tst-bcm-rx-sendto.c

/*
 * tst-bcm-rx-sendto.c
 *
 * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 * 3. Neither the name of Volkswagen nor the names of its contributors
 *    may be used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * Alternatively, provided that this notice is retained in full, this
 * software may be distributed under the terms of the GNU General
 * Public License ("GPL") version 2, in which case the provisions of the
 * GPL apply INSTEAD OF those given above.
 *
 * The provided data structures and external interfaces from this code
 * are not restricted to be used by modules with a GPL compatible license.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
 * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
 * DAMAGE.
 *
 * Send feedback to <linux-can@vger.kernel.org>
 *
 */

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>

#include <sys/types.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <sys/uio.h>
#include <net/if.h>

#include <linux/can.h>
#include <linux/can/bcm.h>

int main(int argc, char **argv)
{
	int s,nbytes;
	struct sockaddr_can addr;
	struct ifreq ifr;

	struct timeval tv;

	struct {
		struct bcm_msg_head msg_head;
		struct can_frame frame;
	} txmsg, rxmsg;

	if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_BCM)) < 0) {
		perror("socket");
		return 1;
	}

	addr.can_family = PF_CAN;
	addr.can_ifindex = 0; /* bind to 'any' device */

	if (connect(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
		perror("connect");
		return 1;
	}

	memset(&txmsg, 0, sizeof(txmsg)); /* clear timers, nframes, etc. */

	txmsg.msg_head.opcode  = RX_SETUP;
	txmsg.msg_head.can_id  = 0x123;
	txmsg.msg_head.flags   = RX_FILTER_ID;

	if (write(s, &txmsg, sizeof(txmsg)) < 0)
		perror("write");

	addr.can_family = PF_CAN;
	strcpy(ifr.ifr_name, "vcan2");
	ioctl(s, SIOCGIFINDEX, &ifr);
	addr.can_ifindex = ifr.ifr_ifindex;

	txmsg.msg_head.opcode  = RX_SETUP;
	txmsg.msg_head.can_id  = 0x321;
	txmsg.msg_head.flags   = RX_FILTER_ID;

	if (sendto(s, &txmsg, sizeof(txmsg), 0, (struct sockaddr*)&addr, sizeof(addr)) < 0)
		perror("sendto");

	addr.can_family = PF_CAN;
	strcpy(ifr.ifr_name, "vcan1");
	ioctl(s, SIOCGIFINDEX, &ifr);
	addr.can_ifindex = ifr.ifr_ifindex;

	txmsg.msg_head.opcode  = RX_SETUP;
	txmsg.msg_head.can_id  = 0x424;
	txmsg.msg_head.flags   = RX_FILTER_ID;

	if (sendto(s, &txmsg, sizeof(txmsg), 0, (struct sockaddr*)&addr, sizeof(addr)) < 0)
		perror("sendto");

	while (1) {
		socklen_t len = sizeof(addr);
		nbytes = recvfrom(s, &rxmsg, sizeof(rxmsg),
				  0, (struct sockaddr*)&addr, &len);
		if (nbytes < 0) {
			perror("recvfrom");
			return 1;
		} else if (nbytes < sizeof(rxmsg)) {
			fprintf(stderr, "recvfrom: incomplete BCM message from iface %d\n",
				addr.can_ifindex);
			return 1;
		} else {
			int i;

			ioctl(s, SIOCGSTAMP, &tv);
			printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);

			ifr.ifr_ifindex = addr.can_ifindex;
			ioctl(s, SIOCGIFNAME, &ifr);

			printf(" %-5s ", ifr.ifr_name);
			if (rxmsg.frame.can_id & CAN_EFF_FLAG)
				printf("%8X  ", rxmsg.frame.can_id & CAN_EFF_MASK);
			else
				printf("%3X  ", rxmsg.frame.can_id & CAN_SFF_MASK);
	    
			printf("[%d] ", rxmsg.frame.can_dlc);
	    
			for (i = 0; i < rxmsg.frame.can_dlc; i++) {
				printf("%02X ", rxmsg.frame.data[i]);
			}
			if (rxmsg.frame.can_id & CAN_RTR_FLAG)
				printf("remote request");
			printf("\n");
			fflush(stdout);
		}
	}

	close(s);

	return 0;
}