doc/generated/html/api/rtcansend_8c-example.html

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  31 <h1>rtcansend.c</h1><div class="fragment"><pre class="fragment"><span class="preprocessor">#include &lt;stdio.h&gt;</span>
  32 <span class="preprocessor">#include &lt;stdlib.h&gt;</span>
  33 <span class="preprocessor">#include &lt;signal.h&gt;</span>
  34 <span class="preprocessor">#include &lt;unistd.h&gt;</span>
  35 <span class="preprocessor">#include &lt;time.h&gt;</span>
  36 <span class="preprocessor">#include &lt;errno.h&gt;</span>
  37 <span class="preprocessor">#include &lt;getopt.h&gt;</span>
  38 <span class="preprocessor">#include &lt;sys/mman.h&gt;</span>
  39
  40 <span class="preprocessor">#include &lt;<a class="code" href="task_8h.html" title="This file is part of the Xenomai project.">native/task.h</a>&gt;</span>
  41 <span class="preprocessor">#include &lt;<a class="code" href="include_2native_2timer_8h.html" title="This file is part of the Xenomai project.">native/timer.h</a>&gt;</span>
  42 <span class="preprocessor">#include &lt;<a class="code" href="native_2pipe_8h.html" title="This file is part of the Xenomai project.">native/pipe.h</a>&gt;</span>
  43
  44 <span class="preprocessor">#include &lt;<a class="code" href="rtcan_8h.html" title="Real-Time Driver Model for RT-Socket-CAN, CAN device profile header.">rtdm/rtcan.h</a>&gt;</span>
  45
  46 <span class="keyword">extern</span> <span class="keywordtype">int</span> optind, opterr, optopt;
  47
  48 <span class="keyword">static</span> <span class="keywordtype">void</span> print_usage(<span class="keywordtype">char</span> *prg)
  49 {
  50     fprintf(stderr,
  51             <span class="stringliteral">"Usage: %s &lt;can-interface&gt; [Options] &lt;can-msg&gt;\n"</span>
  52             <span class="stringliteral">"&lt;can-msg&gt; can consist of up to 8 bytes given as a space separated list\n"</span>
  53             <span class="stringliteral">"Options:\n"</span>
  54             <span class="stringliteral">" -i, --identifier=ID   CAN Identifier (default = 1)\n"</span>
  55             <span class="stringliteral">" -r  --rtr             send remote request\n"</span>
  56             <span class="stringliteral">" -e  --extended        send extended frame\n"</span>
  57             <span class="stringliteral">" -l  --loop=COUNT      send message COUNT times\n"</span>
  58             <span class="stringliteral">" -c, --count           message count in data[0-3]\n"</span>
  59             <span class="stringliteral">" -d, --delay=MS        delay in ms (default = 1ms)\n"</span>
  60             <span class="stringliteral">" -s, --send            use send instead of sendto\n"</span>
  61             <span class="stringliteral">" -t, --timeout=MS      timeout in ms\n"</span>
  62             <span class="stringliteral">" -L, --loopback=0|1    switch local loopback off or on\n"</span>
  63             <span class="stringliteral">" -v, --verbose         be verbose\n"</span>
  64             <span class="stringliteral">" -p, --print=MODULO    print every MODULO message\n"</span>
  65             <span class="stringliteral">" -h, --help            this help\n"</span>,
  66             prg);
  67 }
  68
  69
  70 RT_TASK rt_task_desc;
  71
  72 <span class="keyword">static</span> <span class="keywordtype">int</span> s=-1, dlc=0, rtr=0, extended=0, verbose=0, loops=1;
  73 <span class="keyword">static</span> SRTIME delay=1000000;
  74 <span class="keyword">static</span> <span class="keywordtype">int</span> count=0, print=1, use_send=0, loopback=-1;
