rtcansend.c

#include <stdio.h>
#include <stdlib.h>
#include <signal.h>
#include <unistd.h>
#include <time.h>
#include <errno.h>
#include <getopt.h>
#include <sys/mman.h>

#include <native/task.h>
#include <native/timer.h>
#include <native/pipe.h>

#include <rtdm/rtcan.h>

extern int optind, opterr, optopt;

static void print_usage(char *prg)
{
    fprintf(stderr,
            "Usage: %s <can-interface> [Options] <can-msg>\n"
            "<can-msg> can consist of up to 8 bytes given as a space separated list\n"
            "Options:\n"
            " -i, --identifier=ID   CAN Identifier (default = 1)\n"
            " -r  --rtr             send remote request\n"
            " -e  --extended        send extended frame\n"
            " -l  --loop=COUNT      send message COUNT times\n"
            " -c, --count           message count in data[0-3]\n"
            " -d, --delay=MS        delay in ms (default = 1ms)\n"
            " -s, --send            use send instead of sendto\n"
            " -t, --timeout=MS      timeout in ms\n"
            " -L, --loopback=0|1    switch local loopback off or on\n"
            " -v, --verbose         be verbose\n"
            " -p, --print=MODULO    print every MODULO message\n"
            " -h, --help            this help\n",
            prg);
}


RT_TASK rt_task_desc;

static int s=-1, dlc=0, rtr=0, extended=0, verbose=0, loops=1;
static SRTIME delay=1000000;
static int count=0, print=1, use_send=0, loopback=-1;
static nanosecs_rel_t timeout = 0;
static struct can_frame frame;
static struct sockaddr_can to_addr;


void cleanup(void)
{
    int ret;

    if (verbose)
        printf("Cleaning up...\n");

    usleep(100000);

    if (s >= 0) {
        ret = rt_dev_close(s);
        s = -1;
        if (ret) {
            fprintf(stderr, "rt_dev_close: %s\n", strerror(-ret));
        }
        rt_task_delete(&rt_task_desc);
    }
}

void cleanup_and_exit(int sig)
{
    if (verbose)
        printf("Signal %d received\n", sig);
    cleanup();
    exit(0);
}

void rt_task(void)
{
    int i, j, ret;

    for (i = 0; i < loops; i++) {
        rt_task_sleep(rt_timer_ns2ticks(delay));
        if (count)
            memcpy(&frame.data[0], &i, sizeof(i));
        /* Note: sendto avoids the definiton of a receive filter list */
        if (use_send)
            ret = rt_dev_send(s, (void *)&frame, sizeof(can_frame_t), 0);
        else
            ret = rt_dev_sendto(s, (void *)&frame, sizeof(can_frame_t), 0,
                                (struct sockaddr *)&to_addr, sizeof(to_addr));
        if (ret < 0) {
            switch (ret) {
            case -ETIMEDOUT:
                if (verbose)
                    printf("rt_dev_send(to): timed out");
                break;
            case -EBADF:
                if (verbose)
                    printf("rt_dev_send(to): aborted because socket was closed");
                break;
            default:
                fprintf(stderr, "rt_dev_send: %s\n", strerror(-ret));
                break;
            }
            i = loops;          /* abort */
            break;
        }
        if (verbose && (i % print) == 0) {
            if (frame.can_id & CAN_EFF_FLAG)
                printf("<0x%08x>", frame.can_id & CAN_EFF_MASK);
            else
                printf("<0x%03x>", frame.can_id & CAN_SFF_MASK);
            printf(" [%d]", frame.can_dlc);
            for (j = 0; j < frame.can_dlc; j++) {
                printf(" %02x", frame.data[j]);
            }
            printf("\n");
        }
    }
}

int main(int argc, char **argv)
{
    int i, opt, ret;
    struct ifreq ifr;
    char name[32];

    struct option long_options[] = {
        { "help", no_argument, 0, 'h' },
        { "identifier", required_argument, 0, 'i'},
        { "rtr", no_argument, 0, 'r'},
        { "extended", no_argument, 0, 'e'},
        { "verbose", no_argument, 0, 'v'},
        { "count", no_argument, 0, 'c'},
        { "print", required_argument, 0, 'p'},
        { "loop", required_argument, 0, 'l'},
        { "delay", required_argument, 0, 'd'},
        { "send", no_argument, 0, 's'},
        { "timeout", required_argument, 0, 't'},
        { "loopback", required_argument, 0, 'L'},
        { 0, 0, 0, 0},
    };

