/*********************************************************************************
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* Copyright: (C) 2024 LingYun IoT System Studio
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* All rights reserved.
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*
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* Filename: can_test.c
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* Description: This file is socket CAN loop test program
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*
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* Version: 1.0.0(05/26/2024)
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* Author: Guo Wenxue <guowenxue@gmail.com>
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* ChangeLog: 1, Release initial version on "05/26/2024 05:42:49 PM"
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*
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********************************************************************************/
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <sys/ioctl.h>
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#include <net/if.h>
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#include <sys/socket.h>
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#include <linux/can.h>
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#include <linux/can/raw.h>
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#include <getopt.h>
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// 打印使用帮助信息
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void print_usage(const char *progname)
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{
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printf("Usage: %s -i <can_interface> -m <mode>\n", progname);
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printf("Options:\n");
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printf(" -i, --interface CAN interface (e.g., can0)\n");
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printf(" -m, --mode Mode: send or receive\n");
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printf(" -h, --help Display this help message\n");
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}
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void send_can_message(const char *ifname)
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{
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int fd;
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struct sockaddr_can addr;
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struct ifreq ifr;
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struct can_frame frame;
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// 创建socket
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fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
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if (fd < 0)
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{
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perror("socket");
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exit(1);
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}
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// 指定CAN接口
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strcpy(ifr.ifr_name, ifname);
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ioctl(fd, SIOCGIFINDEX, &ifr);
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addr.can_family = AF_CAN;
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addr.can_ifindex = ifr.ifr_ifindex;
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// 绑定socket到CAN接口
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if (bind(fd, (struct sockaddr *)&addr, sizeof(addr)) < 0)
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{
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perror("bind");
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exit(1);
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}
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// 构造CAN帧
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frame.can_id = 0x123; // 设置CAN ID
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frame.can_dlc = 2; // 数据长度
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frame.data[0] = 0x11; // 数据
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frame.data[1] = 0x22; // 数据
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// 发送CAN帧
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if (write(fd, &frame, sizeof(struct can_frame)) != sizeof(struct can_frame))
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{
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perror("write");
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exit(1);
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}
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// 关闭socket
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close(fd);
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}
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void receive_can_message(const char *ifname)
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{
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int fd;
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struct sockaddr_can addr;
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struct ifreq ifr;
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struct can_frame frame;
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// 创建socket
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fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
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if (fd < 0) {
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perror("socket");
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exit(1);
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}
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// 指定CAN接口
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strcpy(ifr.ifr_name, ifname);
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ioctl(fd, SIOCGIFINDEX, &ifr);
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addr.can_family = AF_CAN;
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addr.can_ifindex = ifr.ifr_ifindex;
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// 绑定socket到CAN接口
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if (bind(fd, (struct sockaddr *)&addr, sizeof(addr)) < 0)
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{
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perror("bind");
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exit(1);
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}
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// 接收CAN帧
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while (1)
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{
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int nbytes = read(fd, &frame, sizeof(struct can_frame));
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if (nbytes < 0)
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{
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perror("read");
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exit(1);
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}
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if (nbytes < sizeof(struct can_frame))
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{
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fprintf(stderr, "read: incomplete CAN frame\n");
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exit(1);
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}
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// 打印接收到的CAN帧
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printf("Received CAN frame: ID=0x%X DLC=%d data=", frame.can_id, frame.can_dlc);
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for (int i = 0; i < frame.can_dlc; i++)
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printf("%02X ", frame.data[i]);
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printf("\n");
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}
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// 关闭socket
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close(fd);
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}
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int main(int argc, char **argv)
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{
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int opt, index = 0;
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const char *ifname = NULL;
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const char *mode = NULL;
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// 定义长选项
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static struct option long_options[] =
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{
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{"interface", required_argument, 0, 'i'},
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{"mode", required_argument, 0, 'm'},
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{"help", no_argument, 0, 'h'},
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{0, 0, 0, 0}
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};
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while ((opt = getopt_long(argc, argv, "i:m:h", long_options, &index)) != -1)
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{
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switch (opt) {
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case 'i':
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ifname = optarg;
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break;
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case 'm':
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mode = optarg;
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break;
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case 'h':
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print_usage(argv[0]);
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return 0;
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default:
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print_usage(argv[0]);
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return 1;
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}
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}
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if (ifname == NULL || mode == NULL)
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{
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print_usage(argv[0]);
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return 1;
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}
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if (strcmp(mode, "send") == 0)
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{
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send_can_message(ifname);
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}
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else if (strcmp(mode, "receive") == 0)
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{
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receive_can_message(ifname);
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}
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else
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{
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fprintf(stderr, "Invalid mode: %s\n", mode);
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print_usage(argv[0]);
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return 1;
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}
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return 0;
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}
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