Module: xenomai-3
Branch: next
Commit: d245d6e67efc2e71f722f78ff864ba80fef50e1e
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=d245d6e67efc2e71f722f78ff864ba80fef50e1e
Author: Philippe Gerum <r...@xenomai.org>
Date: Sat Nov 8 11:58:33 2014 +0100
utils/can: drop dependencies on obsolete rt_dev API
---
utils/can/Makefile.am | 4 +++-
utils/can/Makefile.in | 4 ++--
utils/can/rtcanconfig.c | 16 ++++++++--------
utils/can/rtcanrecv.c | 42 +++++++++++++++++++++---------------------
utils/can/rtcansend.c | 38 +++++++++++++++++++-------------------
5 files changed, 53 insertions(+), 51 deletions(-)
diff --git a/utils/can/Makefile.am b/utils/can/Makefile.am
index 0ba141d..6db5ed2 100644
--- a/utils/can/Makefile.am
+++ b/utils/can/Makefile.am
@@ -2,11 +2,13 @@ sbin_PROGRAMS = rtcanconfig
bin_PROGRAMS = rtcanrecv rtcansend
+CCLD = $(top_srcdir)/scripts/wrap-link.sh $(CC)
+
CPPFLAGS = \
@XENO_USER_CFLAGS@ \
-I$(top_srcdir)/include
-LDFLAGS =
+LDFLAGS = $(XENO_POSIX_WRAPPERS)
rtcanconfig_SOURCES = rtcanconfig.c
diff --git a/utils/can/Makefile.in b/utils/can/Makefile.in
index 3845595..4e271dc 100644
--- a/utils/can/Makefile.in
+++ b/utils/can/Makefile.in
@@ -143,7 +143,6 @@ AM_V_CC = $(am__v_CC_@AM_V@)
am__v_CC_ = $(am__v_CC_@AM_DEFAULT_V@)
am__v_CC_0 = @echo " CC " $@;
am__v_CC_1 =
-CCLD = $(CC)
LINK = $(LIBTOOL) $(AM_V_lt) --tag=CC $(AM_LIBTOOLFLAGS) \
$(LIBTOOLFLAGS) --mode=link $(CCLD) $(AM_CFLAGS) $(CFLAGS) \
$(AM_LDFLAGS) $(LDFLAGS) -o $@
@@ -236,7 +235,7 @@ INSTALL_STRIP_PROGRAM = @INSTALL_STRIP_PROGRAM@
LATEX_BATCHMODE = @LATEX_BATCHMODE@
LATEX_MODE = @LATEX_MODE@
LD = @LD@
-LDFLAGS =
+LDFLAGS = $(XENO_POSIX_WRAPPERS)
LD_FILE_OPTION = @LD_FILE_OPTION@
LEX = @LEX@
LEXLIB = @LEXLIB@
@@ -351,6 +350,7 @@ target_vendor = @target_vendor@
top_build_prefix = @top_build_prefix@
top_builddir = @top_builddir@
top_srcdir = @top_srcdir@
+CCLD = $(top_srcdir)/scripts/wrap-link.sh $(CC)
rtcanconfig_SOURCES = rtcanconfig.c
rtcanconfig_LDADD = \
../../lib/cobalt/libcobalt.la \
diff --git a/utils/can/rtcanconfig.c b/utils/can/rtcanconfig.c
index f3e7286..dcf551b 100644
--- a/utils/can/rtcanconfig.c
+++ b/utils/can/rtcanconfig.c
@@ -181,13 +181,13 @@ int main(int argc, char *argv[])
}
}
- can_fd = rt_dev_socket(PF_CAN, SOCK_RAW, CAN_RAW);
+ can_fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
if (can_fd < 0) {
fprintf(stderr, "Cannot open RTDM CAN socket. Maybe driver not loaded?
