--- /dev/null
+/*
+ * $Id$
+ */
+
+/*
+ * tst-rcv-own-msgs.c
+ *
+ * Copyright (c) 2010 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 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.
+ * 3. Neither the name of Volkswagen nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * 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, 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.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+ * DAMAGE.
+ *
+ * Send feedback to <socketcan-users@lists.berlios.de>
+ *
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+#include <sys/time.h>
+#include <net/if.h>
+
+#include <linux/can.h>
+#include <linux/can/raw.h>
+
+
+#define max(a,b) (a > b ? a : b)
+
+void read_sockets(int s, int t)
+{
+ fd_set rdfs;
+ struct timeval tv;
+ int m = max(s,t)+1;
+ int have_rx = 1;
+ struct can_frame frame;
+ int ret;
+
+ while (have_rx) {
+
+ FD_ZERO(&rdfs);
+ FD_SET(s, &rdfs);
+ FD_SET(t, &rdfs);
+ tv.tv_sec = 0;
+ tv.tv_usec = 50000; /* 50ms timeout */
+ have_rx = 0;
+
+ if ((ret = select(m, &rdfs, NULL, NULL, &tv)) < 0) {
+ perror("select");
+ exit(1);
+ }
+
+ if (FD_ISSET(s, &rdfs)) {
+
+ have_rx = 1;
+ ret = read(s, &frame, sizeof(struct can_frame));
+ if (ret < 0) {
+ perror("read");
+ exit(1);
+ }
+ printf (" s : %x\n", frame.can_id);
+ }
+
+ if (FD_ISSET(t, &rdfs)) {
+
+ have_rx = 1;
+ ret = read(t, &frame, sizeof(struct can_frame));
+ if (ret < 0) {
+ perror("read");
+ exit(1);
+ }
+ printf (" t : %x\n", frame.can_id);
+ }
+
+ }
+
+ printf(" timeout\n");
+
+}
+
+void write_socket(int s, int val)
+{
+ static struct can_frame frame;
+
+ frame.can_id = val;
+ if (write(s, &frame, sizeof(frame)) < 0) {
+ perror("write");
+ exit(1);
+ }
+}
+
+
+void setopts(int s, int loopback, int recv_own_msgs)
+{
+ setsockopt(s, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
+ &loopback, sizeof(loopback));
+ setsockopt(s, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS,
+ &recv_own_msgs, sizeof(recv_own_msgs));
+
+ printf("sockopt %c %c\n", (loopback)?'L':'-', (recv_own_msgs)?'R':'-');
+}
+
+
+int main(int argc, char **argv)
+{
+ int s, t;
+ struct sockaddr_can addr;
+ struct ifreq ifr;
+ int ifindex;
+ int i = 0;
+
+
+ if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
+ perror("socket");
+ return 1;
+ }
+ if ((t = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
+ perror("socket");
+ return 1;
+ }
+
+ strcpy(ifr.ifr_name, "vcan0");
+ 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 (bind(t, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+ perror("bind");
+ return 1;
+ }
+
+
+ /* perform the default settings */
+ printf("sockopt default\n");
+ write_socket(s, i++);
+ read_sockets(s, t);
+
+ setopts(s, 0, 0);
+ write_socket(s, i++);
+ read_sockets(s, t);
+
+ setopts(s, 0, 1);
+ write_socket(s, i++);
+ read_sockets(s, t);
+
+ setopts(s, 1, 0);
+ write_socket(s, i++);
+ read_sockets(s, t);
+
+ setopts(s, 1, 1);
+ write_socket(s, i++);
+ read_sockets(s, t);
+
+ printf("done.\n");
+
+ close(s);
+ close(t);
+
+ return 0;
+}