listener example is now 29-bit CANID aware

examples/acf-can/acf-can-listener.c

@@ -181,6 +181,7 @@ static int new_packet(int sk_fd, int can_socket) {
     Avtp_UDP_t *udp_pdu;
     char stdout_string[1000] = "\0";
     struct can_frame frame;
+    uint64_t eff;
 
     res = recv(sk_fd, pdu, MAX_PDU_SIZE, 0);
 
@@ -226,7 +227,7 @@ static int new_packet(int sk_fd, int can_socket) {
 
     while (msg_proc_bytes < msg_length) {
 
-        acf_pdu = &pdu[proc_bytes];
+        acf_pdu = &pdu[proc_bytes + msg_proc_bytes];
 
         if (!is_valid_acf_packet(acf_pdu)) {
             fprintf(stderr, "Error: Invalid ACF packet.\n");
@@ -243,16 +244,33 @@ static int new_packet(int sk_fd, int can_socket) {
         can_payload = Avtp_Can_GetPayload((Avtp_Can_t*)acf_pdu, &payload_length, &pdu_length);
         msg_proc_bytes += pdu_length*4;
 
+        res = Avtp_Can_GetField((Avtp_Can_t*)acf_pdu, AVTP_CAN_FIELD_EFF, &eff);
+        if (res < 0) {
+            fprintf(stderr, "Failed to get eff field: %d\n", res);
+            return -1;
+        }
+
+        if (can_frame_id > 0x7FF && !eff) {
+          fprintf(stderr, "Error: CAN ID is > 0x7FF but the EFF bit is not set.\n");
+          return -1;
+        }
+
         if (can_socket == 0) {
             for (i = 0; i < payload_length; i++) {
                 sprintf(stdout_string+(2*i), "%02x", can_payload[i]);
             }
 
-            fprintf(stdout, "(000000.000000) elmcan %03lx#%s\n", can_frame_id,
-                                                            stdout_string);
+            if (eff) {
+              fprintf(stdout, "(000000.000000) elmcan 0000%03lx#%s\n", can_frame_id, stdout_string);
+            } else {
+              fprintf(stdout, "(000000.000000) elmcan %03lx#%s\n", can_frame_id, stdout_string);
+            }
             fflush(stdout);
         } else {
             frame.can_id = (canid_t) can_frame_id;
+            if (eff) {
+              frame.can_id |= CAN_EFF_FLAG;
+            }
             frame.can_dlc = payload_length;
             memcpy(frame.data, can_payload, payload_length);
             if (write(can_socket, &frame, sizeof(struct can_frame)) != sizeof(struct can_frame)) {
@@ -323,4 +341,4 @@ int main(int argc, char *argv[])
     close(sk_fd);
     return 1;
 
-}
+}

examples/acf-can/acf-can-talker.c

@@ -62,13 +62,16 @@ static int priority = -1;
 static uint8_t seq_num = 0;
 static uint8_t use_tscf;
 static uint8_t use_udp;
+static uint8_t multi_can_frames = 1;
 static char can_ifname[IFNAMSIZ] = "STDIN\0";
 
 static char doc[] = "\nacf-can-talker -- a program designed to send CAN messages to \
                     a remote CAN bus over Ethernet using Open1722 \
                     \vEXAMPLES\
                     \n\n  acf-can-talker eth0 aa:bb:cc:ee:dd:ff\
                     \n\n    (tunnel transactions from STDIN to a remote CAN bus over Ethernet)\
+                    \n\n  acf-can-talker --count 10 eth0 aa:bb:cc:ee:dd:ff\
+                    \n\n    (as above, but pack 10 CAN frames in one Ethernet frame)\
                     \n\n  acf-can-talker -u 10.0.0.2:17220 vcan1\
                     \n\n    (tunnel transactions from can1 interface to a remote CAN bus over IP)\
                     \n\n  candump can1 | acf-can-talker -u 10.0.0.2:17220\
@@ -79,6 +82,7 @@ static char args_doc[] = "[ifname] dst-mac-address/dst-nw-address:port [can ifna
 static struct argp_option options[] = {            
     {"tscf", 't', 0, 0, "Use TSCF"},
     {"udp",  'u', 0, 0, "Use UDP" },
+    {"count", 'c', "COUNT", 0, "Set count of CAN messages per Ethernet frame"},
     {"can ifname", 0, 0, OPTION_DOC, "CAN interface (set to STDIN by default)"},
     {"ifname", 0, 0, OPTION_DOC, "Network interface (If Ethernet)"},
     {"dst-mac-address", 0, 0, OPTION_DOC, "Stream destination MAC address (If Ethernet)"},
@@ -98,6 +102,9 @@ static error_t parser(int key, char *arg, struct argp_state *state)
     case 'u':
         use_udp = 1;
         break;
+    case 'c':
+        multi_can_frames = atoi(arg);
+        break;
 
     case ARGP_KEY_NO_ARGS:
         argp_usage(state);
@@ -276,6 +283,8 @@ int main(int argc, char *argv[])
     if (fd < 0)
         return 1;
 
+    num_acf_msgs = multi_can_frames;
+
     // Open a CAN socket for reading frames if required
     if (strcmp(can_ifname, "STDIN\0")) {
         can_socket = socket(PF_CAN, SOCK_RAW, CAN_RAW);
@@ -307,12 +316,6 @@ int main(int argc, char *argv[])
     // Sending loop
     for(;;) {
 
-        // Get payload
-        res = get_payload(can_socket, payload, &frame_id, &payload_length);
-        if (!res) {
-            continue;
-        }
-
         // Pack into control formats
         uint8_t *cf_pdu;
         pdu_length = 0;
@@ -331,12 +334,22 @@ int main(int argc, char *argv[])
             goto err;
         pdu_length += res;
 
-        for (int i = 0; i < num_acf_msgs; i++) {
+        int i = 0;
+        while (i < num_acf_msgs) {
+            // Get payload -- will 'spin' here until we get the requested number
+            //                of CAN frames.
+            res = get_payload(can_socket, payload, &frame_id, &payload_length);
+            if (!res) {
+                continue;
+            }
+
             uint8_t* acf_pdu = cf_pdu + pdu_length;
             res = prepare_acf_packet(acf_pdu, payload, payload_length, frame_id);
             if (res < 0)
                 goto err;
             pdu_length += res;
+
+            i++;
         }
 
         res = update_pdu_length(cf_pdu, pdu_length);
@@ -365,4 +378,4 @@ int main(int argc, char *argv[])
     close(fd);
     return 1;
 
-}
+}