Added BCM receive functions 'R', 'F' and 'X'.

Changed command parser to be robust for single chars and select().
Documentation & cosmetics.

git-svn-id: svn://svn.berlios.de//socketcan/trunk@961 030b6a49-0b11-0410-94ab-b0dab22257f2

diff --git a/test/tst-bcm-server.c b/test/tst-bcm-server.c
index 16263e93225221771f88ed56b94bafa2f7369a61..9898998448bbead0a4ca377da71e93b509217345 100644 (file)
--- a/test/tst-bcm-server.c
+++ b/test/tst-bcm-server.c
@@ -10,6 +10,8 @@
  *
  * < interface command ival_s ival_us can_id can_dlc [data]* >
  *
+ * ## TX path:
+ *
  * The commands are 'A'dd, 'U'pdate, 'D'elete and 'S'end.
  * e.g.
  *
@@ -33,11 +35,33 @@
  *
  * When the socket is closed the cyclic transmissions are terminated.
  *
+ * ## RX path:
+ *
+ * The commands are 'R'eceive setup, 'F'ilter ID Setup and 'X' for delete.
+ * e.g.
+ *
+ * Receive CAN ID 0x123 from vcan1 and check for changes in the first byte
+ * < vcan1 R 0 0 123 1 FF >
+ *
+ * Receive CAN ID 0x123 from vcan1 and check for changes in given mask
+ * < vcan1 R 0 0 123 8 FF 00 F8 00 00 00 00 00 >
+ *
+ * As above but throttle receive update rate down to 1.5 seconds
+ * < vcan1 R 1 500000 123 8 FF 00 F8 00 00 00 00 00 >
+ *
+ * Filter for CAN ID 0x123 from vcan1 without content filtering
+ * < vcan1 F 0 0 123 0 >
+ *
+ * Delete receive filter ('R' or 'F') for CAN ID 0x123
+ * < vcan1 X 0 0 123 0 >
+ *
+ * ##
+ *
  * Authors:
  * Andre Naujoks (the socket server stuff)
  * Oliver Hartkopp (the rest)
  *
- * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
+ * Copyright (c) 2002-2009 Volkswagen Group Electronic Research
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -93,39 +117,24 @@
 #include <linux/can.h>
 #include <linux/can/bcm.h>
 
-void readmsg(int sock, char *buf, int maxlen) {
-
-       int ptr = 0;
-
-       while (read(sock, buf+ptr, 1) == 1) {
-
-               if (ptr) {
-                       if (*(buf+ptr) == '>') {
-                               *(buf+ptr+1) = 0;
-                               return;
-                       }
-                       if (++ptr > maxlen-2)
-                               ptr = 0;
-               }
-               else
-                       if (*(buf+ptr) == '<')
-                               ptr++;
-       }
-
-       *buf = 0;
-}
-
+#define MAXLEN 100
+#define PORT 28600
 
 int main(int argc, char **argv)
 {
 
        int sl, sa, sc;
+       int i, ret;
+       int idx = 0;
        struct sockaddr_in  saddr, clientaddr;
        struct sockaddr_can caddr;
+       socklen_t caddrlen = sizeof(caddr);
        struct ifreq ifr;
+       fd_set readfds;
        socklen_t sin_size = sizeof(clientaddr);
 
-       char buf[100];
+       char buf[MAXLEN];
+       char rxmsg[50];
 
        struct {
                struct bcm_msg_head msg_head;
@@ -139,7 +148,7 @@ int main(int argc, char **argv)
 
        saddr.sin_family = AF_INET;
        saddr.sin_addr.s_addr = htonl(INADDR_ANY);
-       saddr.sin_port = htons(28600);
+       saddr.sin_port = htons(PORT);
 
        while(bind(sl,(struct sockaddr*)&saddr, sizeof(saddr)) < 0) {
                printf(".");fflush(NULL);
@@ -163,8 +172,8 @@ int main(int argc, char **argv)
                else {
                        if (errno != EINTR) {
                                /*
-                                * If the cause for the error was NOT the signal from
-                                * a dying child, than give an error
+                                * If the cause for the error was NOT the
+                                * signal from a dying child => give an error
                                 */
                                perror("accept");
                                exit(1);
@@ -179,82 +188,144 @@ int main(int argc, char **argv)
                return 1;
        }
 
+       memset(&caddr, 0, sizeof(caddr));
        caddr.can_family = PF_CAN;
-       caddr.can_ifindex = 0; /* any device => need for sendto() */
+       /* can_ifindex is set to 0 (any device) => need for sendto() */
 
        if (connect(sc, (struct sockaddr *)&caddr, sizeof(caddr)) < 0) {
                perror("connect");
                return 1;
        }
 
-       /* prepare stable settings */
-       msg.msg_head.nframes       = 1;
-       msg.msg_head.count         = 0;
-       msg.msg_head.ival1.tv_sec  = 0;
-       msg.msg_head.ival1.tv_usec = 0;
-
        while (1) {
 
