For review: This patch folds the rt-threads of rtcanrecv/send into the main thread, assigns unique thread names, and lowers the priorities to some less critical level. Furthermore, rtcanrecv is enhanced by a printout of the CAN device and support for listening on all interfaces. On reception of RTR frames, no more data is printing now. I also kicked out the rt_timer_set_mode call, please speak up if it was there for a reason.
Jan
Index: src/utils/can/rtcansend.c
===================================================================
--- src/utils/can/rtcansend.c (Revision 1525)
+++ src/utils/can/rtcansend.c (Arbeitskopie)
@@ -69,7 +69,7 @@ void cleanup_and_exit(int sig)
exit(0);
}
-void rt_task(void *arg)
+void rt_task(void)
{
int i, j, ret;
@@ -107,7 +107,6 @@ void rt_task(void *arg)
printf("\n");
}
}
- loops = 0;
}
int main(int argc, char **argv)
@@ -115,6 +114,7 @@ int main(int argc, char **argv)
struct sockaddr_can addr;
int i, opt, ret;
struct ifreq ifr;
+ char name[32];
struct option long_options[] = {
{ "help", no_argument, 0, 'h' },
@@ -252,16 +252,14 @@ int main(int argc, char **argv)
}
}
- rt_timer_set_mode(TM_ONESHOT);
-
- ret = rt_task_spawn(&rt_task_desc, "", 0, 99, 0, &rt_task, 0);
+ snprintf(name, sizeof(name), "rtcansend-%d", getpid());
+ ret = rt_task_shadow(&rt_task_desc, name, 1, 0);
if (ret) {
- fprintf(stderr, "rt_task_spawn: %s\n", strerror(-ret));
+ fprintf(stderr, "rt_task_shadow: %s\n", strerror(-ret));
goto failure;
}
- while (loops)
- usleep(100000);
+ rt_task();
cleanup();
return 0;
Index: src/utils/can/rtcanrecv.c
===================================================================
--- src/utils/can/rtcanrecv.c (Revision 1525)
+++ src/utils/can/rtcanrecv.c (Arbeitskopie)
@@ -15,14 +15,13 @@
static void print_usage(char *prg)
{
fprintf(stderr,
- "Usage: %s <can-interface> [Options]\n"
+ "Usage: %s [<can-interface>] [Options]\n"
"Options:\n"
" -f --filter=id:mask[:id:mask]... apply filter\n"
" -e --error=mask receive error messages\n"
" -t, --timeout=MS timeout in ms\n"
" -v, --verbose be verbose\n"
" -p, --print=MODULO print every MODULO message\n"
- " -n, --name=STRING name of the RT task\n"
" -h, --help this help\n",
prg);
}
@@ -30,7 +29,7 @@ static void print_usage(char *prg)
extern int optind, opterr, optopt;
-static int s = -1, running = 1, verbose = 0, print = 1;
+static int s = -1, verbose = 0, print = 1;
static nanosecs_rel_t timeout = 0;
RT_TASK rt_task_desc;
@@ -75,18 +74,20 @@ void cleanup_and_exit(int sig)
{
if (verbose)
printf("Signal %d received\n", sig);
- running = 0;
cleanup();
exit(0);
}
-void rt_task(void *arg)
+void rt_task(void)
{
int i, ret, count = 0;
struct can_frame frame;
+ struct sockaddr_can addr;
+ socklen_t addrlen = sizeof(addr);
- while (running) {
- ret = rt_dev_recv(s, (void *)&frame, sizeof(can_frame_t), 0);
+ while (1) {
+ ret = rt_dev_recvfrom(s, (void *)&frame, sizeof(can_frame_t), 0,
+ (struct sockaddr *)&addr, &addrlen);
if (ret < 0) {
switch (ret) {
