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@gemst1
gemst1 authored Sep 19, 2019
1 parent aac21e6 commit 2e0d734
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255 changes: 255 additions & 0 deletions test/linux/epos_test/cantest.c
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#include <stdio.h>
#include <stdlib.h>
#include <signal.h>
#include <unistd.h>
#include <time.h>
#include <errno.h>
#include <getopt.h>
#include <boilerplate/ancillaries.h>
//#include <alchemy/task.h>
//#include <alchemy/timer.h>
#include <rtdm/can.h>
//#include <net/if.h>
//#include <linux/can.h>
//#include <linux/can/raw.h>
//#include <sys/types.h>
//#include <sys/socket.h>
//#include <sys/ioctl.h>
//extern int optind, opterr, optopt;
//static void print_usage(char *prg)
//{
// fprintf(stderr,
// "Usage: %s <can-interface> [Options] <can-msg>\n"
// "<can-msg> can consist of up to 8 bytes given as a space separated list\n"
// "Options:\n"
// " -i, --identifier=ID CAN Identifier (default = 1)\n"
// " -r --rtr send remote request\n"
// " -e --extended send extended frame\n"
// " -l --loop=COUNT send message COUNT times\n"
// " -c, --count message count in data[0-3]\n"
// " -d, --delay=MS delay in ms (default = 1ms)\n"
// " -s, --send use send instead of sendto\n"
// " -t, --timeout=MS timeout in ms\n"
// " -L, --loopback=0|1 switch local loopback off or on\n"
// " -v, --verbose be verbose\n"
// " -p, --print=MODULO print every MODULO message\n"
// " -h, --help this help\n",
// prg);
//}
//RT_TASK rt_task_desc;
//static int s=-1, dlc=0, rtr=0, extended=0, verbose=0, loops=1;
//static SRTIME delay=1000000;
//static int count=0, print=1, use_send=0, loopback=-1;
//static nanosecs_rel_t timeout = 0;
static struct can_frame frame;
static int s;
//static struct sockaddr_can to_addr;
//static void cleanup(void)
//{
// int ret;
// if (verbose)
// printf("Cleaning up...\n");
// usleep(100000);
// if (s >= 0) {
// ret = close(s);
// s = -1;
// if (ret) {
// fprintf(stderr, "close: %s\n", strerror(-ret));
// }
// exit(EXIT_SUCCESS);
// }
//}
//static void cleanup_and_exit(int sig)
//{
// if (verbose)
// printf("Signal %d received\n", sig);
// cleanup();
// exit(0);
//}
//static void rt_task(void)
//{
// int i, j, ret;
// for (i = 0; i < loops; i++) {
// rt_task_sleep(rt_timer_ns2ticks(delay));
// if (count)
// memcpy(&frame.data[0], &i, sizeof(i));
// /* Note: sendto avoids the definiton of a receive filter list */
// if (use_send)
// ret = send(s, (void *)&frame, sizeof(can_frame_t), 0);
// else
// ret = sendto(s, (void *)&frame, sizeof(can_frame_t), 0,
// (struct sockaddr *)&to_addr, sizeof(to_addr));
// if (ret < 0) {
// switch (ret) {
// case -ETIMEDOUT:
// if (verbose)
// printf("send(to): timed out");
// break;
// case -EBADF:
// if (verbose)
// printf("send(to): aborted because socket was closed");
// break;
// default:
// fprintf(stderr, "send: %s\n", strerror(-ret));
// break;
// }
// i = loops; /* abort */
// break;
// }
// if (verbose && (i % print) == 0) {
// if (frame.can_id & CAN_EFF_FLAG)
// printf("<0x%08x>", frame.can_id & CAN_EFF_MASK);
// else
// printf("<0x%03x>", frame.can_id & CAN_SFF_MASK);
// printf(" [%d]", frame.can_dlc);
// for (j = 0; j < frame.can_dlc; j++) {
// printf(" %02x", frame.data[j]);
// }
// printf("\n");
// }
// }
//}

int main(int argc, char **argv)
{
// int i, opt, ret;
struct can_ifreq ifr;
// char name[32];

static struct sockaddr_can addr;
// static struct ifreq ifr;
static const char *ifname = "slcan0";

if ((s=socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0){
perror(("Error while opening socket"));
return -1;
}

strcpy(ifr.ifr_name, ifname);
ioctl(s, SIOCGIFINDEX, &ifr);

addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;

