/** \file canreply.c


   Reply tool for round-trip measurement on CAN-bus.
 
   \author Cristiano Brudna
   \date 2003 

   University of Ulm, Germany
 

   This program is free software; you can redistribute it and/or modify it
   under the terms of the GNU General Public License as published by the
   Free Software Foundation; either version 2 of the License, or (at your
   option) any later version.

   This program is distributed in the hope that it will be useful, but
   WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
   General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software Foundation,
   Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.  
*/


#include <stdio.h>
#include <stdlib.h> 
#include <unistd.h>
#include <signal.h>
#include <sys/time.h>
#include <sys/ioctl.h>   
#include <fcntl.h>

#include "can.h"


#define PING_ID   0x33
#define REPLY_ID  0x44


int done = 0;
int verbose = 0;

/* CAN-Bus */
int               can;
unsigned long     baud_rate = B1000;


void siginthandler(int egal) {
  done = 1;
}
        

int main(int argc, char **argv) 
{
  int     ret;
  char    opchr;
  canmsg  ping_msg, reply_msg;
  int     i = 0;
  int     par;

  while((opchr = getopt(argc,argv, "hb:v")) != -1)
    switch(opchr) {
      
    case 'h':
      printf("\nCAN Ping help\n\n");
      printf("usage: canping [-b baud] [-h] \n\n");
      printf("-b baud   : set baudrate [1000, 500, 250, 125, 20] kbit/s \n");
      printf("-v        : verbose, print received ping messages \n");
      printf("-h        : help \n");
      printf("\n");
      exit(0);

    case 'b':
      par = atoi(optarg);
      switch(par) {
      case 1000:
        baud_rate = B1000;
        break;
        
      case 500:
        baud_rate = B500;
        break;
        
      case 250:
        baud_rate = B250;
        break;
        
      case 125:
        baud_rate = B125;
        break;
        
      case 20:
        baud_rate = B20;
        break;
        
      default:
        printf("\nBaud rate not supported!!! Using 1Mbit/s instead\n");
      }
      break;
      
    case 'v':
      verbose = 1;
      break;
      
    default:
      break;
    }
  
  can = open("/dev/can", O_RDWR);
  if(can == -1)	{
    perror("Error opening /dev/can");
    exit(0);
  }

  ioctl(can, CAN_IOCSBAUD, &baud_rate);

  reply_msg.id = REPLY_ID;
  ping_msg.type = EXTENDED;
  done = 0;
  signal(SIGINT,siginthandler);
  siginterrupt(SIGINT, 1);
    
  while(!done) {
    ret = read(can, &ping_msg, sizeof(canmsg));
    if((ret > 0) && (ping_msg.id = PING_ID) ) {
      reply_msg.len = ping_msg.len;
      memcpy(&reply_msg.d, &ping_msg.d, 8);
      ret = write(can, &reply_msg, sizeof(canmsg));
      if(ret < 0)
        done = 1;

      if(verbose) {
        printf("ping received: ");
        for(i=0; i<ping_msg.len; i++)
          printf("[%d] ", ping_msg.d[i]);
        printf("\n");
      }
      
      i++;
    }
  }

  exit(0);
}