int send_can_frame(char *sframe)
{
int s; /* can raw socket */
struct ifreq ifr;
struct sockaddr_can addr;
struct canfd_frame frame;
int enable_canfd = 1;
int required_mtu;
if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
Log("Couldn't create a socket to send frame to node ...");
return 0;
}
required_mtu = parse_canframe(&sframe, &frame);
/**
* Copy CAN interface name to ifr_name m/nb
*/
strncpy(ifr.ifr_name, VIRTUALCAR, IFNAMSIZ - 1);
ifr.ifr_name[IFNAMSIZ - 1] = '\0';
ifr.ifr_ifindex = if_nametoindex(ifr.ifr_name);
if (!ifr.ifr_ifindex) {
Log("Couldn't convert ifr_name to if_index ...");
return 0;
}
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
/* Frame size = CAN netdevice space */
if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
Log("Couldn't fit can_frame in netdevice ...");
return 0;
}
/** Frame is MTU but interface does not support it */
if (can_gateway_check_mtu(&ifr) != 1) {
return 0;
}
if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
&enable_canfd, sizeof(enable_canfd))){
Log("Couldn't enable CAN FD support ...");
return 0;
}
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
Log("Couldn't bind to the interface address ...");
}
if (write(s, &frame, required_mtu) != required_mtu) {
Log("Couldn't write through socket ...");
return 0;
}
close(s);
return 1;
}
int main(int argc, char **argv)
{
int s; /* can raw socket */
int nbytes;
struct sockaddr_can addr;
struct can_frame frame;
struct ifreq ifr;
/* check command line options */
if (argc != 3) {
fprintf(stderr, "Usage: %s <device> <can_frame>.\n", argv[0]);
return 1;
}
/* parse CAN frame */
if (parse_canframe(argv[2], &frame)) {
fprintf(stderr, "\nWrong CAN-frame format!\n\n");
fprintf(stderr, "Try: <can_id>#{R|data}\n");
fprintf(stderr, "can_id can have 3 (SFF) or 8 (EFF) hex chars\n");
fprintf(stderr, "data has 0 to 8 hex-values that can (optionally)");
fprintf(stderr, " be seperated by '.'\n\n");
fprintf(stderr, "e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / ");
fprintf(stderr, "5AA# /\n 1F334455#1122334455667788 / 123#R ");
fprintf(stderr, "for remote transmission request.\n\n");
return 1;
}
/* open socket */
if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
perror("socket");
return 1;
}
strcpy(ifr.ifr_name, argv[1]);
ioctl(s, SIOCGIFINDEX, &ifr);
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
return 1;
}
/* send frame */
if ((nbytes = write(s, &frame, sizeof(frame))) != sizeof(frame)) {
perror("write");
return 1;
}
//fprint_long_canframe(stdout, &frame, "\n", 0);
close(s);
return 0;
}
int main(int argc, char **argv)
{
char buf[100], timestamp[100], device[100], ascframe[100];
struct can_frame cf;
while (fgets(buf, 99, stdin)) {
if (sscanf(buf, "%s %s %s", timestamp, device, ascframe) != 3)
return 1;
if (parse_canframe(ascframe, &cf))
return 1;
sprint_long_canframe(ascframe, &cf, 1); /* with ASCII output */
printf("%s %s %s\n", timestamp, device, ascframe);
}
return 0;
}
int main(int argc, char **argv)
{
int s; /* can raw socket */
int nbytes;
struct sockaddr_can addr;
struct can_frame frame;
struct ifreq ifr;
/* check command line options */
if (argc != 3) {
fprintf(stderr, "Usage: %s <device> <can_frame>.\n", argv[0]);
return 1;
}
/* parse CAN frame */
