main.c

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/**
 * @file examples/linux_server/main.c
 * @brief Basic Linux UDS server example using socketcan ISO-TP
 */
#include "iso14229.h"
#include <stdio.h>
#include <stdlib.h>
#include <errno.h>
#include <signal.h>
#include <sys/time.h>
#include <sys/types.h>
#include <time.h>
 
static UDSServer_t srv;
static UDSTpIsoTpSock_t tp;
static bool done = false;
static int sleep_ms(uint32_t tms);
 
void sigint_handler(int signum) {
    printf("SIGINT received\n");
    done = true;
}
 
static UDSErr_t fn(UDSServer_t *srv, UDSEvent_t ev, void *arg) {
    switch (ev) {
    default:
        printf("Unhandled event: %d\n", ev);
        return UDS_NRC_ServiceNotSupported;
    }
}
 
int main(int ac, char **av) {
    struct sigaction sa;
    memset(&sa, 0, sizeof(sa));
    sa.sa_handler = sigint_handler;
    sigaction(SIGINT, &sa, NULL);
 
    // 1. Initialize a transport
    if (UDSTpIsoTpSockInitServer(&tp, "vcan0", 0x7E0, 0x7E8, 0x7DF)) {
        fprintf(stderr, "UDSTpIsoTpSockInitServer failed\n");
        exit(-1);
    }
 
    if (UDSServerInit(&srv)) {
        fprintf(stderr, "UDSServerInit failed\n");
    }
 
    srv.tp = (UDSTp_t *)&tp;
    srv.fn = fn;
 
    printf("server up, polling . . .\n");
    while (!done) {
        UDSServerPoll(&srv);
        sleep_ms(1);
    }
    printf("server exiting\n");
    return 0;
}
 
static int sleep_ms(uint32_t tms) {
    struct timespec ts;
    int ret;
    ts.tv_sec = tms / 1000;
    ts.tv_nsec = (tms % 1000) * 1000000;
    do {
        ret = nanosleep(&ts, &ts);
    } while (ret && errno == EINTR);
    return ret;
}