/*
* tst-raw.c
*
- * Copyright (c) 2002-2005 Volkswagen Group Electronic Research
+ * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
- * notice, this list of conditions, the following disclaimer and
- * the referenced file 'COPYING'.
+ * notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* Alternatively, provided that this notice is retained in full, this
* software may be distributed under the terms of the GNU General
- * Public License ("GPL") version 2 as distributed in the 'COPYING'
- * file from the main directory of the linux kernel source.
+ * Public License ("GPL") version 2, in which case the provisions of the
+ * GPL apply INSTEAD OF those given above.
*
* The provided data structures and external interfaces from this code
* are not restricted to be used by modules with a GPL compatible license.
int main(int argc, char **argv)
{
- int s;
- struct sockaddr_can addr;
- struct can_filter rfilter[4];
- struct can_frame frame;
- int nbytes, i;
- struct ifreq ifr;
- char *ifname = "vcan2";
- int ifindex;
- int opt;
-
- /* sockopt test */
- int loopback = 0;
- int set_loopback = 0;
- int recv_own_msgs = 0;
- int set_recv_own_msgs = 0;
- int send_one_frame = 0;
-
- while ((opt = getopt(argc, argv, "i:l:r:s")) != -1) {
- switch (opt) {
-
- case 'i':
- ifname = optarg;
- break;
-
- case 'l':
- loopback = atoi(optarg);
- set_loopback = 1;
- break;
-
- case 'r':
- recv_own_msgs = atoi(optarg);
- set_recv_own_msgs = 1;
- break;
-
- case 's':
- send_one_frame = 1;
- break;
-
- default:
- fprintf(stderr, "Unknown option %c\n", opt);
- break;
- }
- }
-
-
- if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
- perror("socket");
- return 1;
- }
-
- rfilter[0].can_id = 0x123;
- rfilter[0].can_mask = CAN_SFF_MASK;
- rfilter[1].can_id = 0x200;
- rfilter[1].can_mask = 0x700;
- rfilter[2].can_id = 0x80123456;
- rfilter[2].can_mask = 0x1FFFF000;
- rfilter[3].can_id = 0x80333333;
- rfilter[3].can_mask = CAN_EFF_MASK;
-
- setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
-
- if(set_loopback)
- setsockopt(s, SOL_CAN_RAW, CAN_RAW_LOOPBACK, &loopback, sizeof(loopback));
-
- if(set_recv_own_msgs)
- setsockopt(s, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS, &recv_own_msgs, sizeof(recv_own_msgs));
-
- strcpy(ifr.ifr_name, ifname);
- ioctl(s, SIOCGIFINDEX, &ifr);
- ifindex = ifr.ifr_ifindex;
-
- addr.can_family = AF_CAN;
- addr.can_ifindex = ifindex;
-
- if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
- perror("bind");
- return 1;
- }
+ int s;
+ struct sockaddr_can addr;
+ struct can_filter rfilter[4];
+ struct can_frame frame;
+ int nbytes, i;
+ struct ifreq ifr;
+ char *ifname = "vcan2";
+ int ifindex;
+ int opt;
+
+ /* sockopt test */
+ int loopback = 0;
+ int set_loopback = 0;
+ int recv_own_msgs = 0;
+ int set_recv_own_msgs = 0;
+ int send_one_frame = 0;
+ int ignore_errors = 0;
+
+ while ((opt = getopt(argc, argv, "i:l:r:se")) != -1) {
+ switch (opt) {
+
+ case 'i':
+ ifname = optarg;
+ break;
+
+ case 'l':
+ loopback = atoi(optarg);
+ set_loopback = 1;
+ break;
+
+ case 'r':
+ recv_own_msgs = atoi(optarg);
+ set_recv_own_msgs = 1;
+ break;
+
+ case 's':
+ send_one_frame = 1;
+ break;
+
+ case 'e':
+ ignore_errors = 1;
+ break;
+
+ default:
+ fprintf(stderr, "Unknown option %c\n", opt);
+ break;
+ }
+ }
+
+
+ if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
+ perror("socket");
+ return 1;
+ }
+
+ rfilter[0].can_id = 0x123;
+ rfilter[0].can_mask = CAN_SFF_MASK;
+ rfilter[1].can_id = 0x200;
+ rfilter[1].can_mask = 0x700;
+ rfilter[2].can_id = 0x80123456;
+ rfilter[2].can_mask = 0x1FFFF000;
+ rfilter[3].can_id = 0x80333333;
+ rfilter[3].can_mask = CAN_EFF_MASK;
+
+ setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
+
+ if(set_loopback)
+ setsockopt(s, SOL_CAN_RAW, CAN_RAW_LOOPBACK, &loopback, sizeof(loopback));
+
+ if(set_recv_own_msgs)
+ setsockopt(s, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS, &recv_own_msgs, sizeof(recv_own_msgs));
+
+ strcpy(ifr.ifr_name, ifname);
+ ioctl(s, SIOCGIFINDEX, &ifr);
+ ifindex = ifr.ifr_ifindex;
+
+ addr.can_family = AF_CAN;
+ addr.can_ifindex = ifindex;
+
+ if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+ perror("bind");
+ return 1;
+ }
if(send_one_frame) {
- frame.can_id = 0x123;
- frame.can_dlc = 2;
- frame.data[0] = 0x11;
- frame.data[1] = 0x22;
+ frame.can_id = 0x123;
+ frame.can_dlc = 2;
+ frame.data[0] = 0x11;
+ frame.data[1] = 0x22;
- nbytes = write(s, &frame, sizeof(struct can_frame));
+ nbytes = write(s, &frame, sizeof(struct can_frame));
}
- while (1) {
-
- if ((nbytes = read(s, &frame, sizeof(struct can_frame))) < 0) {
- perror("read");
- return 1;
- } else if (nbytes < sizeof(struct can_frame)) {
- fprintf(stderr, "read: incomplete CAN frame\n");
- return 1;
- } else {
- if (frame.can_id & CAN_EFF_FLAG)
- printf("%8X ", frame.can_id & CAN_EFF_MASK);
- else
- printf("%3X ", frame.can_id & CAN_SFF_MASK);
+ while (1) {
+
+ if ((nbytes = read(s, &frame, sizeof(struct can_frame))) < 0) {
+ perror("read");
+ if (!ignore_errors)
+ return 1;
+ } else if (nbytes < sizeof(struct can_frame)) {
+ fprintf(stderr, "read: incomplete CAN frame\n");
+ return 1;
+ } else {
+ if (frame.can_id & CAN_EFF_FLAG)
+ printf("%8X ", frame.can_id & CAN_EFF_MASK);
+ else
+ printf("%3X ", frame.can_id & CAN_SFF_MASK);
- printf("[%d] ", frame.can_dlc);
+ printf("[%d] ", frame.can_dlc);
- for (i = 0; i < frame.can_dlc; i++) {
- printf("%02X ", frame.data[i]);
- }
- if (frame.can_id & CAN_RTR_FLAG)
- printf("remote request");
- printf("\n");
- fflush(stdout);
+ for (i = 0; i < frame.can_dlc; i++) {
+ printf("%02X ", frame.data[i]);
+ }
+ if (frame.can_id & CAN_RTR_FLAG)
+ printf("remote request");
+ printf("\n");
+ fflush(stdout);
+ }
}
- }
- close(s);
+ close(s);
- return 0;
+ return 0;
}
projects / socketcan-devel.git / blobdiff