/* ** 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 ** =============================================================================== ** Redistribution and use in source and binary forms, with or without ** modification, are permitted provided that the following conditions are met: ** * Redistributions of source code must retain the above copyright ** notice, this list of conditions and the following disclaimer. ** * 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. ** * 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 ** WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE ** DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> 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. ** ** ** 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 * Send out CAN messages until ctrl-c is pressed */ #include <canlib.h> #include <stdio.h> #include <signal.h> #include <errno.h> #include <unistd.h> #define ALARM_INTERVAL_IN_S (1) #define WRITE_WAIT_INFINITE (unsigned long)(-1) static unsigned int msgCounter = 0; static int willExit = 0; static void check(char* id, canStatus stat) { if (stat != canOK) { char buf[50]; buf[0] = '\0'; canGetErrorText(stat, buf, sizeof(buf)); printf("%s: failed, stat=%d (%s)\n", id, (int)stat, buf); } } static void sighand(int sig) { static unsigned int last; switch (sig) { case SIGINT: willExit = 1; break; case SIGALRM: if (msgCounter - last) { printf("msg/s = %d, total=%d\n", (msgCounter - last) / ALARM_INTERVAL_IN_S, msgCounter); } last = msgCounter; alarm(ALARM_INTERVAL_IN_S); break; } } static void printUsageAndExit(char *prgName) { printf("Usage: '%s <channel>'\n", prgName); exit(1); } int main(int argc, char *argv[]) { canHandle hnd; canStatus stat; char msg[8] = "Kvaser!"; 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]); } } printf("Writing messages on channel %d\n", channel); /* Use sighand as our signal handler */ signal(SIGALRM, sighand); signal(SIGINT, sighand); alarm(ALARM_INTERVAL_IN_S); /* Allow signals to interrupt syscalls */ siginterrupt(SIGINT, 1); /* Open channel, set parameters and go on bus */ hnd = canOpenChannel(channel, canOPEN_EXCLUSIVE | canOPEN_REQUIRE_EXTENDED | canOPEN_ACCEPT_VIRTUAL); if (hnd < 0) { printf("canOpenChannel %d", channel); check("", hnd); return -1; } stat = canSetBusParams(hnd, canBITRATE_1M, 0, 0, 0, 0, 0); check("canSetBusParams", stat); if (stat != canOK) { goto ErrorExit; } stat = canBusOn(hnd); check("canBusOn", stat); if (stat != canOK) { goto ErrorExit; } while ((stat == canOK) && !willExit) { long id = channel + 100; stat = canWriteWait(hnd, id, msg, sizeof(msg) / sizeof(msg[0]), canMSG_EXT, WRITE_WAIT_INFINITE); if (errno == 0) { check("\ncanWriteWait", stat); } else { perror("\ncanWriteWait error"); } if (stat == canOK) { msgCounter++; } } sighand(SIGALRM); ErrorExit: alarm(0); stat = canBusOff(hnd); check("canBusOff", stat); stat = canClose(hnd); check("canClose", stat); return 0; }