void print_usage(char *prg)
{
- fprintf(stderr, "\nUsage: %s [options]\n", prg);
- fprintf(stderr, "Options: -i <interface> (CAN interface. Default: '%s')\n", DEFAULT_IFACE);
- fprintf(stderr, " -c <can_id> (used CAN ID. Default: 0x%03X)\n", DEFAULT_CANID);
- fprintf(stderr, " -o <timeout> (Timeout value in nsecs. Default: 0)\n");
- fprintf(stderr, " -t <throttle> (Throttle value in nsecs. Default: 0)\n");
- fprintf(stderr, " -s (set STARTTIMER flag. Default: off)\n");
- fprintf(stderr, "\n");
+ fprintf(stderr, "\nUsage: %s [options]\n", prg);
+ fprintf(stderr, "Options: -i <interface> (CAN interface. Default: '%s')\n", DEFAULT_IFACE);
+ fprintf(stderr, " -c <can_id> (used CAN ID. Default: 0x%03X)\n", DEFAULT_CANID);
+ fprintf(stderr, " -o <timeout> (Timeout value in nsecs. Default: 0)\n");
+ fprintf(stderr, " -t <throttle> (Throttle value in nsecs. Default: 0)\n");
+ fprintf(stderr, " -q <msgs> (Quit after receiption of #msgs)\n");
+ fprintf(stderr, " -s (set STARTTIMER flag. Default: off)\n");
+ fprintf(stderr, "\n");
}
int main(int argc, char **argv)
{
- int s;
- struct sockaddr_can addr;
- int nbytes;
- int i;
- struct ifreq ifr;
- char *ifname = DEFAULT_IFACE;
- canid_t canid = DEFAULT_CANID;
- int opt;
- struct timeval tv;
- unsigned long starttimer = 0;
- unsigned long long timeout = 0;
- unsigned long long throttle = 0;
- struct {
- struct bcm_msg_head msg_head;
- struct can_frame frame;
- } msg;
-
- while ((opt = getopt(argc, argv, "i:c:o:t:s")) != -1) {
- switch (opt) {
-
- case 'i':
- ifname = optarg;
- break;
-
- case 'c':
- canid = strtoul(optarg, (char **)NULL, 16);
- break;
-
- case 'o':
- timeout = atoll(optarg);
- break;
-
- case 't':
- throttle = atoll(optarg);
- break;
-
- case 's':
- starttimer = STARTTIMER;
- break;
-
- case '?':
- default:
- print_usage(basename(argv[0]));
- exit(1);
- break;
- }
- }
-
-
- if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_BCM)) < 0) {
- perror("socket");
- return 1;
- }
-
- if (strcmp(ifname, "any") == 0)
- addr.can_ifindex = 0;
- else {
- strcpy(ifr.ifr_name, ifname);
- if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
- perror("SIOCGIFINDEX");
- return 1;
+ int s;
+ struct sockaddr_can addr;
+ int nbytes;
+ int i;
+ struct ifreq ifr;
+ char *ifname = DEFAULT_IFACE;
+ canid_t canid = DEFAULT_CANID;
+ int opt;
+ struct timeval tv;
+ unsigned long starttimer = 0;
+ unsigned long long timeout = 0;
+ unsigned long long throttle = 0;
+ unsigned long msgs = 0;
+ struct {
+ struct bcm_msg_head msg_head;
+ struct can_frame frame;
+ } msg;
+
+ while ((opt = getopt(argc, argv, "i:c:o:t:q:s")) != -1) {
+ switch (opt) {
+
+ case 'i':
+ ifname = optarg;
+ break;
+
+ case 'c':
+ canid = strtoul(optarg, (char **)NULL, 16);
+ break;
+
+ case 'o':
+ timeout = strtoull(optarg, (char **)NULL, 10);
+ break;
+
+ case 't':
+ throttle = strtoull(optarg, (char **)NULL, 10);
+ break;
+
+ case 'q':
+ msgs = strtoul(optarg, (char **)NULL, 10);
+ break;
+
+ case 's':
+ starttimer = STARTTIMER;
+ break;
+
+ case '?':
+ default:
+ print_usage(basename(argv[0]));
+ exit(1);
+ break;
+ }
}
- addr.can_ifindex = ifr.ifr_ifindex;
- }
-
- addr.can_family = PF_CAN;
-
