diff options
Diffstat (limited to 'src/cansend.c')
| -rw-r--r-- | src/cansend.c | 186 |
1 files changed, 186 insertions, 0 deletions
diff --git a/src/cansend.c b/src/cansend.c new file mode 100644 index 0000000..80721c4 --- /dev/null +++ b/src/cansend.c @@ -0,0 +1,186 @@ +#include <stdio.h> +#include <stdlib.h> +#include <unistd.h> +#include <string.h> +#include <signal.h> +#include <libgen.h> +#include <getopt.h> + +#include <sys/types.h> +#include <sys/socket.h> +#include <sys/uio.h> +#include <sys/ioctl.h> +#include <net/if.h> + +#include <can_config.h> + +#include <socket-can/can.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" + " -f, --family=FAMILY Protocol family (default PF_CAN = %d)\n" + " -t, --type=TYPE Socket type, see man 2 socket (default SOCK_RAW = %d)\n" + " -p, --protocol=PROTO CAN protocol (default CAN_PROTO_RAW = %d)\n" + " -l send message infinite times\n" + " --loop=COUNT send message COUNT times\n" + " -v, --verbose be verbose\n" + " -h, --help this help\n" + " --version print version information and exit\n", + prg, PF_CAN, SOCK_RAW, CAN_PROTO_RAW); +} + +enum +{ + VERSION_OPTION = CHAR_MAX + 1, +}; + +int main(int argc, char **argv) +{ + int family = PF_CAN, type = SOCK_RAW, proto = CAN_PROTO_RAW; + struct sockaddr_can addr; + int s, opt, ret, i, dlc = 0, rtr = 0, extended = 0; + struct can_frame frame; + int verbose = 0; + int loopcount = 1, infinite = 0; + struct ifreq ifr; + + struct option long_options[] = { + { "help", no_argument, 0, 'h' }, + { "identifier", required_argument, 0, 'i'}, + { "rtr", no_argument, 0, 'r'}, + { "extended", no_argument, 0, 'e'}, + { "family", required_argument, 0, 'f' }, + { "protocol", required_argument, 0, 'p' }, + { "type", required_argument, 0, 't' }, + { "version", no_argument, 0, VERSION_OPTION}, + { "verbose", no_argument, 0, 'v'}, + { "loop", required_argument, 0, 'l'}, + { 0, 0, 0, 0}, + }; + + frame.can_id = 1; + + while ((opt = getopt_long(argc, argv, "hf:t:p:vi:lre", long_options, NULL)) != -1) { + switch (opt) { + case 'h': + print_usage(basename(argv[0])); + exit(0); + + case 'f': + family = strtoul(optarg, NULL, 0); + break; + + case 't': + type = strtoul(optarg, NULL, 0); + break; + + case 'p': + proto = strtoul(optarg, NULL, 0); + break; + + case 'v': + verbose = 1; + break; + + case 'l': + if(optarg) + loopcount = strtoul(optarg, NULL, 0); + else + infinite = 1; + break; + case 'i': + frame.can_id = strtoul(optarg, NULL, 0); + break; + + case 'r': + rtr = 1; + break; + + case 'e': + extended = 1; + break; + + case VERSION_OPTION: + printf("cansend %s\n",VERSION); + exit(0); + + default: + fprintf(stderr, "Unknown option %c\n", opt); + break; + } + } + + if (optind == argc) { + print_usage(basename(argv[0])); + exit(0); + } + + if (argv[optind] == NULL) { + fprintf(stderr, "No Interface supplied\n"); + exit(-1); + } + + if(verbose) + printf("interface = %s, family = %d, type = %d, proto = %d\n", + argv[optind], family, type, proto); + if ((s = socket(family, type, proto)) < 0) { + perror("socket"); + return 1; + } + + addr.can_family = family; + strcpy(ifr.ifr_name, argv[optind]); + if( ioctl(s, SIOCGIFINDEX, &ifr) ) { + perror("ioctl"); + return 1; + } + addr.can_ifindex = ifr.ifr_ifindex; + addr.can_id = frame.can_id; + + if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) { + perror("bind"); + return 1; + } + + + for(i = optind + 1; i < argc; i++) { + frame.payload.data[dlc] = strtoul(argv[i], NULL, 0); + dlc++; + if( dlc == 8 ) + break; + } + frame.can_dlc = dlc; + + if(rtr) + frame.can_id |= CAN_FLAG_RTR; + + if(extended) + frame.can_id |= CAN_FLAG_EXTENDED; + + if(verbose) { + printf("id: %d ",frame.can_id); + printf("dlc: %d\n",frame.can_dlc); + for(i = 0; i < frame.can_dlc; i++) + printf("0x%02x ",frame.payload.data[i]); + printf("\n"); + } + + while (infinite || loopcount--) { + ret = write(s, &frame, sizeof(frame)); + if( ret == -1 ) { + perror("write"); + break; + } + } + + close(s); + return 0; +} |