  75 <span class="keyword">static</span> <a name="a0"></a><a class="code" href="group__rtdm.html#gededf91e760e3268235351dcc9d9dcda" title="RTDM type for representing relative intervals.">nanosecs_rel_t</a> timeout = 0;
  76 <span class="keyword">static</span> <span class="keyword">struct </span><a name="_a1"></a><a class="code" href="structcan__frame.html" title="Raw CAN frame.">can_frame</a> frame;
  77 <span class="keyword">static</span> <span class="keyword">struct </span><a name="_a2"></a><a class="code" href="structsockaddr__can.html" title="Socket address structure for the CAN address family.">sockaddr_can</a> to_addr;
  78
  79
  80 <span class="keywordtype">void</span> cleanup(<span class="keywordtype">void</span>)
  81 {
  82     <span class="keywordtype">int</span> ret;
  83
  84     <span class="keywordflow">if</span> (verbose)
  85         printf(<span class="stringliteral">"Cleaning up...\n"</span>);
  86
  87     usleep(100000);
  88
  89     <span class="keywordflow">if</span> (s &gt;= 0) {
  90         ret = <a name="a3"></a><a class="code" href="group__userapi.html#ga34c1ddf4e2deb727a1ab3cd648ce5d9" title="Close a device or socket.">rt_dev_close</a>(s);
  91         s = -1;
  92         <span class="keywordflow">if</span> (ret) {
  93             fprintf(stderr, <span class="stringliteral">"rt_dev_close: %s\n"</span>, strerror(-ret));
  94         }
  95         <a name="a4"></a><a class="code" href="group__task.html#gb6e0d411830710e8cc82d77b9df19510" title="Delete a real-time task.">rt_task_delete</a>(&amp;rt_task_desc);
  96     }
  97 }
  98
  99 <span class="keywordtype">void</span> cleanup_and_exit(<span class="keywordtype">int</span> sig)
 100 {
 101     <span class="keywordflow">if</span> (verbose)
 102         printf(<span class="stringliteral">"Signal %d received\n"</span>, sig);
 103     cleanup();
 104     exit(0);
 105 }
 106
 107 <span class="keywordtype">void</span> rt_task(<span class="keywordtype">void</span>)
 108 {
 109     <span class="keywordtype">int</span> i, j, ret;
 110
 111     <span class="keywordflow">for</span> (i = 0; i &lt; loops; i++) {
 112         <a name="a5"></a><a class="code" href="group__task.html#gd5225e5fb8d583fbdfa5299f322b8366" title="Delay the calling task (relative).">rt_task_sleep</a>(<a name="a6"></a><a class="code" href="group__native__timer.html#gad812d18e51f398fbb0e5392b2acdf2f" title="Convert nanoseconds to internal clock ticks.">rt_timer_ns2ticks</a>(delay));
 113         <span class="keywordflow">if</span> (count)
 114             memcpy(&amp;frame.data[0], &amp;i, <span class="keyword">sizeof</span>(i));
 115         <span class="comment">/* Note: sendto avoids the definiton of a receive filter list */</span>
 116         <span class="keywordflow">if</span> (use_send)
 117             ret = <a name="a7"></a><a class="code" href="group__userapi.html#g8e6eeb1cc9924ed11f3f457d4153697d" title="Transmit message to socket.">rt_dev_send</a>(s, (<span class="keywordtype">void</span> *)&amp;frame, <span class="keyword">sizeof</span>(<a class="code" href="structcan__frame.html" title="Raw CAN frame.">can_frame_t</a>), 0);
 118         <span class="keywordflow">else</span>
 119             ret = <a name="a8"></a><a class="code" href="group__userapi.html#g6a3a39ea1a35258935a32e1870955269" title="Transmit message to socket.">rt_dev_sendto</a>(s, (<span class="keywordtype">void</span> *)&amp;frame, <span class="keyword">sizeof</span>(<a class="code" href="structcan__frame.html" title="Raw CAN frame.">can_frame_t</a>), 0,
 120                                 (<span class="keyword">struct</span> sockaddr *)&amp;to_addr, <span class="keyword">sizeof</span>(to_addr));
 121         <span class="keywordflow">if</span> (ret &lt; 0) {
