| commit | author | age | ||
| 1e563e | 1 | /********************************************************************************* |
| G | 2 | * Copyright: (C) 2024 LingYun IoT System Studio |
| 3 | * All rights reserved. | |
| 4 | * | |
| 5 | * Filename: can_test.c | |
| 6 | * Description: This file is socket CAN loop test program | |
| 7 | * | |
| 8 | * Version: 1.0.0(05/26/2024) | |
| 9 | * Author: Guo Wenxue <guowenxue@gmail.com> | |
| 10 | * ChangeLog: 1, Release initial version on "05/26/2024 05:42:49 PM" | |
| 11 | * | |
| 12 | ********************************************************************************/ | |
| 13 | ||
| 14 | #include <stdio.h> | |
| 15 | #include <stdlib.h> | |
| 16 | #include <string.h> | |
| 17 | #include <unistd.h> | |
| 18 | #include <sys/ioctl.h> | |
| 19 | #include <net/if.h> | |
| 20 | #include <sys/socket.h> | |
| 21 | #include <linux/can.h> | |
| 22 | #include <linux/can/raw.h> | |
| 23 | #include <getopt.h> | |
| 24 | ||
| 25 | // 打印使用帮助信息 | |
| 26 | void print_usage(const char *progname) | |
| 27 | { | |
| 28 | printf("Usage: %s -i <can_interface> -m <mode>\n", progname); | |
| 29 | printf("Options:\n"); | |
| 30 | printf(" -i, --interface CAN interface (e.g., can0)\n"); | |
| 31 | printf(" -m, --mode Mode: send or receive\n"); | |
| 32 | printf(" -h, --help Display this help message\n"); | |
| 33 | } | |
| 34 | ||
| 35 | void send_can_message(const char *ifname) | |
| 36 | { | |
| 37 | int fd; | |
| 38 | struct sockaddr_can addr; | |
| 39 | struct ifreq ifr; | |
| 40 | struct can_frame frame; | |
| 41 | ||
| 42 | // 创建socket | |
| 43 | fd = socket(PF_CAN, SOCK_RAW, CAN_RAW); | |
| 44 | if (fd < 0) | |
| 45 | { | |
| 46 | perror("socket"); | |
| 47 | exit(1); | |
| 48 | } | |
| 49 | ||
| 50 | // 指定CAN接口 | |
| 51 | strcpy(ifr.ifr_name, ifname); | |
| 52 | ioctl(fd, SIOCGIFINDEX, &ifr); | |
| 53 | addr.can_family = AF_CAN; | |
| 54 | addr.can_ifindex = ifr.ifr_ifindex; | |
| 55 | ||
| 56 | // 绑定socket到CAN接口 | |
| 57 | if (bind(fd, (struct sockaddr *)&addr, sizeof(addr)) < 0) | |
| 58 | { | |
| 59 | perror("bind"); | |
| 60 | exit(1); | |
| 61 | } | |
| 62 | ||
| 63 | // 构造CAN帧 | |
| 64 | frame.can_id = 0x123; // 设置CAN ID | |
| 65 | frame.can_dlc = 2; // 数据长度 | |
| 66 | frame.data[0] = 0x11; // 数据 | |
| 67 | frame.data[1] = 0x22; // 数据 | |
| 68 | ||
| 69 | // 发送CAN帧 | |
| 70 | if (write(fd, &frame, sizeof(struct can_frame)) != sizeof(struct can_frame)) | |
| 71 | { | |
| 72 | perror("write"); | |
| 73 | exit(1); | |
| 74 | } | |
| 75 | ||
| 76 | // 关闭socket | |
| 77 | close(fd); | |
| 78 | } | |
| 79 | ||
| 80 | void receive_can_message(const char *ifname) | |
| 81 | { | |
| 82 | int fd; | |
| 83 | struct sockaddr_can addr; | |
| 84 | struct ifreq ifr; | |
| 85 | struct can_frame frame; | |
| 86 | ||
| 87 | // 创建socket | |