if (parse_canframe(argv[2], &frame)){
fprintf(stderr, "\nWrong CAN-frame format!\n\n");
fprintf(stderr, "Try: <can_id>#{R|data}\n");
fprintf(stderr, "can_id can have 3 (SFF) or 8 (EFF) hex chars\n");
fprintf(stderr, "data has 0 to 8 hex-values that can (optionally)");
fprintf(stderr, " be seperated by '.'\n\n");
fprintf(stderr, "e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / ");
fprintf(stderr, "5AA# /\n 1F334455#1122334455667788 / 123#R ");
fprintf(stderr, "for remote transmission request.\n\n");
return 1;
}
/* open socket */
if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
perror("socket");
return 1;
}
addr.can_family = AF_CAN;
strcpy(ifr.ifr_name, argv[1]);
if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
perror("SIOCGIFINDEX");
return 1;
}
addr.can_ifindex = ifr.ifr_ifindex;
/* disable default receive filter on this RAW socket */
/* This is obsolete as we do not read from the socket at all, but for */
/* this reason we can remove the receive list in the Kernel to save a */
/* little (really a very little!) CPU usage. */
setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
return 1;
}
/* send frame */
if ((nbytes = write(s, &frame, sizeof(frame))) != sizeof(frame)) {
perror("write");
return 1;
}
//fprint_long_canframe(stdout, &frame, "\n", 0);
close(s);
return 0;
}
int main(int argc, char **argv)
{
char buf[100], device[100], ascframe[100], id[10];
struct can_frame cf;
static struct timeval tv, start_tv;
FILE *infile = stdin;
FILE *outfile = stdout;
static int maxdev, devno, i, crlf, d4, opt;
while ((opt = getopt(argc, argv, "I:O:4n")) != -1) {
switch (opt) {
case 'I':
infile = fopen(optarg, "r");
if (!infile) {
perror("infile");
return 1;
}
break;
case 'O':
outfile = fopen(optarg, "w");
if (!outfile) {
perror("outfile");
return 1;
}
break;
case 'n':
crlf = 1;
break;
case '4':
d4 = 1;
break;
default:
fprintf(stderr, "Unknown option %c\n", opt);
print_usage(basename(argv[0]));
return 1;
break;
}
}
maxdev = argc - optind; /* find real number of CAN devices */
if (!maxdev) {
fprintf(stderr, "no CAN interfaces defined!\n");
print_usage(basename(argv[0]));
return 1;
}
//printf("Found %d CAN devices!\n", maxdev);
while (fgets(buf, 99, infile)) {
if (sscanf(buf, "(%ld.%ld) %s %s", &tv.tv_sec, &tv.tv_usec,
device, ascframe) != 4)
return 1;
if (!start_tv.tv_sec) { /* print banner */
start_tv = tv;
fprintf(outfile, "date %s", ctime(&start_tv.tv_sec));
fprintf(outfile, "base hex timestamps absolute%s",
(crlf)?"\r\n":"\n");
fprintf(outfile, "no internal events logged%s",
(crlf)?"\r\n":"\n");
}
for (i=0, devno=0; i<maxdev; i++) {
if (!strcmp(device, argv[optind+i])) {
devno = i+1; /* start with channel '1' */
break;
}
}
if (devno) { /* only convert for selected CAN devices */
if (parse_canframe(ascframe, &cf))
return 1;
tv.tv_sec = tv.tv_sec - start_tv.tv_sec;
tv.tv_usec = tv.tv_usec - start_tv.tv_usec;
if (tv.tv_usec < 0)
tv.tv_sec--, tv.tv_usec += 1000000;
if (tv.tv_sec < 0)
tv.tv_sec = tv.tv_usec = 0;
if (d4)
fprintf(outfile, "%4ld.%04ld ", tv.tv_sec, tv.tv_usec/100);
else
fprintf(outfile, "%4ld.%06ld ", tv.tv_sec, tv.tv_usec);
fprintf(outfile, "%-2d ", devno); /* channel number left aligned */
if (cf.can_id & CAN_ERR_FLAG)
fprintf(outfile, "ErrorFrame");
