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/*
* Copyright 2017 Max Staudt
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License 2 as published
* by the Free Software Foundation.
*/
#include <stdio.h>
#include <stdint.h>
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <linux/can.h>
#include <linux/can/raw.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include "vw-bap.h"
static unsigned hex2bin(char c) {
if (c >= '0' && c <= '9') {
return c - '0';
} else if (c >= 'A' && c <= 'F') {
return c + 10 - 'A';
} else if (c >= 'a' && c <= 'f') {
return c + 10 - 'a';
} else {
return 127;
}
}
static int net_init(char *ifname)
{
int s;
int recv_own_msgs;
struct sockaddr_can addr;
struct ifreq ifr;
s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
if (s < 0) {
perror("socket");
exit(1);
}
/* Convert interface name to index */
memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));
strncpy(ifr.ifr_name, ifname, IFNAMSIZ);
if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
perror("SIOCGIFINDEX");
exit(1);
}
/* Open the CAN interface */
memset(&addr, 0, sizeof(addr));
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
return 0;
}
recv_own_msgs = 1; /* 0 = disabled (default), 1 = enabled */
setsockopt(s, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS,
&recv_own_msgs, sizeof(recv_own_msgs));
return s;
}
static void can_tx(int socket, struct can_frame *frame)
{
ssize_t ret;
ret = write(socket, frame, sizeof(*frame));
if (ret != sizeof(*frame)) {
perror("write to CAN socket");
exit(1);
}
}
int main(int argc, char **argv)
{
fd_set wfds;
int s, ret;
struct can_frame frame;
struct BAP_TXer *bap;
struct BAP_Frame *bap_frame;
unsigned can_id;
unsigned bap_multiframe;
unsigned bap_opcode;
unsigned bap_node;
unsigned bap_function;
if (argc < 8) {
printf("syntax: %s IFNAME CAN_ID multiframe bap_opcode bap_node bap_function bap_data\n", argv[0]);
return 1;
}
/* Parse arguments */
can_id = strtoul(argv[2], NULL, 0);
bap_multiframe = strtoul(argv[3], NULL, 0);
bap_opcode = strtoul(argv[4], NULL, 0);
bap_node = strtoul(argv[5], NULL, 0);
bap_function = strtoul(argv[6], NULL, 0);
/* bap_data */
bap = vw_bap_txer_alloc();
if (!bap) {
printf("Out of memory allocating BAP TXer struct.\n");
return 1;
}
bap_frame = vw_bap_frame_alloc();
if (!bap_frame) {
printf("Out of memory allocating BAP frame.\n");
return 1;
}
/* Fill frame */
bap_frame->is_multiframe = !(!bap_multiframe);
bap_frame->opcode = bap_opcode & 0x7;
bap_frame->node = bap_node & 0x3f;
bap_frame->function = bap_function & 0x3f;
bap_frame->len = 0;
/* Fill payload */
while(bap_frame->len < 4095) {
unsigned high, low;
unsigned i = bap_frame->len;
if (!argv[7][2*i] || !argv[7][2*i + 1]) {
break;
}
high = hex2bin(argv[7][2*i]);
if (high > 15) {
break;
}
low = hex2bin(argv[7][2*i + 1]);
if (low > 15) {
break;
}
bap_frame->data[i] = (high << 4) | low;
bap_frame->len++;
}
s = net_init(argv[1]);
/* Fill TXer */
printf("Will send frame:\n");
vw_bap_frame_dump(bap_frame);
ret = vw_bap_txer_queue(bap, bap_frame, &frame);
frame.can_id = can_id;
can_tx(s, &frame);
/* HACK since we don't have continuation frames yet */
return 0;
while (1) {
int retval;
FD_ZERO(&wfds);
FD_SET(s, &wfds);
retval = select(s+1, NULL, &wfds, NULL, NULL);
/* We currently rely on Linux timeout behavior here,
* i.e. the timeout now reflects the remaining time */
if (retval < 0) {
perror("select");
return 1;
} else if (!retval) {
/* Timeout, we NEED to check this first */
} else if (FD_ISSET(s, &wfds)) {
continue;
}
}
vw_bap_txer_free(bap);
close(s);
return 0;
}
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