| 88 | fd = socket(PF_CAN, SOCK_RAW, CAN_RAW); | |
| 89 | if (fd < 0) { | |
| 90 | perror("socket"); | |
| 91 | exit(1); | |
| 92 | } | |
| 93 | ||
| 94 | // 指定CAN接口 | |
| 95 | strcpy(ifr.ifr_name, ifname); | |
| 96 | ioctl(fd, SIOCGIFINDEX, &ifr); | |
| 97 | addr.can_family = AF_CAN; | |
| 98 | addr.can_ifindex = ifr.ifr_ifindex; | |
| 99 | ||
| 100 | // 绑定socket到CAN接口 | |
| 101 | if (bind(fd, (struct sockaddr *)&addr, sizeof(addr)) < 0) | |
| 102 | { | |
| 103 | perror("bind"); | |
| 104 | exit(1); | |
| 105 | } | |
| 106 | ||
| 107 | // 接收CAN帧 | |
| 108 | while (1) | |
| 109 | { | |
| 110 | int nbytes = read(fd, &frame, sizeof(struct can_frame)); | |
| 111 | if (nbytes < 0) | |
| 112 | { | |
| 113 | perror("read"); | |
| 114 | exit(1); | |
| 115 | } | |
| 116 | ||
| 117 | if (nbytes < sizeof(struct can_frame)) | |
| 118 | { | |
| 119 | fprintf(stderr, "read: incomplete CAN frame\n"); | |
| 120 | exit(1); | |
| 121 | } | |
| 122 | ||
| 123 | // 打印接收到的CAN帧 | |
| 124 | printf("Received CAN frame: ID=0x%X DLC=%d data=", frame.can_id, frame.can_dlc); | |
| 125 | for (int i = 0; i < frame.can_dlc; i++) | |
| 126 | printf("%02X ", frame.data[i]); | |
| 127 | ||
| 128 | printf("\n"); | |
| 129 | } | |
| 130 | ||
| 131 | // 关闭socket | |
| 132 | close(fd); | |
| 133 | } | |
| 134 | ||
| 135 | int main(int argc, char **argv) | |
| 136 | { | |
| 137 | int opt, index = 0; | |
| 138 | const char *ifname = NULL; | |
| 139 | const char *mode = NULL; | |
| 140 | ||
| 141 | // 定义长选项 | |
| 142 | static struct option long_options[] = | |
| 143 | { | |
| 144 | {"interface", required_argument, 0, 'i'}, | |
| 145 | {"mode", required_argument, 0, 'm'}, | |
| 146 | {"help", no_argument, 0, 'h'}, | |
| 147 | {0, 0, 0, 0} | |
| 148 | }; | |
| 149 | ||
| 150 | while ((opt = getopt_long(argc, argv, "i:m:h", long_options, &index)) != -1) | |
| 151 | { | |
| 152 | switch (opt) { | |
| 153 | case 'i': | |
| 154 | ifname = optarg; | |
| 155 | break; | |
| 156 | case 'm': | |
| 157 | mode = optarg; | |
| 158 | break; | |
| 159 | case 'h': | |
| 160 | print_usage(argv[0]); | |
| 161 | return 0; | |
| 162 | default: | |
| 163 | print_usage(argv[0]); | |
| 164 | return 1; | |
| 165 | } | |
| 166 | } | |
| 167 | ||
| 168 | if (ifname == NULL || mode == NULL) | |
| 169 | { | |
| 170 | print_usage(argv[0]); | |
| 171 | return 1; | |
| 172 | } | |
| 173 | ||
| 174 | if (strcmp(mode, "send") == 0) | |
| 175 | { | |
| 176 | send_can_message(ifname); | |
| 177 | } | |
| 178 | else if (strcmp(mode, "receive") == 0) | |
| 179 | { | |
| 180 | receive_can_message(ifname); | |
| 181 | } | |
| 182 | else | |
| 183 | { | |
| 184 | fprintf(stderr, "Invalid mode: %s\n", mode); | |
| 185 | print_usage(argv[0]); | |
| 186 | return 1; | |
| 187 | } | |
| 188 | ||
| 189 | return 0; | |
| 190 | } | |
| 191 | ||