 122             <span class="keywordflow">switch</span> (ret) {
 123             <span class="keywordflow">case</span> -ETIMEDOUT:
 124                 <span class="keywordflow">if</span> (verbose)
 125                     printf(<span class="stringliteral">"rt_dev_send(to): timed out"</span>);
 126                 <span class="keywordflow">break</span>;
 127             <span class="keywordflow">case</span> -EBADF:
 128                 <span class="keywordflow">if</span> (verbose)
 129                     printf(<span class="stringliteral">"rt_dev_send(to): aborted because socket was closed"</span>);
 130                 <span class="keywordflow">break</span>;
 131             <span class="keywordflow">default</span>:
 132                 fprintf(stderr, <span class="stringliteral">"rt_dev_send: %s\n"</span>, strerror(-ret));
 133                 <span class="keywordflow">break</span>;
 134             }
 135             i = loops;          <span class="comment">/* abort */</span>
 136             <span class="keywordflow">break</span>;
 137         }
 138         <span class="keywordflow">if</span> (verbose &amp;&amp; (i % print) == 0) {
 139             <span class="keywordflow">if</span> (frame.can_id &amp; <a name="a9"></a><a class="code" href="group__rtcan.html#g5ae55ab3741140024858bd7b8762ea42" title="Extended frame.">CAN_EFF_FLAG</a>)
 140                 printf(<span class="stringliteral">"&lt;0x%08x&gt;"</span>, frame.can_id &amp; <a name="a10"></a><a class="code" href="group__rtcan.html#g83b943dca61d0aad5b07ec01c3317572" title="Bit mask for extended CAN IDs.">CAN_EFF_MASK</a>);
 141             <span class="keywordflow">else</span>
 142                 printf(<span class="stringliteral">"&lt;0x%03x&gt;"</span>, frame.can_id &amp; <a name="a11"></a><a class="code" href="group__rtcan.html#gfe4fc3f9cab58aeeb463861289e8ce93" title="Bit mask for standard CAN IDs.">CAN_SFF_MASK</a>);
 143             printf(<span class="stringliteral">" [%d]"</span>, frame.can_dlc);
 144             <span class="keywordflow">for</span> (j = 0; j &lt; frame.can_dlc; j++) {
 145                 printf(<span class="stringliteral">" %02x"</span>, frame.data[j]);
 146             }
 147             printf(<span class="stringliteral">"\n"</span>);
 148         }
 149     }
 150 }
 151
 152 <span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv)
 153 {
 154     <span class="keywordtype">int</span> i, opt, ret;
 155     <span class="keyword">struct </span>ifreq ifr;
 156     <span class="keywordtype">char</span> name[32];
 157
 158     <span class="keyword">struct </span>option long_options[] = {
 159         { <span class="stringliteral">"help"</span>, no_argument, 0, <span class="charliteral">'h'</span> },
 160         { <span class="stringliteral">"identifier"</span>, required_argument, 0, <span class="charliteral">'i'</span>},
 161         { <span class="stringliteral">"rtr"</span>, no_argument, 0, <span class="charliteral">'r'</span>},
 162         { <span class="stringliteral">"extended"</span>, no_argument, 0, <span class="charliteral">'e'</span>},
 163         { <span class="stringliteral">"verbose"</span>, no_argument, 0, <span class="charliteral">'v'</span>},
 164         { <span class="stringliteral">"count"</span>, no_argument, 0, <span class="charliteral">'c'</span>},
 165         { <span class="stringliteral">"print"</span>, required_argument, 0, <span class="charliteral">'p'</span>},
 166         { <span class="stringliteral">"loop"</span>, required_argument, 0, <span class="charliteral">'l'</span>},
 167         { <span class="stringliteral">"delay"</span>, required_argument, 0, <span class="charliteral">'d'</span>},