\n");
return can_fd;
}
- ret = rt_dev_ioctl(can_fd, SIOCGIFINDEX, &u.ifr);
+ ret = ioctl(can_fd, SIOCGIFINDEX, &u.ifr);
if (ret) {
fprintf(stderr,"Can't get interface index for %s, code = %d\n", ifname,
ret);
return ret;
@@ -199,7 +199,7 @@ int main(int argc, char *argv[])
printf("baudrate: %d\n", new_baudrate);
baudrate = &u.baudrate;
*baudrate = new_baudrate;
- ret = rt_dev_ioctl(can_fd, SIOCSCANBAUDRATE, &u.ifr);
+ ret = ioctl(can_fd, SIOCSCANBAUDRATE, &u.ifr);
if (ret) {
goto abort;
}
@@ -233,7 +233,7 @@ int main(int argc, char *argv[])
bittime->std.sam);
}
- ret = rt_dev_ioctl(can_fd, SIOCSCANCUSTOMBITTIME, &u.ifr);
+ ret = ioctl(can_fd, SIOCSCANCUSTOMBITTIME, &u.ifr);
if (ret) {
goto abort;
}
@@ -245,7 +245,7 @@ int main(int argc, char *argv[])
*ctrlmode = new_ctrlmode;
if (verbose)
printf("ctrlmode: %#x\n", new_ctrlmode);
- ret = rt_dev_ioctl(can_fd, SIOCSCANCTRLMODE, &u.ifr);
+ ret = ioctl(can_fd, SIOCSCANCTRLMODE, &u.ifr);
if (ret) {
goto abort;
}
@@ -254,16 +254,16 @@ int main(int argc, char *argv[])
if (new_mode != -1) {
mode = &u.mode;
*mode = new_mode;
- ret = rt_dev_ioctl(can_fd, SIOCSCANMODE, &u.ifr);
+ ret = ioctl(can_fd, SIOCSCANMODE, &u.ifr);
if (ret) {
goto abort;
}
}
- rt_dev_close(can_fd);
+ close(can_fd);
return 0;
abort:
- rt_dev_close(can_fd);
+ close(can_fd);
return ret;
}
diff --git a/utils/can/rtcanrecv.c b/utils/can/rtcanrecv.c
index c58cb0f..17b2a48 100644
--- a/utils/can/rtcanrecv.c
+++ b/utils/can/rtcanrecv.c
@@ -61,10 +61,10 @@ static void cleanup(void)
printf("Cleaning up...\n");
if (s >= 0) {
- ret = rt_dev_close(s);
+ ret = close(s);
s = -1;
if (ret) {
- fprintf(stderr, "rt_dev_close: %s\n", strerror(-ret));
+ fprintf(stderr, "close: %s\n", strerror(-ret));
}
exit(EXIT_SUCCESS);
}
@@ -101,22 +101,22 @@ static void rt_task(void)
if (with_timestamp) {
iov.iov_base = (void *)&frame;
iov.iov_len = sizeof(can_frame_t);
- ret = rt_dev_recvmsg(s, &msg, 0);
+ ret = recvmsg(s, &msg, 0);
} else
- ret = rt_dev_recvfrom(s, (void *)&frame, sizeof(can_frame_t), 0,
+ ret = recvfrom(s, (void *)&frame, sizeof(can_frame_t), 0,
(struct sockaddr *)&addr, &addrlen);
if (ret < 0) {
switch (ret) {
case -ETIMEDOUT:
if (verbose)
- printf("rt_dev_recv: timed out");
+ printf("recv: timed out");
continue;
case -EBADF:
if (verbose)
- printf("rt_dev_recv: aborted because socket was closed");
+ printf("recv: aborted because socket was closed");
break;
default:
- fprintf(stderr, "rt_dev_recv: %s\n", strerror(-ret));
+ fprintf(stderr, "recv: %s\n", strerror(-ret));
}
break;
}
@@ -235,9 +235,9 @@ int main(int argc, char **argv)
}
}
- ret = rt_dev_socket(PF_CAN, SOCK_RAW, CAN_RAW);
+ ret = socket(PF_CAN, SOCK_RAW, CAN_RAW);
if (ret < 0) {
- fprintf(stderr, "rt_dev_socket: %s\n", strerror(-ret));
+ fprintf(stderr, "socket: %s\n", strerror(-ret));
return -1;
}
s = ret;