- if (connect(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
- perror("connect");
- return 1;
- }
-
- msg.msg_head.opcode = RX_SETUP;
- msg.msg_head.can_id = canid;
- msg.msg_head.flags = SETTIMER|RX_FILTER_ID|starttimer;
- msg.msg_head.ival1.tv_sec = timeout / 1000000;
- msg.msg_head.ival1.tv_usec = timeout % 1000000;
- msg.msg_head.ival2.tv_sec = throttle / 1000000;
- msg.msg_head.ival2.tv_usec = throttle % 1000000;
- msg.msg_head.nframes = 0;
-
- gettimeofday(&tv, NULL);
- printf("[%ld.%06ld] ", tv.tv_sec, tv.tv_usec);
- printf("Writing RX_SETUP with RX_FILTER_ID for can_id <%03X>\n",
- msg.msg_head.can_id);
-
- if (write(s, &msg, sizeof(msg)) < 0)
- perror("write");
-
- while (1) {
-
- nbytes = read(s, &msg, sizeof(msg));
- if (nbytes < 0) {
- perror("read");
- return 1;
+
+
+ if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_BCM)) < 0) {
+ perror("socket");
+ return 1;
+ }
+
+ if (strcmp(ifname, "any") == 0)
+ addr.can_ifindex = 0;
+ else {
+ strcpy(ifr.ifr_name, ifname);
+ if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
+ perror("SIOCGIFINDEX");
+ return 1;
+ }
+ addr.can_ifindex = ifr.ifr_ifindex;
}
+
+ addr.can_family = PF_CAN;
+
+ if (connect(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+ perror("connect");
+ return 1;
+ }
+
+ msg.msg_head.opcode = RX_SETUP;
+ msg.msg_head.can_id = canid;
+ msg.msg_head.flags = SETTIMER|RX_FILTER_ID|starttimer;
+ msg.msg_head.ival1.tv_sec = timeout / 1000000;
+ msg.msg_head.ival1.tv_usec = timeout % 1000000;
+ msg.msg_head.ival2.tv_sec = throttle / 1000000;
+ msg.msg_head.ival2.tv_usec = throttle % 1000000;
+ msg.msg_head.nframes = 0;
+
gettimeofday(&tv, NULL);
printf("[%ld.%06ld] ", tv.tv_sec, tv.tv_usec);
+ printf("Writing RX_SETUP with RX_FILTER_ID for can_id <%03X>\n",
+ msg.msg_head.can_id);
- if (nbytes == sizeof(msg)) {
+ if (write(s, &msg, sizeof(msg)) < 0)
+ perror("write");
- if (ioctl(s, SIOCGSTAMP, &tv) < 0)
- perror("SIOCGSTAMP");
- else
- printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
+ while (1) {
- if (msg.msg_head.opcode != RX_CHANGED) {
- printf("missing RX_CHANGED.\n");
- return 1;
- }
+ nbytes = read(s, &msg, sizeof(msg));
+ if (nbytes < 0) {
+ perror("read");
+ return 1;
+ }
+ gettimeofday(&tv, NULL);
+ printf("[%ld.%06ld] ", tv.tv_sec, tv.tv_usec);
- printf("RX_CHANGED ");
+ if (nbytes == sizeof(msg)) {
- for (i=0; i<8; i++)
- printf("%02X ", msg.frame.data[i]);
+ if (ioctl(s, SIOCGSTAMP, &tv) < 0)
+ perror("SIOCGSTAMP");
+ else
+ printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
- } else {
+ if (msg.msg_head.opcode != RX_CHANGED) {
+ printf("missing RX_CHANGED.\n");
+ return 1;
+ }
- if (msg.msg_head.opcode != RX_TIMEOUT) {
- printf("missing RX_TIMEOUT.\n");
- return 1;
- }
+ printf("RX_CHANGED ");
- printf("RX_TIMEOUT");
- }
+ for (i=0; i < msg.frame.can_dlc; i++)
+ printf("%02X ", msg.frame.data[i]);
+
+ } else {
- printf("\n");
- fflush(stdout);
- }
+ if (msg.msg_head.opcode != RX_TIMEOUT) {
+ printf("missing RX_TIMEOUT.\n");
+ return 1;
+ }
+
+ printf("RX_TIMEOUT");
+ }
+
+ printf("\n");
+ fflush(stdout);
+
+ if (msgs && !(--msgs))
+ break;
+ }
- close(s);
+ close(s);
- return 0;
+ return 0;
}
projects / socketcan-devel.git / blobdiff