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#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 <socket-can/can.h>
#include <can_config.h>
extern int optind, opterr, optopt;
static int s = -1;
static int running = 1;
enum
{
VERSION_OPTION = CHAR_MAX + 1,
};
void print_usage(char *prg)
{
fprintf(stderr, "Usage: %s <can-interface> [Options]\n"
"Options:\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"
" -v, --verbose be verbose\n"
" --version print version information and exit\n",
prg, PF_CAN, SOCK_RAW, CAN_PROTO_RAW);
}
void sigterm(int signo)
{
printf("got signal %d\n", signo);
running = 0;
}
int main(int argc, char **argv)
{
int family = PF_CAN, type = SOCK_RAW, proto = CAN_PROTO_RAW;
int opt;
struct sockaddr_can addr;
struct can_frame frame;
int nbytes, i;
int verbose = 0;
struct ifreq ifr;
signal(SIGTERM, sigterm);
signal(SIGHUP, sigterm);
struct option long_options[] = {
{ "help", no_argument, 0, 'h' },
{ "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'},
{ 0, 0, 0, 0},
};
while ((opt = getopt_long(argc, argv, "hf:t:p:v", long_options, NULL)) != -1) {
switch (opt) {
case 'f':
family = atoi(optarg);
break;
case 't':
type = atoi(optarg);
break;
case 'p':
proto = atoi(optarg);
break;
case 'v':
verbose = 1;
break;
case 'h':
print_usage(basename(argv[0]));
exit(0);
case VERSION_OPTION:
printf("canecho %s\n",VERSION);
exit(0);
default:
fprintf(stderr, "Unknown option %c\n", opt);
break;
}
}
if (optind == argc) {
print_usage(basename(argv[0]));
exit(0);
}
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]);
ioctl(s, SIOCGIFINDEX, &ifr);
addr.can_ifindex = ifr.ifr_ifindex;
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
return 1;
}
while (running) {
if ((nbytes = read(s, &frame, sizeof(frame))) < 0) {
perror("read");
return 1;
}
if (verbose) {
printf("%04x: ", frame.can_id);
if (frame.can_id & CAN_FLAG_RTR) {
printf("remote request");
} else {
printf("[%d]", frame.can_dlc);
for (i = 0; i < frame.can_dlc; i++) {
printf(" %02x", frame.payload.data[i]);
}
}
printf("\n");
}
frame.can_id++;
write(s, &frame, sizeof(frame));
}
return 0;
}
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