else {
sprintf(id, "%X%c", cf.can_id & CAN_EFF_MASK,
(cf.can_id & CAN_EFF_FLAG)?'x':' ');
fprintf(outfile, "%-15s Rx ", id);
if (cf.can_id & CAN_RTR_FLAG)
fprintf(outfile, "r"); /* RTR frame */
else {
fprintf(outfile, "d %d", cf.can_dlc); /* data frame */
for (i = 0; i < cf.can_dlc; i++) {
fprintf(outfile, " %02X", cf.data[i]);
}
}
}
if (crlf)
fprintf(outfile, "\r");
fprintf(outfile, "\n");
}
}
fflush(outfile);
return 0;
}
int main(int argc, char **argv)
{
int s; /* can raw socket */
int nbytes;
struct sockaddr_can addr;
struct can_frame frame;
struct ifreq ifr;
int i;
/* CAN message to be sent out */
unsigned char buff[] = "7DF#0201050000000000";
fprintf(stderr,"CAN testing\n");
/* parse CAN frame */
if (parse_canframe(buff, &frame)){
fprintf(stderr, "\nWrong CAN-frame format!\n\n");
fprintf(stderr, "Try: <can_id>#{R|data}\n");
fprintf(stderr, "can_id can have 3 (SFF) or 8 (EFF) hex chars\n");
fprintf(stderr, "data has 0 to 8 hex-values that can (optionally)");
fprintf(stderr, " be seperated by '.'\n\n");
fprintf(stderr, "e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / ");
fprintf(stderr, "5AA# /\n 1F334455#1122334455667788 / 123#R ");
fprintf(stderr, "for remote transmission request.\n\n");
return 1;
}
/* open socket */
if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
perror("socket");
return 1;
}
addr.can_family = AF_CAN;
strcpy(ifr.ifr_name, "can0");
if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
perror("SIOCGIFINDEX");
return 1;
}
addr.can_ifindex = ifr.ifr_ifindex;
/* disable default receive filter on this RAW socket */
/* This is obsolete as we do not read from the socket at all, but for */
/* this reason we can remove the receive list in the Kernel to save a */
/* little (really a very little!) CPU usage. */
setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
return 1;
}
/* send frame */
for(i=0;i<100;i++)
{
if ((nbytes = write(s, &frame, sizeof(frame))) != sizeof(frame)) {
perror("write");
return 1;
}
fprintf(stderr, "%d \n", i);
usleep(10000); /* Delay before next loop */
}
close(s);
return 0;
}
int main(int argc, char **argv)
{
unsigned long gap = DEFAULT_GAP;
unsigned char extended = 0;
unsigned char fix_id = 0;
unsigned char fix_data = 0;
unsigned char fix_dlc = 0;
unsigned char default_frame = 1;
unsigned char verbose = 0;
int opt;
int s; /* socket */
struct sockaddr_can addr;
static struct can_frame frame;
int nbytes;
struct ifreq ifr;
struct timespec ts;
signal(SIGTERM, sigterm);
signal(SIGHUP, sigterm);
signal(SIGINT, sigterm);
while ((opt = getopt(argc, argv, "g:eIDLf:v")) != -1) {
switch (opt) {
case 'g':
gap = strtoul(optarg, NULL, 10);
break;
case 'e':
extended = 1;
break;
case 'I':
fix_id = 1;
break;
case 'D':
fix_data = 1;
break;
case 'L':
fix_dlc = 1;
break;
case 'f':
default_frame = 0;
if (parse_canframe(optarg, &frame)) {
fprintf(stderr, "'%s' is a wrong CAN frame format.\n", optarg);
exit(1);
}
break;
case 'v':
verbose = 1;
break;
default:
print_usage(basename(argv[0]));
exit(1);
break;
}
}
if (optind == argc) {
print_usage(basename(argv[0]));
exit(0);
}
ts.tv_sec = gap / 1000;
ts.tv_nsec = (gap % 1000) * 1000000;
if (default_frame) {
if (extended)
frame.can_id = 0x12345678 | CAN_EFF_FLAG;
else
frame.can_id = 0x123;