 168         { <span class="stringliteral">"send"</span>, no_argument, 0, <span class="charliteral">'s'</span>},
 169         { <span class="stringliteral">"timeout"</span>, required_argument, 0, <span class="charliteral">'t'</span>},
 170         { <span class="stringliteral">"loopback"</span>, required_argument, 0, <span class="charliteral">'L'</span>},
 171         { 0, 0, 0, 0},
 172     };
 173
 174     mlockall(MCL_CURRENT | MCL_FUTURE);
 175
 176     signal(SIGTERM, cleanup_and_exit);
 177     signal(SIGINT, cleanup_and_exit);
 178
 179     frame.can_id = 1;
 180
 181     <span class="keywordflow">while</span> ((opt = getopt_long(argc, argv, <span class="stringliteral">"hvi:l:red:t:cp:sL:"</span>,
 182                               long_options, NULL)) != -1) {
 183         <span class="keywordflow">switch</span> (opt) {
 184         <span class="keywordflow">case</span> <span class="charliteral">'h'</span>:
 185             print_usage(argv[0]);
 186             exit(0);
 187
 188         <span class="keywordflow">case</span> <span class="charliteral">'p'</span>:
 189             print = strtoul(optarg, NULL, 0);
 190
 191         <span class="keywordflow">case</span> <span class="charliteral">'v'</span>:
 192             verbose = 1;
 193             <span class="keywordflow">break</span>;
 194
 195         <span class="keywordflow">case</span> <span class="charliteral">'c'</span>:
 196             count = 1;
 197             <span class="keywordflow">break</span>;
 198
 199         <span class="keywordflow">case</span> <span class="charliteral">'l'</span>:
 200             loops = strtoul(optarg, NULL, 0);
 201             <span class="keywordflow">break</span>;
 202
 203         <span class="keywordflow">case</span> <span class="charliteral">'i'</span>:
 204             frame.can_id = strtoul(optarg, NULL, 0);
 205             <span class="keywordflow">break</span>;
 206
 207         <span class="keywordflow">case</span> <span class="charliteral">'r'</span>:
 208             rtr = 1;
 209             <span class="keywordflow">break</span>;
 210
 211         <span class="keywordflow">case</span> <span class="charliteral">'e'</span>:
 212             extended = 1;
 213             <span class="keywordflow">break</span>;
 214
 215         <span class="keywordflow">case</span> <span class="charliteral">'d'</span>:
 216             delay = strtoul(optarg, NULL, 0) * 1000000LL;
 217             <span class="keywordflow">break</span>;
 218
 219         <span class="keywordflow">case</span> <span class="charliteral">'s'</span>:
 220             use_send = 1;
 221             <span class="keywordflow">break</span>;
 222
 223         <span class="keywordflow">case</span> <span class="charliteral">'t'</span>:
 224             timeout = strtoul(optarg, NULL, 0) * 1000000LL;
 225             <span class="keywordflow">break</span>;
 226
 227         <span class="keywordflow">case</span> <span class="charliteral">'L'</span>:
 228             loopback = strtoul(optarg, NULL, 0);
 229             <span class="keywordflow">break</span>;
 230
 231         <span class="keywordflow">default</span>:
 232             fprintf(stderr, <span class="stringliteral">"Unknown option %c\n"</span>, opt);
 233             <span class="keywordflow">break</span>;
 234         }
 235     }
 236
 237     <span class="keywordflow">if</span> (optind == argc) {
 238         print_usage(argv[0]);
 239         exit(0);
 240     }
 241
 242     <span class="keywordflow">if</span> (argv[optind] == NULL) {
 243         fprintf(stderr, <span class="stringliteral">"No Interface supplied\n"</span>);