    mlockall(MCL_CURRENT | MCL_FUTURE);

    signal(SIGTERM, cleanup_and_exit);
    signal(SIGINT, cleanup_and_exit);

    frame.can_id = 1;

    while ((opt = getopt_long(argc, argv, "hvi:l:red:t:cp:sL:",
                              long_options, NULL)) != -1) {
        switch (opt) {
        case 'h':
            print_usage(argv[0]);
            exit(0);

        case 'p':
            print = strtoul(optarg, NULL, 0);

        case 'v':
            verbose = 1;
            break;

        case 'c':
            count = 1;
            break;

        case 'l':
            loops = strtoul(optarg, NULL, 0);
            break;

        case 'i':
            frame.can_id = strtoul(optarg, NULL, 0);
            break;

        case 'r':
            rtr = 1;
            break;

        case 'e':
            extended = 1;
            break;

        case 'd':
            delay = strtoul(optarg, NULL, 0) * 1000000LL;
            break;

        case 's':
            use_send = 1;
            break;

        case 't':
            timeout = strtoul(optarg, NULL, 0) * 1000000LL;
            break;

        case 'L':
            loopback = strtoul(optarg, NULL, 0);
            break;

        default:
            fprintf(stderr, "Unknown option %c\n", opt);
            break;
        }
    }

    if (optind == argc) {
        print_usage(argv[0]);
        exit(0);
    }

    if (argv[optind] == NULL) {
        fprintf(stderr, "No Interface supplied\n");
        exit(-1);
    }

    if (verbose)
        printf("interface %s\n", argv[optind]);

    ret = rt_dev_socket(PF_CAN, SOCK_RAW, CAN_RAW);
    if (ret < 0) {
        fprintf(stderr, "rt_dev_socket: %s\n", strerror(-ret));
        return -1;
    }
    s = ret;

    if (loopback >= 0) {
        ret = rt_dev_setsockopt(s, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
                                &loopback, sizeof(loopback));
        if (ret < 0) {
            fprintf(stderr, "rt_dev_setsockopt: %s\n", strerror(-ret));
            goto failure;
        }
        if (verbose)
            printf("Using loopback=%d\n", loopback);
    }

    strncpy(ifr.ifr_name, argv[optind], IFNAMSIZ);
    if (verbose)
        printf("s=%d, ifr_name=%s\n", s, ifr.ifr_name);

    ret = rt_dev_ioctl(s, SIOCGIFINDEX, &ifr);
    if (ret < 0) {
        fprintf(stderr, "rt_dev_ioctl: %s\n", strerror(-ret));
        goto failure;
    }

    memset(&to_addr, 0, sizeof(to_addr));
    to_addr.can_ifindex = ifr.ifr_ifindex;
    to_addr.can_family = AF_CAN;
    if (use_send) {
        /* Suppress definiton of a default receive filter list */
        ret = rt_dev_setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
        if (ret < 0) {
            fprintf(stderr, "rt_dev_setsockopt: %s\n", strerror(-ret));
            goto failure;
        }

        ret = rt_dev_bind(s, (struct sockaddr *)&to_addr, sizeof(to_addr));
        if (ret < 0) {
            fprintf(stderr, "rt_dev_bind: %s\n", strerror(-ret));
            goto failure;
        }
    }

    if (count)
        frame.can_dlc = sizeof(int);
    else {
        for (i = optind + 1; i < argc; i++) {
            frame.data[dlc] = strtoul(argv[i], NULL, 0);
            dlc++;
            if( dlc == 8 )
                break;
        }
        frame.can_dlc = dlc;
    }

    if (rtr)
        frame.can_id |= CAN_RTR_FLAG;

    if (extended)
        frame.can_id |= CAN_EFF_FLAG;

    if (timeout) {
        if (verbose)
            printf("Timeout: %lld ns\n", (long long)timeout);
        ret = rt_dev_ioctl(s, RTCAN_RTIOC_SND_TIMEOUT, &timeout);
        if (ret) {
            fprintf(stderr, "rt_dev_ioctl SND_TIMEOUT: %s\n", strerror(-ret));
            goto failure;
        }
    }

    snprintf(name, sizeof(name), "rtcansend-%d", getpid());
    ret = rt_task_shadow(&rt_task_desc, name, 1, 0);
    if (ret) {
        fprintf(stderr, "rt_task_shadow: %s\n", strerror(-ret));
        goto failure;
    }

    rt_task();

    cleanup();
    return 0;

 failure:
    cleanup();
    return -1;
}

---