frame.can_dlc = 8;
frame.data[0] = 0x01;
frame.data[1] = 0x23;
frame.data[2] = 0x45;
frame.data[3] = 0x67;
frame.data[4] = 0x89;
frame.data[5] = 0xAB;
frame.data[6] = 0xCD;
frame.data[7] = 0xEF;
}
if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
perror("socket");
return 1;
}
addr.can_family = AF_CAN;
strcpy(ifr.ifr_name, argv[optind]);
if (ioctl(s, SIOCGIFINDEX, &ifr) < 0)
perror("SIOCGIFINDEX");
addr.can_ifindex = ifr.ifr_ifindex;
/* disable default receive filter on this RAW socket */
/* This is obsolete as we do not read from the socket at all, but for */
/* this reason we can remove the receive list in the Kernel to save a */
/* little (really a very little!) CPU usage. */
setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
return 1;
}
while (running) {
if (!fix_id) {
frame.can_id = random();
if (extended) {
frame.can_id &= CAN_EFF_MASK;
frame.can_id |= CAN_EFF_FLAG;
} else
frame.can_id &= CAN_SFF_MASK;
}
if (!fix_dlc) {
frame.can_dlc = random() & 0xF;
if (frame.can_dlc & 8)
frame.can_dlc = 8; /* for about 50% of the frames */
}
if (!fix_data) {
/* that's what the 64 bit alignment of data[] is for ... :) */
*(unsigned long*)(&frame.data[0]) = random();
*(unsigned long*)(&frame.data[4]) = random();
}
if ((nbytes = write(s, &frame, sizeof(struct can_frame))) < 0) {
perror("write");
return 1;
} else if (nbytes < sizeof(struct can_frame)) {
fprintf(stderr, "write: incomplete CAN frame\n");
return 1;
}
if (gap) /* gap == 0 => performance test :-] */
if (nanosleep(&ts, NULL))
return 1;
if (verbose)
#if 0
fprint_long_canframe(stdout, &frame, "\n", 1);
#else
fprint_canframe(stdout, &frame, "\n", 1);
#endif
}
close(s);
return 0;
}
int main(int argc, char **argv)
{
static char buf[BUFSZ], device[BUFSZ], ascframe[BUFSZ];
struct sockaddr_can addr;
static struct canfd_frame frame;
static struct timeval today_tv, log_tv, last_log_tv, diff_tv;
struct timespec sleep_ts;
int s; /* CAN_RAW socket */
FILE *infile = stdin;
unsigned long gap = DEFAULT_GAP;
int use_timestamps = 1;
static int verbose, opt, delay_loops;
static unsigned long skipgap;
static int loopback_disable = 0;
static int infinite_loops = 0;
static int loops = DEFAULT_LOOPS;
int assignments; /* assignments defined on the commandline */
int txidx; /* sendto() interface index */
int eof, txmtu, i, j;
char *fret;
while ((opt = getopt(argc, argv, "I:l:tg:s:xv?")) != -1) {
switch (opt) {
case 'I':
infile = fopen(optarg, "r");
if (!infile) {
perror("infile");
return 1;
}
break;
case 'l':
if (optarg[0] == 'i')
infinite_loops = 1;
else
if (!(loops = atoi(optarg))) {
fprintf(stderr, "Invalid argument for option -l !\n");
return 1;
}
break;
case 't':
use_timestamps = 0;
break;
case 'g':
gap = strtoul(optarg, NULL, 10);
break;
case 's':
skipgap = strtoul(optarg, NULL, 10);
if (skipgap < 1) {
fprintf(stderr, "Invalid argument for option -s !\n");
return 1;
}
break;
case 'x':
loopback_disable = 1;
break;
case 'v':
verbose++;
break;
case '?':
default:
print_usage(basename(argv[0]));
return 1;
break;
}
}
assignments = argc - optind; /* find real number of user assignments */
if (infile == stdin) { /* no jokes with stdin */
infinite_loops = 0;
loops = 1;
}
if (verbose > 1) { /* use -v -v to see this */
if (infinite_loops)
