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#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <signal.h>
#include <libgen.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>
extern int optind, opterr, optopt;
static int running = 1;
void sigterm(int signo)
{
running = 0;
}
void print_usage(char *prg)
{
fprintf(stderr, "Usage: %s <can-interface> [Options] -i <identifier> <can-msg>\n", prg);
fprintf(stderr, "Options: -f <family> (default PF_CAN = %d)\n", PF_CAN);
fprintf(stderr, " -t <type> (default SOCK_RAW = %d)\n", SOCK_RAW);
fprintf(stderr, " -p <proto> (default CAN_PROTO_RAW = %d)\n", CAN_PROTO_RAW);
fprintf(stderr, " -v (verbose)\n");
}
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;
struct can_frame frame;
int verbose = 0;
int num = 0;
struct ifreq ifr;
signal(SIGTERM, sigterm);
signal(SIGHUP, sigterm);
while ((opt = getopt(argc, argv, "f:t:p:vi:")) != -1) {
switch (opt) {
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 'i':
frame.can_id = strtoul(optarg, NULL, 0);
case '?':
break;
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);
}
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]);
ret = ioctl(s, SIOCGIFINDEX, &ifr);
printf("ioctl: %d ", ret);
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;
}
if (argv[optind+1] != NULL) {
frame.can_dlc = strlen(argv[optind+1]);
frame.can_dlc = frame.can_dlc > 8 ? 8 : frame.can_dlc;
strncpy(frame.payload.data, argv[optind+1],8);
} else {
frame.can_dlc = 0;
}
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");
num = 1;
while (num--) {
ret = write(s, &frame, sizeof(frame));
}
close(s);
return 0;
}
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