 244         exit(-1);
 245     }
 246
 247     <span class="keywordflow">if</span> (verbose)
 248         printf(<span class="stringliteral">"interface %s\n"</span>, argv[optind]);
 249
 250     ret = <a name="a12"></a><a class="code" href="group__userapi.html#g95cfb4d81e3faf578015cad5750b22a3" title="Create a socket.">rt_dev_socket</a>(<a name="a13"></a><a class="code" href="group__rtcan.html#geac0c3db7a1e021f17987bcc76893849" title="CAN protocol family.">PF_CAN</a>, SOCK_RAW, <a name="a14"></a><a class="code" href="group__rtcan.html#g57682d9a1e4f4d90943dbaa683582bf5" title="Raw protocol of PF_CAN, applicable to socket type SOCK_RAW.">CAN_RAW</a>);
 251     <span class="keywordflow">if</span> (ret &lt; 0) {
 252         fprintf(stderr, <span class="stringliteral">"rt_dev_socket: %s\n"</span>, strerror(-ret));
 253         <span class="keywordflow">return</span> -1;
 254     }
 255     s = ret;
 256
 257     <span class="keywordflow">if</span> (loopback &gt;= 0) {
 258         ret = <a name="a15"></a><a class="code" href="group__userapi.html#gada2561361357285840c5b054fe20681" title="Set socket option.">rt_dev_setsockopt</a>(s, <a name="a16"></a><a class="code" href="group__rtcan.html#gd981aa82a29d828882a2fb4c35c1cdd7" title="CAN socket levels.">SOL_CAN_RAW</a>, <a name="a17"></a><a class="code" href="group__rtcan.html#ga7eb7dc3aa940a0aca20d3a564a147d9" title="CAN TX loopback.">CAN_RAW_LOOPBACK</a>,
 259                                 &amp;loopback, <span class="keyword">sizeof</span>(loopback));
 260         <span class="keywordflow">if</span> (ret &lt; 0) {
 261             fprintf(stderr, <span class="stringliteral">"rt_dev_setsockopt: %s\n"</span>, strerror(-ret));
 262             <span class="keywordflow">goto</span> failure;
 263         }
 264         <span class="keywordflow">if</span> (verbose)
 265             printf(<span class="stringliteral">"Using loopback=%d\n"</span>, loopback);
 266     }
 267
 268     strncpy(ifr.ifr_name, argv[optind], IFNAMSIZ);
 269     <span class="keywordflow">if</span> (verbose)
 270         printf(<span class="stringliteral">"s=%d, ifr_name=%s\n"</span>, s, ifr.ifr_name);
 271
 272     ret = <a name="a18"></a><a class="code" href="group__userapi.html#g72b69315a44f235b05627a0c257c01f4" title="Issue an IOCTL.">rt_dev_ioctl</a>(s, <a name="a19"></a><a class="code" href="group__rtcan.html#gee74ae50c8ea0a6aee277c6f124a3866" title="Get CAN interface index by name.">SIOCGIFINDEX</a>, &amp;ifr);
 273     <span class="keywordflow">if</span> (ret &lt; 0) {
 274         fprintf(stderr, <span class="stringliteral">"rt_dev_ioctl: %s\n"</span>, strerror(-ret));
 275         <span class="keywordflow">goto</span> failure;
 276     }
 277
 278     memset(&amp;to_addr, 0, <span class="keyword">sizeof</span>(to_addr));
 279     to_addr.can_ifindex = ifr.ifr_ifindex;
 280     to_addr.can_family = <a name="a20"></a><a class="code" href="group__rtcan.html#g546620c7e758f003b24b7fdae4f97bd4" title="CAN address family.">AF_CAN</a>;
 281     <span class="keywordflow">if</span> (use_send) {
 282         <span class="comment">/* Suppress definiton of a default receive filter list */</span>
 283         ret = <a class="code" href="group__userapi.html#gada2561361357285840c5b054fe20681" title="Set socket option.">rt_dev_setsockopt</a>(s, <a class="code" href="group__rtcan.html#gd981aa82a29d828882a2fb4c35c1cdd7" title="CAN socket levels.">SOL_CAN_RAW</a>, <a name="a21"></a><a class="code" href="group__rtcan.html#g87313c6e632294aa4582899a3bbc89e4" title="CAN filter definition.">CAN_RAW_FILTER</a>, NULL, 0);
 284         <span class="keywordflow">if</span> (ret &lt; 0) {