printf("infinite_loops\n");
else
printf("%d loops\n", loops);
}
sleep_ts.tv_sec = gap / 1000;
sleep_ts.tv_nsec = (gap % 1000) * 1000000;
/* open socket */
if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
perror("socket");
return 1;
}
addr.can_family = AF_CAN;
addr.can_ifindex = 0;
/* disable unneeded default receive filter on this RAW socket */
setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
/* try to switch the socket into CAN FD mode */
setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on));
if (loopback_disable) {
int loopback = 0;
setsockopt(s, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
&loopback, sizeof(loopback));
}
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
return 1;
}
if (assignments) {
/* add & check user assginments from commandline */
for (i=0; i<assignments; i++) {
if (strlen(argv[optind+i]) >= BUFSZ) {
fprintf(stderr, "Assignment too long!\n");
print_usage(basename(argv[0]));
return 1;
}
strcpy(buf, argv[optind+i]);
for (j=0; j<BUFSZ; j++) { /* find '=' in assignment */
if (buf[j] == '=')
break;
}
if ((j == BUFSZ) || (buf[j] != '=')) {
fprintf(stderr, "'=' missing in assignment!\n");
print_usage(basename(argv[0]));
return 1;
}
buf[j] = 0; /* cut string in two pieces */
if (add_assignment("user", s, &buf[0], &buf[j+1], verbose))
return 1;
}
}
while (infinite_loops || loops--) {
if (infile != stdin)
rewind(infile); /* for each loop */
if (verbose > 1) /* use -v -v to see this */
printf (">>>>>>>>> start reading file. remaining loops = %d\n", loops);
/* read first non-comment frame from logfile */
while ((fret = fgets(buf, BUFSZ-1, infile)) != NULL && buf[0] != '(') {
if (strlen(buf) >= BUFSZ-2) {
fprintf(stderr, "comment line too long for input buffer\n");
return 1;
}
}
if (!fret)
goto out; /* nothing to read */
eof = 0;
if (sscanf(buf, "(%ld.%ld) %s %s", &log_tv.tv_sec, &log_tv.tv_usec,
device, ascframe) != 4) {
fprintf(stderr, "incorrect line format in logfile\n");
return 1;
}
if (use_timestamps) { /* throttle sending due to logfile timestamps */
gettimeofday(&today_tv, NULL);
create_diff_tv(&today_tv, &diff_tv, &log_tv);
last_log_tv = log_tv;
}
while (!eof) {
while ((!use_timestamps) ||
(frames_to_send(&today_tv, &diff_tv, &log_tv) < 0)) {
/* log_tv/device/ascframe are valid here */
if (strlen(device) >= IFNAMSIZ) {
fprintf(stderr, "log interface name '%s' too long!", device);
return 1;
}
txidx = get_txidx(device); /* get ifindex for sending the frame */
if ((!txidx) && (!assignments)) {
/* ifindex not found and no user assignments */
/* => assign this device automatically */
if (add_assignment("auto", s, device, device, verbose))
return 1;
txidx = get_txidx(device);
}
if (txidx == STDOUTIDX) { /* hook to print logfile lines on stdout */
printf("%s", buf); /* print the line AS-IS without extra \n */
fflush(stdout);
} else if (txidx > 0) { /* only send to valid CAN devices */
txmtu = parse_canframe(ascframe, &frame);
if (!txmtu) {
fprintf(stderr, "wrong CAN frame format: '%s'!", ascframe);
return 1;
}
addr.can_family = AF_CAN;
addr.can_ifindex = txidx; /* send via this interface */
if (sendto(s, &frame, txmtu, 0, (struct sockaddr*)&addr, sizeof(addr)) != txmtu) {
perror("sendto");
return 1;
}
if (verbose) {
