/** \file cansend.c

   CAN bus monitor for the SJA1000

   \author Cristiano Brudna
   \date 2001, 2002, 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 <string.h>
#include <time.h>

#include <sys/types.h>
#include <sys/stat.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>

#include "can.h"

#include "canlib.h"


int can;


void usage(void)
{
  fprintf(stderr,"\nusage:  cansend [-b baudrate] <#msgs> [message]\n\n");
  fprintf(stderr," message = <type> <id> (<data>) {0,8}\n");
  fprintf(stderr,"           type is 's' for standard and 'e' for extended frame \n");
  fprintf(stderr,"           id and data must be in hexadecimal \n");
  fprintf(stderr, " -b baud:  set baudrate [1000, 500, 250, 125, 20] kbit/s\n");
}


int main(int argc, char *argv[])
{
  char type;
  int num, k, dat, count, i, j, err;
  unsigned long baud_rate=B1000;
  canmsg txmsg;
  int par, pos = 0;  /* pos is 2 if there is a baud rate request, and 0 if not */


  /* get the baud rate setting */
  if((strcmp(argv[1], "-b") == 0) && (argc > 2)) {
    pos = 2;
    par = atoi(argv[2]);
    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");
    }
  }
  
  if(argc <= (3+pos)) {
    usage();
    exit(1);
  }
  
  can = open("/dev/can", O_RDWR);
  if(can < 0) {
    perror("Error opening device /dev/can");
    exit(1);
  }
  
  showStatus(can);
  ioctl(can, CAN_IOCSBAUD, &baud_rate);
  
  count = 1;
  if(argc > (2+pos)) {
    count = atoi(argv[1+pos]);
  }
  
  /* parse comand line */

  /* get the message type */
  sscanf(argv[2+pos], "%c", &type);
  if(type == 's')
    txmsg.type = STANDARD;
  else
    txmsg.type = EXTENDED;

  /* get the id */  
  sscanf(argv[3+pos], "%x", (unsigned int *) & txmsg.id);


  if( (txmsg.type == STANDARD) && (txmsg.id > 0x7ff) ) {
    printf("Error: CAN-ID too big for standard frame \n");
    exit(0);
  }

  if( (txmsg.type == EXTENDED) && (txmsg.id > 0x1fffffff) ) {
    printf("Error: CAN-ID too big for extended frame \n");
    exit(0);
  }

  txmsg.rtr = 0;
  txmsg.len = argc - (4+pos);
  if(txmsg.len > 8)
    txmsg.len = 8;
  
  for(k=0; k<txmsg.len; k++) {
    sscanf(argv[4+k+pos], "%x", &dat);
    txmsg.d[k] = (unsigned char)(dat & 0xff);
  }
  
  printf("sending message %d times to /dev/can\n\n", count);
  
  printf("identifier < priority txnode etag > [ data ] timestamp \n\n");
  
  fflush(stdout);
  
  for(i=0; i<count; i++) {
    num = write(can, &txmsg, sizeof(txmsg));
    if(num<0)
      printf("error while writing\n");
    usleep(100);
    
    err = ioctl(can, CAN_IOCRTTS, &txmsg.timestamp);
    printf("Frame -> %x [", txmsg.id);
    for(j=0; j<txmsg.len; j++)
      printf(" %x", txmsg.d[j]);
    printf(" ] %lds %ldµs \n", txmsg.timestamp.tv_sec, txmsg.timestamp.tv_usec);
  }
  
  printf("\n");
  
  /* wait for transmission */
  usleep(500000);
  
  showStatus(can);
  close(can);
  exit(0);
}