Kvaser Linux CANLIB: readTimerTest.c

readTimerTest.c

/*
**             Copyright 2012-2016 by Kvaser AB, Molndal, Sweden
**                        http://www.kvaser.com
**
** This software is dual licensed under the following two licenses:
** BSD-new and GPLv2. You may use either one. See the included
** COPYING file for details.
**
** License: BSD-new
** ===============================================================================
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** modification, are permitted provided that the following conditions are met:
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**       notice, this list of conditions and the following disclaimer.
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**       notice, this list of conditions and the following disclaimer in the
**       documentation and/or other materials provided with the distribution.
**     * Neither the name of the <organization> nor the
**       names of its contributors may be used to endorse or promote products
**       derived from this software without specific prior written permission.
**
** 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
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** ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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** SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
**
**
** License: GPLv2
** ===============================================================================
** This program is free software; you can redistribute it and/or
** modify it under the terms of the GNU General Public License
** as published by the Free Software Foundation; either version 2
** of the License, or (at your option) any later version.
**
** This program is distributed in the hope that it will be useful,
** but WITHOUT ANY WARRANTY; without even the implied warranty of
** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
** GNU General Public License for more details.
**
** You should have received a copy of the GNU General Public License
** along with this program; if not, write to the Free Software
** Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
**
** ---------------------------------------------------------------------------
**/

/*
 * Kvaser Linux Canlib
 * Read timer test
 */

#include <stdio.h>
#include <canlib.h>
#include <unistd.h>
#include <sys/time.h>
#include <errno.h>

static void printUsageAndExit(char *prgName)
{
  printf("Usage: '%s <channel>'\n", prgName);
  exit(1);
}


int main(int argc, char *argv[])
{
  unsigned long time, last = 0, lastsys = 0;
  canHandle hnd;
  struct timeval tv;
  int channel;

  if (argc != 2) {
    printUsageAndExit(argv[0]);
  }

  {
    char *endPtr = NULL;
    errno = 0;
    channel = strtol(argv[1], &endPtr, 10);
    if ( (errno != 0) || ((channel == 0) && (endPtr == argv[1])) ) {
      printUsageAndExit(argv[0]);
    }
  }

  hnd = canOpenChannel(channel, 0);
  if (hnd < 0) {
    char errorString[50];
    canGetErrorText(hnd, errorString, 50);
    printf("%s\n", errorString);
    return -1;
  }

  while (1) {
    if (canReadTimer(hnd, &time) != canOK) {
      printf("canReadTimer failed\n");
      break;
    }
    printf("Time=%lu ms (%lu)\n", time, time - last);
    gettimeofday(&tv, NULL);
    printf("system:%ld\n", tv.tv_sec * 1000 + tv.tv_usec / 1000 - lastsys);
    last = time;
    lastsys = tv.tv_sec * 1000 + tv.tv_usec / 1000;
    sleep(1);
  }
  canClose(hnd);

  return 0;
}