@@ -255,18 +255,18 @@ int main(int argc, char **argv)
if (verbose)
printf("s=%d, ifr_name=%s\n", s, ifr.ifr_name);
- ret = rt_dev_ioctl(s, SIOCGIFINDEX, &ifr);
+ ret = ioctl(s, SIOCGIFINDEX, &ifr);
if (ret < 0) {
- fprintf(stderr, "rt_dev_ioctl GET_IFINDEX: %s\n", strerror(-ret));
+ fprintf(stderr, "ioctl GET_IFINDEX: %s\n", strerror(-ret));
goto failure;
}
}
if (err_mask) {
- ret = rt_dev_setsockopt(s, SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
+ ret = setsockopt(s, SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
&err_mask, sizeof(err_mask));
if (ret < 0) {
- fprintf(stderr, "rt_dev_setsockopt: %s\n", strerror(-ret));
+ fprintf(stderr, "setsockopt: %s\n", strerror(-ret));
goto failure;
}
if (verbose)
@@ -274,38 +274,38 @@ int main(int argc, char **argv)
}
if (filter_count) {
- ret = rt_dev_setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER,
+ ret = setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER,
&recv_filter, filter_count *
sizeof(struct can_filter));
if (ret < 0) {
- fprintf(stderr, "rt_dev_setsockopt: %s\n", strerror(-ret));
+ fprintf(stderr, "setsockopt: %s\n", strerror(-ret));
goto failure;
}
}
recv_addr.can_family = AF_CAN;
recv_addr.can_ifindex = ifr.ifr_ifindex;
- ret = rt_dev_bind(s, (struct sockaddr *)&recv_addr,
+ ret = bind(s, (struct sockaddr *)&recv_addr,
sizeof(struct sockaddr_can));
if (ret < 0) {
- fprintf(stderr, "rt_dev_bind: %s\n", strerror(-ret));
+ fprintf(stderr, "bind: %s\n", strerror(-ret));
goto failure;
}
if (timeout) {
if (verbose)
printf("Timeout: %lld ns\n", (long long)timeout);
- ret = rt_dev_ioctl(s, RTCAN_RTIOC_RCV_TIMEOUT, &timeout);
+ ret = ioctl(s, RTCAN_RTIOC_RCV_TIMEOUT, &timeout);
if (ret) {
- fprintf(stderr, "rt_dev_ioctl RCV_TIMEOUT: %s\n", strerror(-ret));
+ fprintf(stderr, "ioctl RCV_TIMEOUT: %s\n", strerror(-ret));
goto failure;
}
}
if (with_timestamp) {
- ret = rt_dev_ioctl(s, RTCAN_RTIOC_TAKE_TIMESTAMP,
RTCAN_TAKE_TIMESTAMPS);
+ ret = ioctl(s, RTCAN_RTIOC_TAKE_TIMESTAMP, RTCAN_TAKE_TIMESTAMPS);
if (ret) {
- fprintf(stderr, "rt_dev_ioctl TAKE_TIMESTAMP: %s\n",
strerror(-ret));
+ fprintf(stderr, "ioctl TAKE_TIMESTAMP: %s\n", strerror(-ret));
goto failure;
}
}
diff --git a/utils/can/rtcansend.c b/utils/can/rtcansend.c
index 81ee09f..1c1f916 100644
--- a/utils/can/rtcansend.c
+++ b/utils/can/rtcansend.c
@@ -56,10 +56,10 @@ static void cleanup(void)
usleep(100000);
if (s >= 0) {
- ret = rt_dev_close(s);
+ ret = close(s);
s = -1;
if (ret) {
- fprintf(stderr, "rt_dev_close: %s\n", strerror(-ret));
+ fprintf(stderr, "close: %s\n", strerror(-ret));
}
exit(EXIT_SUCCESS);
}
@@ -83,22 +83,22 @@ static void rt_task(void)
memcpy(&frame.data[0], &i, sizeof(i));
/* Note: sendto avoids the definiton of a receive filter list */
if (use_send)
- ret = rt_dev_send(s, (void *)&frame, sizeof(can_frame_t), 0);
+ ret = send(s, (void *)&frame, sizeof(can_frame_t), 0);