// memset(&addr, 0, sizeof(addr));
if(bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0){
perror("Error in socket bind");
return -2;
}

frame.can_id = 0x000;
frame.can_dlc = 2;
frame.data[0] = 0x81;
frame.data[1] = 0x00;
write(s, &frame, sizeof(struct can_frame));
usleep(10000000);

frame.can_id = 0x000;
frame.can_dlc = 2;
frame.data[0] = 0x01;
frame.data[1] = 0x00;
write(s, &frame, sizeof(struct can_frame));
usleep(1000000);

frame.can_id = 0x000;
frame.can_dlc = 2;
frame.data[0] = 0x82;
frame.data[1] = 0x00;
write(s, &frame, sizeof(struct can_frame));
usleep(1000000);



//
//
//
//
//
// if (optind == argc) {
// print_usage(argv[0]);
// exit(0);
// }
// if (argv[optind] == NULL) {
// fprintf(stderr, "No Interface supplied\n");
// exit(-1);
// }
// if (verbose)
// printf("interface %s\n", argv[optind]);
// ret = socket(PF_CAN, SOCK_RAW, CAN_RAW);
// if (ret < 0) {
// fprintf(stderr, "socket: %s\n", strerror(-ret));
// return -1;
// }
// s = ret;
//
// if (loopback >= 0) {
// ret = setsockopt(s, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
// &loopback, sizeof(loopback));
// if (ret < 0) {
// fprintf(stderr, "setsockopt: %s\n", strerror(-ret));
// goto failure;
// }
// if (verbose)
// printf("Using loopback=%d\n", loopback);
// }
// namecpy(ifr.ifr_name, argv[optind]);
// if (verbose)
// printf("s=%d, ifr_name=%s\n", s, ifr.ifr_name);
// ret = ioctl(s, SIOCGIFINDEX, &ifr);
// if (ret < 0) {
// fprintf(stderr, "ioctl: %s\n", strerror(-ret));
// goto failure;
// }
// memset(&to_addr, 0, sizeof(to_addr));
// to_addr.can_ifindex = ifr.ifr_ifindex;
// to_addr.can_family = AF_CAN;
// if (use_send) {
// /* Suppress definiton of a default receive filter list */
//// ret = setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
//// if (ret < 0) {
//// fprintf(stderr, "setsockopt: %s\n", strerror(-ret));
//// goto failure;
//// }
// ret = bind(s, (struct sockaddr *)&to_addr, sizeof(to_addr));
// if (ret < 0) {
// fprintf(stderr, "bind: %s\n", strerror(-ret));
// goto failure;
// }
// }
// if (count)
// frame.can_dlc = sizeof(int);
// else {
// for (i = optind + 1; i < argc; i++) {
// frame.data[dlc] = strtoul(argv[i], NULL, 0);
// dlc++;
// if( dlc == 8 )
// break;
// }
// frame.can_dlc = dlc;
// }
// if (rtr)
// frame.can_id |= CAN_RTR_FLAG;
// if (extended)
// frame.can_id |= CAN_EFF_FLAG;
// if (timeout) {
// if (verbose)
// printf("Timeout: %lld ns\n", (long long)timeout);
// ret = ioctl(s, RTCAN_RTIOC_SND_TIMEOUT, &timeout);
// if (ret) {
// fprintf(stderr, "ioctl SND_TIMEOUT: %s\n", strerror(-ret));
// goto failure;
// }
// }
// snprintf(name, sizeof(name), "rtcansend-%d", getpid());
// ret = rt_task_shadow(&rt_task_desc, name, 1, 0);
// if (ret) {
// fprintf(stderr, "rt_task_shadow: %s\n", strerror(-ret));
// goto failure;
// }
// rt_task();
// cleanup();
return 0;
// failure:
// cleanup();
// return -1;
}
40 changes: 40 additions & 0 deletions test/linux/epos_test/example.c
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#include <stdio.h>
#include <signal.h>
#include <unistd.h>
#include <sys/mman.h>

#include <alchemy/task.h>
#include <alchemy/timer.h>
#include <alchemy/sem.h>

#include <xenomai/init.h>

//#include <rtdk.h>
RT_TASK demo_task;

void demo(void *arg)
{
RT_TASK *curtask;
RT_TASK_INFO curtaskinfo;

rt_printf("Hello World!\n");

curtask=rt_task_self();
rt_task_inquire(curtask, &curtaskinfo);

rt_printf("Task name: %s \n", curtaskinfo.name);
}

int main(int argc, char* argv[])
{
char str[10];

// rt_print_auto_init(1);
mlockall(MCL_CURRENT|MCL_FUTURE);

rt_printf("start task\n");

sprintf(str,"hello");
rt_task_create(&demo_task, str, 0, 50, 0);
rt_task_start(&demo_task, &demo, 0);
}
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