 285             fprintf(stderr, <span class="stringliteral">"rt_dev_setsockopt: %s\n"</span>, strerror(-ret));
 286             <span class="keywordflow">goto</span> failure;
 287         }
 288
 289         ret = <a name="a22"></a><a class="code" href="group__userapi.html#g5442e4f8737560e3294bd5bab61ad3fd" title="Bind to local address.">rt_dev_bind</a>(s, (<span class="keyword">struct</span> sockaddr *)&amp;to_addr, <span class="keyword">sizeof</span>(to_addr));
 290         <span class="keywordflow">if</span> (ret &lt; 0) {
 291             fprintf(stderr, <span class="stringliteral">"rt_dev_bind: %s\n"</span>, strerror(-ret));
 292             <span class="keywordflow">goto</span> failure;
 293         }
 294     }
 295
 296     <span class="keywordflow">if</span> (count)
 297         frame.can_dlc = <span class="keyword">sizeof</span>(int);
 298     <span class="keywordflow">else</span> {
 299         <span class="keywordflow">for</span> (i = optind + 1; i &lt; argc; i++) {
 300             frame.data[dlc] = strtoul(argv[i], NULL, 0);
 301             dlc++;
 302             <span class="keywordflow">if</span>( dlc == 8 )
 303                 <span class="keywordflow">break</span>;
 304         }
 305         frame.can_dlc = dlc;
 306     }
 307
 308     <span class="keywordflow">if</span> (rtr)
 309         frame.can_id |= <a name="a23"></a><a class="code" href="group__rtcan.html#gf324d65226057755175038a15d9bbd75" title="Remote transmission frame.">CAN_RTR_FLAG</a>;
 310
 311     <span class="keywordflow">if</span> (extended)
 312         frame.can_id |= <a class="code" href="group__rtcan.html#g5ae55ab3741140024858bd7b8762ea42" title="Extended frame.">CAN_EFF_FLAG</a>;
 313
 314     <span class="keywordflow">if</span> (timeout) {
 315         <span class="keywordflow">if</span> (verbose)
 316             printf(<span class="stringliteral">"Timeout: %lld ns\n"</span>, (<span class="keywordtype">long</span> <span class="keywordtype">long</span>)timeout);
 317         ret = <a class="code" href="group__userapi.html#g72b69315a44f235b05627a0c257c01f4" title="Issue an IOCTL.">rt_dev_ioctl</a>(s, <a name="a24"></a><a class="code" href="group__rtcan.html#gd3758528585b2779e8949df671f1cf6c" title="Specify a transmission timeout for a socket.">RTCAN_RTIOC_SND_TIMEOUT</a>, &amp;timeout);
 318         <span class="keywordflow">if</span> (ret) {
 319             fprintf(stderr, <span class="stringliteral">"rt_dev_ioctl SND_TIMEOUT: %s\n"</span>, strerror(-ret));
 320             <span class="keywordflow">goto</span> failure;
 321         }
 322     }
 323
 324     snprintf(name, <span class="keyword">sizeof</span>(name), <span class="stringliteral">"rtcansend-%d"</span>, getpid());
 325     ret = <a name="a25"></a><a class="code" href="group__task.html#g72e0a9355d06c346a95bf88b857a9749" title="Turns the current Linux task into a native Xenomai task.">rt_task_shadow</a>(&amp;rt_task_desc, name, 1, 0);
 326     <span class="keywordflow">if</span> (ret) {
 327         fprintf(stderr, <span class="stringliteral">"rt_task_shadow: %s\n"</span>, strerror(-ret));
 328         <span class="keywordflow">goto</span> failure;
 329     }
 330
 331     rt_task();
 332
 333     cleanup();
 334     <span class="keywordflow">return</span> 0;
 335
 336  failure:
 337     cleanup();
 338     <span class="keywordflow">return</span> -1;
 339 }
 340 </pre></div> </div>
 341 <hr size="1"><address style="text-align: right;"><small>Generated on Tue Mar 8 13:02:04 2011 for Xenomai API by&nbsp;
 342 <a href="http://www.doxygen.org/index.html">
 343 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.6 </small></address>
 344 </body>
 345 </html>