else
- ret = rt_dev_sendto(s, (void *)&frame, sizeof(can_frame_t), 0,
+ ret = sendto(s, (void *)&frame, sizeof(can_frame_t), 0,
(struct sockaddr *)&to_addr, sizeof(to_addr));
if (ret < 0) {
switch (ret) {
case -ETIMEDOUT:
if (verbose)
- printf("rt_dev_send(to): timed out");
+ printf("send(to): timed out");
break;
case -EBADF:
if (verbose)
- printf("rt_dev_send(to): aborted because socket was
closed");
+ printf("send(to): aborted because socket was closed");
break;
default:
- fprintf(stderr, "rt_dev_send: %s\n", strerror(-ret));
+ fprintf(stderr, "send: %s\n", strerror(-ret));
break;
}
i = loops; /* abort */
@@ -216,18 +216,18 @@ int main(int argc, char **argv)
if (verbose)
printf("interface %s\n", argv[optind]);
- ret = rt_dev_socket(PF_CAN, SOCK_RAW, CAN_RAW);
+ ret = socket(PF_CAN, SOCK_RAW, CAN_RAW);
if (ret < 0) {
- fprintf(stderr, "rt_dev_socket: %s\n", strerror(-ret));
+ fprintf(stderr, "socket: %s\n", strerror(-ret));
return -1;
}
s = ret;
if (loopback >= 0) {
- ret = rt_dev_setsockopt(s, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
+ ret = setsockopt(s, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
&loopback, sizeof(loopback));
if (ret < 0) {
- fprintf(stderr, "rt_dev_setsockopt: %s\n", strerror(-ret));
+ fprintf(stderr, "setsockopt: %s\n", strerror(-ret));
goto failure;
}
if (verbose)
@@ -238,9 +238,9 @@ int main(int argc, char **argv)
if (verbose)
printf("s=%d, ifr_name=%s\n", s, ifr.ifr_name);
- ret = rt_dev_ioctl(s, SIOCGIFINDEX, &ifr);
+ ret = ioctl(s, SIOCGIFINDEX, &ifr);
if (ret < 0) {
- fprintf(stderr, "rt_dev_ioctl: %s\n", strerror(-ret));
+ fprintf(stderr, "ioctl: %s\n", strerror(-ret));
goto failure;
}
@@ -249,15 +249,15 @@ int main(int argc, char **argv)
to_addr.can_family = AF_CAN;
if (use_send) {
/* Suppress definiton of a default receive filter list */
- ret = rt_dev_setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
+ ret = setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
if (ret < 0) {
- fprintf(stderr, "rt_dev_setsockopt: %s\n", strerror(-ret));
+ fprintf(stderr, "setsockopt: %s\n", strerror(-ret));
goto failure;
}
- ret = rt_dev_bind(s, (struct sockaddr *)&to_addr, sizeof(to_addr));
+ ret = bind(s, (struct sockaddr *)&to_addr, sizeof(to_addr));
if (ret < 0) {
- fprintf(stderr, "rt_dev_bind: %s\n", strerror(-ret));
+ fprintf(stderr, "bind: %s\n", strerror(-ret));
goto failure;
}
}
@@ -283,9 +283,9 @@ int main(int argc, char **argv)
if (timeout) {
if (verbose)
printf("Timeout: %lld ns\n", (long long)timeout);
- ret = rt_dev_ioctl(s, RTCAN_RTIOC_SND_TIMEOUT, &timeout);
+ ret = ioctl(s, RTCAN_RTIOC_SND_TIMEOUT, &timeout);
if (ret) {
- fprintf(stderr, "rt_dev_ioctl SND_TIMEOUT: %s\n", strerror(-ret));
+ fprintf(stderr, "ioctl SND_TIMEOUT: %s\n", strerror(-ret));
goto failure;
}
}
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