmission Requests?\n");
+		printf("yes: <y> | no: <n> ");
+		strcpy(remote,emptystring);
+		count=0;
+		while ( (ch=getchar()) != '\n' )
+			remote[count++]=ch;
+		remote[count]='\0';
+	}
+	if (remote[0]=='y')
+		message.flags |= MSG_RTR;
+	else
+		message.flags = 0;
+//	message.flags |= MSG_EXT;  hard code EXT for now
+
+	if (transmission[0]=='s') {
+			printf("From wich device file would you like to send the message?\n");
+			printf(specialfile);
+			*buf='\0';
+			fgets(buf,MAXL,stdin);
+			buf[strcspn(buf,"\n")]='\0';
+			if(*buf)
+				strncpy(specialfile,buf,MAXL);
+			specialfile[MAXL]='\0';
+			specialfile[MAXL]='\0';
+		printf("Enter the Message ID ");
+		scanf("%lx",&message.id);
+		printf("Enter the Message Length ");
+		scanf("%d",&message.length);
+		for (i=0; i<message.length; i++) {
+			printf("Enter data byte [%d] ",i);
+			scanf("%x",(int *)&message.data[i]);
+		}
+	}	
+	if (*transmission=='r') {
+			printf("At which device file would you like to receive the message?\n");
+			printf(specialfile);
+			*buf='\0';
+			fgets(buf,MAXL,stdin);
+			buf[strcspn(buf,"\n")]='\0';
+			if(*buf)
+				strncpy(specialfile,buf,MAXL);
+			specialfile[MAXL]='\0';
+		printf("Enter the Message ID ");
+		scanf("%ld",&message.id);
+		getchar();
+	}
+
+	fd=open(specialfile,O_RDWR);
+	if (fd<0) {
+		printf("Error opening %s\n",specialfile);
+		return -1;
+	}
+
+	if (transmission[0]=='s') {
+		printf("Press enter to send message\n");
+		getchar();
+		while (getchar() != '\n');
+		ret=write(fd, &message, sizeof(struct canmsg_t));
+		if (ret<0)
+			printf("Error sending message from %s\n",specialfile);
+		else
+			printf("Message successfully sent from %s\n",specialfile);
+	}
+
+	if (*transmission=='r') {
+		ioctl(fd,CONF_FILTER,message.id);
+		printf("Press enter to receive message or <l>oop\n");
+		loop = 'l';
+		while ( loop == 'l') {
+			loop = getchar(); 
+			ret=read(fd, &message, sizeof(struct canmsg_t));
+			if (ret<0)
+				printf("Error receiving message on %s\n",
+								specialfile);
+			else {
+				printf("Id	: %lx\n",message.id);
+				printf("length	: %d\n",message.length);
+				printf("flags	: 0x%02x\n", message.flags);
+				printf("time	: %ld\n", message.timestamp);
+				for (i=0; i<message.length; i++)
+					printf("data%d	: %02x\n",i,
+							message.data[i]);
+			}
+		}
+	}
+
+	if (close(fd)) {
+		printf("Error closing %s\n",specialfile);
+		return -1;
+	}
+
+	return 0;
+}