main_test.c

#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>

#include <linux/can.h>
#include <linux/can/raw.h>

#include "can_wrap.h"
#include "candata.h"
#include "signal.h"

void Test_001() {

  const char *canChannel = "vcan0";
  const int canSocket = can_connect(canChannel, false);

  struct can_frame frame;

  frame.can_id = CANDATA_VCU_WHEEL_SPEEDS_FRAME_ID;
  frame.can_dlc = CANDATA_VCU_WHEEL_SPEEDS_LENGTH;
  frame.data[0] = 0b00010100;
  frame.data[1] = 0b00000000;
  frame.data[2] = 0b00010100;
  frame.data[3] = 0b00000000;
  frame.data[4] = 0b00010100;
  frame.data[5] = 0b00000000;
  frame.data[6] = 0b00010100;
  frame.data[7] = 0b00000000;

  printf("0x%X [%X]", frame.can_id, frame.can_dlc);
  for (int i = 0; i < frame.can_dlc; ++i)
    printf(" %02X", frame.data[i]);
  printf("\n");

  if (!can_write(canSocket, &frame))
    printf("Error\n");

  sleep(1);

  can_close(canSocket);
}

void Test_002() {

  const char *canChannel = "vcan0";
  const int canSocket = can_connect(canChannel, false);

  struct can_frame frame;

  frame.can_id = CANDATA_AI_DRIVE_REQUEST_FRAME_ID;
  frame.can_dlc = CANDATA_AI_DRIVE_REQUEST_LENGTH;
  frame.data[0] = 0b11111111;
  frame.data[1] = 0b11111111;
  frame.data[2] = 0b00000000;
  frame.data[3] = 0b00000000;
  frame.data[4] = 0b11111111;
  frame.data[5] = 0b11111111;

  printf("0x%X [%X]", frame.can_id, frame.can_dlc);
  for (int i = 0; i < frame.can_dlc; ++i)
    printf(" %02X", frame.data[i]);
  printf("\n");

  if (!can_write(canSocket, &frame))
    printf("Error\n");

  sleep(1);

  can_close(canSocket);
}

void Test_003() {

  const char *canChannel = "vcan0";
  const int canSocket = can_connect(canChannel, false);

  struct can_frame frame;

  frame.can_id = CANDATA_VCU_BATTERY_FRAME_ID;
  frame.can_dlc = CANDATA_VCU_BATTERY_LENGTH;
  frame.data[0] = 0b00001011;
  frame.data[1] = 0b00000000;

  printf("0x%X [%X]", frame.can_id, frame.can_dlc);
  for (int i = 0; i < frame.can_dlc; ++i)
    printf(" %02X", frame.data[i]);
  printf("\n");

  if (!can_write(canSocket, &frame))
    printf("Error\n");

  sleep(1);

  can_close(canSocket);
}

void Test_004() {

  const char *canChannel = "vcan0";
  const int canSocket = can_connect(canChannel, false);

  struct can_frame frame;

  if (can_read(canSocket, &frame)) {
    printf("0x%X [%X]", frame.can_id, frame.can_dlc);
    for (int i = 0; i < frame.can_dlc; ++i)
      printf(" %02X", frame.data[i]);
    printf("\n");
  }
  can_close(canSocket);
}

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

   int tmp;
  while (1) {
  printf("Enter choices 1/0 :");
  scanf("%d",&tmp);
   if( tmp < 1)
      break;
        
  Test_001();
  Test_002();
  Test_003();
  Test_004();
   
  }
}