-               char cmd;
-               int items;
-
-               readmsg(sa, buf, sizeof(buf));
-
-               // printf("read '%s'\n", buf);
-
-               items = sscanf(buf, "< %6s %c %lu %lu %x %hhu "
-                              "%hhx %hhx %hhx %hhx %hhx %hhx %hhx %hhx >",
-                              ifr.ifr_name,
-                              &cmd, 
-                              &msg.msg_head.ival2.tv_sec,
-                              &msg.msg_head.ival2.tv_usec,
-                              &msg.msg_head.can_id,
-                              &msg.frame.can_dlc,
-                              &msg.frame.data[0],
-                              &msg.frame.data[1],
-                              &msg.frame.data[2],
-                              &msg.frame.data[3],
-                              &msg.frame.data[4],
-                              &msg.frame.data[5],
-                              &msg.frame.data[6],
-                              &msg.frame.data[7]);
-
-               if (items < 6)
-                       break;
-               if (msg.frame.can_dlc > 8)
-                       break;
-               if (items != 6 + msg.frame.can_dlc)
-                       break;
-
-               msg.frame.can_id = msg.msg_head.can_id;
-
-               switch (cmd) {
-               case 'S':
-                       msg.msg_head.opcode = TX_SEND;
-                       break;
-               case 'A':
-                       msg.msg_head.opcode = TX_SETUP;
-                       msg.msg_head.flags |= SETTIMER|STARTTIMER;
-                       break;
-               case 'U':
-                       msg.msg_head.opcode = TX_SETUP;
-                       msg.msg_head.flags  = 0;
-                       break;
-               case 'D':
-                       msg.msg_head.opcode = TX_DELETE;
-                       break;
-
-               default:
-                       printf("unknown command '%c'.\n", cmd);
-                       exit(1);
-               }
+               FD_ZERO(&readfds);
+               FD_SET(sc, &readfds);
+               FD_SET(sa, &readfds);
+
+               ret = select((sc > sa)?sc+1:sa+1, &readfds, NULL, NULL, NULL);
 
-               if (!ioctl(sc, SIOCGIFINDEX, &ifr)) {
-                       caddr.can_ifindex = ifr.ifr_ifindex;
-                       sendto(sc, &msg, sizeof(msg), 0,
-                              (struct sockaddr*)&caddr, sizeof(caddr));
+               if (FD_ISSET(sc, &readfds)) {
+
+                       ret = recvfrom(sc, &msg, sizeof(msg), 0,
+                                      (struct sockaddr*)&caddr, &caddrlen);
+
+                       ifr.ifr_ifindex = caddr.can_ifindex;
+                       ioctl(sc, SIOCGIFNAME, &ifr);
+
+                       sprintf(rxmsg, "< %s %03X %d ", ifr.ifr_name,
+                               msg.msg_head.can_id, msg.frame.can_dlc);
+
+                       for ( i = 0; i < msg.frame.can_dlc; i++)
+                               sprintf(rxmsg + strlen(rxmsg), "%02X ",
+                                       msg.frame.data[i]);
+
+                       /* delimiter '\0' for Adobe(TM) Flash(TM) XML sockets */
+                       strcat(rxmsg, ">\0");
+
+                       send(sa, rxmsg, strlen(rxmsg) + 1, 0);
                }
 
+
+               if (FD_ISSET(sa, &readfds)) {
+
+                       char cmd;
+                       int items;
+
+                       if (read(sa, buf+idx, 1) != 1)
+                               continue;
+
+                       if (!idx) {
+                               if (buf[0] == '<')
+                                       idx = 1;
+
+                               continue;
+                       }
+
+                       if (idx > MAXLEN-2) {
+                               idx = 0;
+                               continue;
+                       }
+
+                       if (buf[idx] != '>') {
+                               idx++;
+                               continue;
+                       }
+
+                       buf[idx+1] = 0;
+                       idx = 0;
+
+                       //printf("read '%s'\n", buf);
+
+                       /* prepare bcm message settings */
+                       memset(&msg, 0, sizeof(msg));
+                       msg.msg_head.nframes = 1;
+
+                       items = sscanf(buf, "< %6s %c %lu %lu %x %hhu "
+                                      "%hhx %hhx %hhx %hhx %hhx %hhx "
+                                      "%hhx %hhx >",
+                                      ifr.ifr_name,
+                                      &cmd, 
+                                      &msg.msg_head.ival2.tv_sec,
+                                      &msg.msg_head.ival2.tv_usec,
+                                      &msg.msg_head.can_id,
+                                      &msg.frame.can_dlc,
+                                      &msg.frame.data[0],
+                                      &msg.frame.data[1],
+                                      &msg.frame.data[2],
+                                      &msg.frame.data[3],
+                                      &msg.frame.data[4],
+                                      &msg.frame.data[5],
+                                      &msg.frame.data[6],
+                                      &msg.frame.data[7]);
+
+                       if (items < 6)
+                               break;
+                       if (msg.frame.can_dlc > 8)
+                               break;
+                       if (items != 6 + msg.frame.can_dlc)
+                               break;
+
+                       msg.frame.can_id = msg.msg_head.can_id;
+
+                       switch (cmd) {
+                       case 'S':
+                               msg.msg_head.opcode = TX_SEND;
+                               break;
+                       case 'A':
+                               msg.msg_head.opcode = TX_SETUP;
+                               msg.msg_head.flags |= SETTIMER | STARTTIMER;
+                               break;
+                       case 'U':
+                               msg.msg_head.opcode = TX_SETUP;
+                               msg.msg_head.flags  = 0;
+                               break;
+                       case 'D':
+                               msg.msg_head.opcode = TX_DELETE;
+                               break;
+
+                       case 'R':
+                               msg.msg_head.opcode = RX_SETUP;
+                               msg.msg_head.flags  = SETTIMER;
+                               break;
+                       case 'F':
+                               msg.msg_head.opcode = RX_SETUP;
+                               msg.msg_head.flags  = RX_FILTER_ID | SETTIMER;
+                               break;
+                       case 'X':
+                               msg.msg_head.opcode = RX_DELETE;
+                               break;
+                       default:
+                               printf("unknown command '%c'.\n", cmd);
+                               exit(1);
+                       }
+
+                       if (!ioctl(sc, SIOCGIFINDEX, &ifr)) {
+                               caddr.can_ifindex = ifr.ifr_ifindex;
+                               sendto(sc, &msg, sizeof(msg), 0,
+                                      (struct sockaddr*)&caddr, sizeof(caddr));
+                       }
+               }
        }
 
        close(sc);