/* simple driver test: just opens and closes the device* * open is called with starting the application* close is called after pressing ^C - SIGKILL or after a very long time ** first argument can be the device name -- else it uses can0** if a second arg is given, the programm loops with e read()* call (so the `application' is a bit more advanced)* The application sleeps <second argument> ms  between two read() calls.*/#include <stdio.h>#include <stdlib.h>#include <sys/types.h>#include <sys/stat.h>#include <sys/ioctl.h>#include <fcntl.h>#include <unistd.h>#include <string.h>#include <can4linux.h>#define STDDEV "can0"unsigned long usleeptime = 1000;	/* 1000 ms */#include "getstat.c"int main(int argc,char **argv){int fd;canmsg_t rx;char device[40];    if((argc > 1) && !strcmp(argv[1], "-h")) {    	printf("%s: [dev] [sleep]]\ndev is \"can0\" .... \"canX\"\n"    	"sleep in ms between read() calls\n",    	argv[0]);    	exit(1);    }    if(argc > 1) {	if (	    /* path ist starting with '.' or '/', use it as it is */		argv[1][0] == '.'		|| 		argv[1][0] == '/'		) {	    sprintf(device, "%s", argv[1]);	} else {	    sprintf(device, "/dev/%s", argv[1]);	}    } else {	sprintf(device, "/dev/%s", STDDEV);    }    printf("using CAN device %s\n", device);        if(( fd = open(device, O_RDWR )) < 0 ) {	fprintf(stderr,"Error opening CAN device %s\n", device);        exit(1);    }    /* showCANStat(fd); */    if(argc == 3) {    int count = 100000;    int i, n;#if 0    int fd1;    if(( fd1 = open("/dev/can1", O_RDWR )) < 0 ) {	fprintf(stderr,"Error opening CAN device %s\n", "/dev/can1");        exit(1);    }	    showCANStat(fd);	    showCANStat(fd1);#endif	usleeptime = atoi(argv[2]);	/* loop for a long time */	while(count--) {	    showCANStat(fd);	    do {		n = read(fd, &rx, 1);		if(n < 0) {		    perror("CAN read error");		}		else if(n == 0) {		    fprintf(stderr, "read returned 0\n");		} else {		    fprintf(stderr, "read: %c%c 0x%08lx : %d bytes:",					   rx.flags & MSG_EXT ? 'x' : 's',					   rx.flags & MSG_RTR ? 'R' : 'D',					   rx.id,   rx.length);		    if(rx.length > 0) {			fprintf(stderr, "\t");			for(i = 0; i < rx.length; i++) {			    fprintf(stderr, "%02x ", rx.data[i]);			}		    }		    fprintf(stderr, "\n");		}	    } while( n == 1);	    usleep(usleeptime * 1000);	}    } else {	/* wait very long */	sleep(100000);    }    close(fd);    return 0;}