case -ETIMEDOUT:
@@ -100,12 +101,11 @@ void rt_task(void *arg)
default:
fprintf(stderr, "rt_dev_recv: %s\n", strerror(-ret));
}
- running = 0;
break;
}
if (print && (count % print) == 0) {
- printf("#%d: ", count);
+ printf("#%d: (%d) ", count, addr.can_ifindex);
if (frame.can_id & CAN_ERR_FLAG)
printf("!0x%08x!", frame.can_id & CAN_ERR_MASK);
else if (frame.can_id & CAN_EFF_FLAG)
@@ -114,9 +114,10 @@ void rt_task(void *arg)
printf("<0x%03x>", frame.can_id & CAN_SFF_MASK);
printf(" [%d]", frame.can_dlc);
- for (i = 0; i < frame.can_dlc; i++) {
- printf(" %02x", frame.data[i]);
- }
+ if (!(frame.can_id & CAN_RTR_FLAG))
+ for (i = 0; i < frame.can_dlc; i++) {
+ printf(" %02x", frame.data[i]);
+ }
if (frame.can_id & CAN_ERR_FLAG) {
printf(" ERROR ");
if (frame.can_id & CAN_ERR_BUSOFF)
@@ -138,6 +139,7 @@ int main(int argc, char **argv)
u_int32_t err_mask = 0;
struct ifreq ifr;
char *ptr;
+ char name[32];
struct option long_options[] = {
{ "help", no_argument, 0, 'h' },
@@ -153,7 +155,7 @@ int main(int argc, char **argv)
signal(SIGTERM, cleanup_and_exit);
signal(SIGINT, cleanup_and_exit);
- while ((opt = getopt_long(argc, argv, "hve:f:t:p:n:",
+ while ((opt = getopt_long(argc, argv, "hve:f:t:p:",
long_options, NULL)) != -1) {
switch (opt) {
case 'h':
@@ -200,19 +202,6 @@ int main(int argc, char **argv)
}
}
- 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 = rt_dev_socket(PF_CAN, SOCK_RAW, 0);
if (ret < 0) {
fprintf(stderr, "rt_dev_socket: %s\n", strerror(-ret));
@@ -220,17 +209,26 @@ int main(int argc, char **argv)
}
s = ret;
- strncpy(ifr.ifr_name, argv[optind], IFNAMSIZ);
- if (verbose)
- printf("s=%d, ifr_name=%s\n", s, ifr.ifr_name);
+ if (argv[optind] == NULL) {
+ if (verbose)
+ printf("interface all\n");
- ret = rt_dev_ioctl(s, SIOCGIFINDEX, &ifr);
- if (ret < 0) {
- fprintf(stderr, "rt_dev_ioctl GET_IFINDEX: %s\n", strerror(-ret));
- goto failure;
+ ifr.ifr_ifindex = 0;
+ } else {
+ if (verbose)
+ printf("interface %s\n", argv[optind]);
+
+ strncpy(ifr.ifr_name, argv[optind], IFNAMSIZ);
+ if (verbose)
+ printf("s=%d, ifr_name=%s\n", s, ifr.ifr_name);
+
+ ret = rt_dev_ioctl(s, SIOCGIFINDEX, &ifr);
+ if (ret < 0) {
+ fprintf(stderr, "rt_dev_ioctl GET_IFINDEX: %s\n", strerror(-ret));
+ goto failure;
+ }
}
-
if (err_mask) {
ret = rt_dev_setsockopt(s, SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
&err_mask, sizeof(err_mask));
@@ -271,19 +269,15 @@ int main(int argc, char **argv)
}
}
- rt_timer_set_mode(TM_ONESHOT);
-
- ret = rt_task_spawn(&rt_task_desc, "", 0, 99, 0, &rt_task, 0);
+ snprintf(name, sizeof(name), "rtcanrecv-%d", getpid());
+ ret = rt_task_shadow(&rt_task_desc, name, 1, 0);
if (ret) {
- fprintf(stderr, "rt_task_spawn: %s\n", strerror(-ret));
+ fprintf(stderr, "rt_task_shadow: %s\n", strerror(-ret));
goto failure;
}
- while (running)
- usleep(100000);
-
- cleanup();
- return 0;
+ rt_task();
+ /* never returns */
failure:
cleanup();
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