printf("%s (%s) ", get_txname(device), device);
if (txmtu == CAN_MTU)
fprint_long_canframe(stdout, &frame, "\n", CANLIB_VIEW_INDENT_SFF, CAN_MAX_DLEN);
else
fprint_long_canframe(stdout, &frame, "\n", CANLIB_VIEW_INDENT_SFF, CANFD_MAX_DLEN);
}
}
/* read next non-comment frame from logfile */
while ((fret = fgets(buf, BUFSZ-1, infile)) != NULL && buf[0] != '(') {
if (strlen(buf) >= BUFSZ-2) {
fprintf(stderr, "comment line too long for input buffer\n");
return 1;
}
}
if (!fret) {
eof = 1; /* this file is completely processed */
break;
}
if (sscanf(buf, "(%ld.%ld) %s %s", &log_tv.tv_sec, &log_tv.tv_usec,
device, ascframe) != 4) {
fprintf(stderr, "incorrect line format in logfile\n");
return 1;
}
if (use_timestamps) {
gettimeofday(&today_tv, NULL);
/* test for logfile timestamps jumping backwards OR */
/* if the user likes to skip long gaps in the timestamps */
if ((last_log_tv.tv_sec > log_tv.tv_sec) ||
(skipgap && labs(last_log_tv.tv_sec - log_tv.tv_sec) > skipgap))
create_diff_tv(&today_tv, &diff_tv, &log_tv);
last_log_tv = log_tv;
}
} /* while frames_to_send ... */
if (nanosleep(&sleep_ts, NULL))
return 1;
delay_loops++; /* private statistics */
gettimeofday(&today_tv, NULL);
} /* while (!eof) */
} /* while (infinite_loops || loops--) */
out:
close(s);
fclose(infile);
if (verbose > 1) /* use -v -v to see this */
printf("%d delay_loops\n", delay_loops);
return 0;
}
int main(int argc, char **argv)
{
int s; /* can raw socket */
int nbytes, ret;
struct sockaddr_can addr;
struct can_frame frame, rframe;
struct ifreq ifr;
int i;
/* check command line options */
if ((argc != 2) && (argc != 3)) {
fprintf(stderr, "Usage: send frame: %s <device>.\n", argv[0]);
fprintf(stderr, "Usage: receive frame: %s <device> <can_frame>.\n", argv[0]);
return 1;
}
/* open socket */
if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
perror("socket");
return 1;
}
strcpy(ifr.ifr_name, argv[1]);
ioctl(s, SIOCGIFINDEX, &ifr);
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
#ifdef TOLTO_GEA
ifr.ifr_ifru.ifru_ivalue = 1000000/2;
ret = ioctl(s, SIOCSCANBAUDRATE, &ifr);
if (ret) {
printf("Err: cantest failed to set up baud rate for can port %s\n",
argv[1]);
printf(" Please check the settings of system clock.\n");
exit(1);
}
#endif
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
return 1;
}
if (argc ==3) {
printf("writing to CAN\n");
/* parse CAN frame */
if (parse_canframe(argv[2], &frame)){
fprintf(stderr, "\nWrong CAN-frame format!\n\n");
fprintf(stderr, "Try: <can_id>#{R|data}\n");
fprintf(stderr, "can_id can have 3 (SFF) or 8 (EFF) hex chars\n");
fprintf(stderr, "data has 0 to 8 hex-values that can (optionally)");
fprintf(stderr, " be seperated by '.'\n\n");
fprintf(stderr, "e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / ");
fprintf(stderr, "5AA# /\n 1F334455#1122334455667788 / 123#R ");
fprintf(stderr, "for remote transmission request.\n\n");
return 1;
}
if ((nbytes = write(s, &frame, sizeof(frame))) != sizeof(frame)) {
perror("write");
return 1;
}
} else if (argc == 2) {
printf("reading from CAN\n");
if ((nbytes = read(s, &rframe, sizeof(rframe))) < 0) {
perror("rx frame read");
return 0;
}
printf("\nread %d bytes\n", nbytes);
fprint_long_canframe(stdout, &rframe, "\n", 0);
}
close(s);
return 0;
}
