can-utils/cansequence.c

#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"
			"\n"
			"cansequence sends CAN messages with a rising sequence number as payload.\n"
			"When the -r option is given, cansequence expects to receive these messages\n"
			"and prints an error message if a wrong sequence number is encountered.\n"
			"The main purpose of this program is to test the reliability of CAN links.\n"
			"\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"
			" -r, --receive         work as receiver\n"
			" -l  --loop=COUNT      send COUNT messages\n"
			" -q  --quit            quit if a wrong sequence is encountered\n"
                        " -v, --verbose         be verbose (twice to be even more verbose\n"
			" -h  --help            this help\n"
			"     --version         print version information and exit\n",
				prg, PF_CAN, SOCK_RAW, CAN_PROTO_RAW);
}

void sigterm(int 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;
	struct ifreq ifr;
	int receive = 0;
	int loopcount = 1, infinite = 1;
	unsigned char  sequence = 0;
	int sequence_init = 1;
	int verbose = 0, quit = 0;

	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},
		{ "receive", no_argument, 0, 'r'},
		{ "quit", no_argument, 0, 'q'},
		{ "loop", required_argument, 0, 'l'},
		{ "verbose", no_argument, 0, 'v'},
		{ 0, 0, 0, 0},
	};

	while ((opt = getopt_long(argc, argv, "f:t:p:vrl:hq", long_options, NULL)) != -1) {
		switch (opt) {
			case 'h':
				print_usage(basename(argv[0]));
				exit(0);

			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 'l':
				loopcount = strtoul(optarg, NULL, 0);
				infinite = 0;
				break;

			case 'r':
				receive = 1;
				break;

			case 'q':
				quit = 1;
				break;

			case 'v':
				verbose++;
				break;

			case VERSION_OPTION:
				printf("cansequence %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;
	strncpy(ifr.ifr_name, argv[optind], sizeof(ifr.ifr_name));
	ioctl(s, SIOCGIFINDEX, &ifr);
	addr.can_ifindex = ifr.ifr_ifindex;
	addr.can_id = CAN_FLAG_ALL;

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

	if(receive) {
		while ((infinite || loopcount--) && running) {
			if ((nbytes = read(s, &frame, sizeof(struct can_frame))) < 0) {
				perror("read");
				return 1;
			} else {
				if( sequence_init ) {
					sequence_init = 0;
					sequence = frame.payload.data_u8[0];
				}
				if(verbose>1)
					printf("received frame. sequence number: %d\n",sequence);
				if( frame.payload.data_u8[0] != sequence) {
					printf("received wrong sequence count. expected: %d, got: %d\n",
						frame.payload.data_u8[0], sequence);
					if(quit)
						exit(1);
					sequence = frame.payload.data_u8[0];
				}
				if(verbose && !sequence)
					printf("sequence wrap around\n");
				sequence++;
			}
		}
	} else {
		frame.can_dlc = 1;
		frame.can_id = 2;
		frame.payload.data[0] = 0;
		while ((infinite || loopcount--) && running) {
			if(verbose>1)
				printf("sending frame. sequence number: %d\n",sequence);
			if(verbose && !sequence)
				printf("sequence wrap around\n");
			if( write(s, &frame, sizeof(frame)) < 0) {
				perror("write");
				break;
			}
			(unsigned char)frame.payload.data[0]++;
			sequence++;
		}
	}
	return 0;
}