X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/786c7d54e8d820e89997e507c29ea716c0d55fd9..e169e24a847634f71a758a2a67b1bc56cf7281d6:/lincan/utils/can-proxy.c

diff --git a/lincan/utils/can-proxy.c b/lincan/utils/can-proxy.c
index ab9bee8..d9dbcdd 100644
--- a/lincan/utils/can-proxy.c
+++ b/lincan/utils/can-proxy.c
@@ -35,8 +35,6 @@ will forward packets from CAN to the most recent IP/UDP address.
 #define DEFAULT_CAN_CLIENT_PORT 3008
 #define MAX_MSG_SIZE 4000
 
-typedef struct canmsg_t canmsg_t;
-
 extern int SendCanMsg(canmsg_t * msg);
 extern int ReceiveCanMsg(canmsg_t * msg);
 extern int ReadInput(int fd);
@@ -89,10 +87,7 @@ int fdError;
 int fdIn;
 FILE * fLog;
 long iBusFlags;
-int bBusLock=0;
 time_t tsStarted;
-long tmWhenLocked;
-long tmDurationLocked;
 long tmLastVerified=0;
 long tmNow;  // current time, global, will be updated in many places
 long tmLastSentReceived=0;
@@ -102,6 +97,7 @@ double time0;
 double SleepUntil=0;
 
 int quiet = 0;
+int use_select = 0;
 
 
 long tmGet() {
@@ -155,7 +151,7 @@ int WriteNet(int fd, void * msg, int size) {
 int ReadNet(int fd, void * msg, int size) {
 	char recvbuf[MAX_MSG_SIZE];
 	int ret;
-	int recvaddrsize = sizeof(recvaddr);
+	unsigned int recvaddrsize = sizeof(recvaddr);
 
 	// setting recvaddr is required for non-connected sockets
 	memcpy(&recvaddr, &fromaddr, sizeof(recvaddr));
@@ -168,7 +164,17 @@ int ReadNet(int fd, void * msg, int size) {
 	return ret;
 }
 
-
+void show_usage(void) {
+	printf("can-proxy options:\n"
+	"-i	: intercative (send CAN packets typed by user)\n"
+	"-o file.log : log all traffic to a file\n"
+	"-p port : send CAN packets arriving at UDP port\n"
+	"-c	: use select() for CAN (driver can-0.7.1-pi3.4 or newer)\n"
+	"-q	: quiet\n"
+	"-h	: this help\n"
+	"UDP arriving at specified port causes can-proxy to forward all CAN\n"
+	"traffic back to the sender, establishing bi-directional communication.\n");
+}
 
 /**
 	handling command line options, calling functions, main program loop 
@@ -189,13 +195,12 @@ int main(int argc, char * argv[]) {
 	fLog = NULL;
 	
 	iBusFlags = 0;
-	tmWhenLocked = tmDurationLocked = 0;
 	time0 = gettime();
 	tsStarted = tvNow.tv_sec;
 	tvSelectTimeout.tv_sec = 0;
 	tvSelectTimeout.tv_usec = 500000; // wake up every 0.5 s even without data
 
-	while((opt=getopt(argc, argv, "io:p:c:l"))>0) {
+	while((opt=getopt(argc, argv, "io:p:ch"))>0) {
 		switch(opt) {
 		case 'i': // interactive or stdin
 			fdIn = 0;
@@ -208,20 +213,21 @@ int main(int argc, char * argv[]) {
 			break;
 		case 'c':
 			fdCanDev = open(optarg,O_RDWR/*|O_NONBLOCK - select supported*/);
-			break;
-		case 'l': // lock the bus during dispense
-			bBusLock = 1;
+			use_select++;
 			break;
 		case 'q':
 			quiet ++;
 			break;
+		case 'h':
+			show_usage();
+			break;
 		default:
 			break;
 		}
 	}
 
 	if(!quiet)
-		fprintf(stderr, "can-proxy v0.7.1-pi3.3 (C) 2002 BFAD GmbH http://www.getembedded.de/ (GPL) \n");
+		fprintf(stderr, "can-proxy v0.7.1-pi3.5 (C) 2002 BFAD GmbH http://www.getembedded.de/ (GPL) \n");
 
 	
 	if(fdCanDev<0)
@@ -288,7 +294,8 @@ int main(int argc, char * argv[]) {
 		if(fdIn>=0 && FD_ISSET(fdIn, &readsel)) {
 			ReadInput(fdIn);
 		}
-//		usleep(20000); //can driver does select(), no need for delay
+		if(!use_select)
+			usleep(20000);
 	}
 	return 0;       
 }
@@ -369,7 +376,6 @@ int ReceiveCanMsg(canmsg_t * msg) {
 
 	msg->flags = 0;
 	msg->cob = 0;
-	msg->timestamp = 0;
 	ret = read(fdCanDev,msg, CAN_MSG_SIZE);
 	if(ret == CAN_MSG_SIZE) {	
 		LogMsg("RECV", fLog, msg);
@@ -498,14 +504,6 @@ int ReadCommand(char *buf) {
 			sscanf(ptr,"%i", &usSleep);
 		SleepUntil = gettime()-time0 + usSleep/1000000.0;
 		break;
-	case 'l':
-		strtok(buf, " \t");
-		printf("bus locking is %s", (bBusLock ? "ON" : "OFF"));
-		ptr = strtok(NULL, " \t");
-		if(ptr)
-			sscanf(ptr,"%i", &bBusLock);
-		printf(" switched to %s\n", (bBusLock ? "ON" : "OFF"));
-		break;
 	case 'w':
 		if(BuildCanMsg(buf, &msg) == 0) {
 			SendCanMsg(&msg);