/* read data from pty, send CAN frames to CAN socket and answer commands */
int pty2can(int pty, int socket, struct can_filter *fi,
- int *is_open, int *tstamp)
+ int *is_open, int *tstamp)
{
int nbytes;
char cmd;
int ptr;
struct can_frame frame;
int tmp, i;
+ static int rxoffset = 0; /* points to the end of an received incomplete SLCAN message */
- nbytes = read(pty, &buf, sizeof(buf)-1);
+ nbytes = read(pty, &buf[rxoffset], sizeof(buf)-rxoffset-1);
if (nbytes <= 0) {
/* nbytes == 0 : no error but pty decriptor has been closed */
if (nbytes < 0)
return 1;
}
+ /* reset incomplete message offset */
+ nbytes += rxoffset;
+ rxoffset = 0;
+
rx_restart:
/* remove trailing '\r' characters to be robust against some apps */
while (buf[0] == '\r' && nbytes > 0) {
if (!nbytes)
return 0;
+ /* check if we can detect a complete SLCAN message including '\r' */
+ for (tmp = 0; tmp < nbytes; tmp++) {
+ if (buf[tmp] == '\r')
+ break;
+ }
+
+ /* no '\r' found in the message buffer? */
+ if (tmp == nbytes) {
+ /* save incomplete message */
+ rxoffset = nbytes;
+
+ /* leave here and read from pty again */
+ return 0;
+ }
+
cmd = buf[0];
buf[nbytes] = 0;
return 0;
}
+int check_select_stdin(void)
+{
+ fd_set rdfs;
+ struct timeval timeout;
+ int ret;
+
+ FD_ZERO(&rdfs);
+ FD_SET(0, &rdfs);
+ timeout.tv_sec = 0;
+ timeout.tv_usec = 0;
+
+ ret = select(1, &rdfs, NULL, NULL, &timeout);
+
+ if (ret < 0)
+ return 0; /* not selectable */
+
+ if (ret > 0 && getchar() == EOF)
+ return 0; /* EOF, eg. /dev/null */
+
+ return 1;
+}
int main(int argc, char **argv)
{
struct sockaddr_can addr;
struct termios topts;
struct ifreq ifr;
+ int select_stdin = 0;
int running = 1;
int tstamp = 0;
int is_open = 0;
return 1;
}
+ select_stdin = check_select_stdin();
+
/* open pty */
p = open(argv[1], O_RDWR);
if (p < 0) {
/* disable local echo which would cause double frames */
topts.c_lflag &= ~(ICANON | ECHO | ECHOE | ECHOK |
- ECHONL | ECHOPRT | ECHOKE | ICRNL);
+ ECHONL | ECHOPRT | ECHOKE);
+ topts.c_iflag &= ~(ICRNL);
+ topts.c_iflag |= INLCR;
tcsetattr(p, TCSANOW, &topts);
/* Support for the Unix 98 pseudo-terminal interface /dev/ptmx /dev/pts/N */
while (running) {
FD_ZERO(&rdfs);
- FD_SET(0, &rdfs);
+
+ if (select_stdin)
+ FD_SET(0, &rdfs);
+
FD_SET(p, &rdfs);
FD_SET(s, &rdfs);