Beispiel #1
0
int main(int argc, char **argv)
{
    int s; /* can raw socket */ 
    int nbytes;
    struct sockaddr_can addr;
    struct can_frame rframe;
    struct ifreq ifr;

    /* check command line options */
    if (argc != 2) {
        fprintf(stderr, "Usage: %s <device>.\n", argv[0]);
        return 1;
    }

    /* open socket */
    if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
      perror("socket");
      return 1;
    }

    strcpy(ifr.ifr_name, argv[1]);
    ioctl(s, SIOCGIFINDEX, &ifr);

    addr.can_family = AF_CAN;
    addr.can_ifindex = ifr.ifr_ifindex;
/*
    ifr.ifr_ifru.ifru_ivalue = 1000000/2;
    ioctl(s, SIOCSCANBAUDRATE, &ifr);
*/
    if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
      perror("bind");
      return 1;
    }

   	while(1) {
		if ((nbytes = read(s, &rframe, sizeof(rframe))) < 0) {
		    perror("rx frame read");
		    return 0; /* quit */
		}

		printf("\nread %d bytes\n", nbytes);

		fprint_long_canframe(stdout, &rframe, "\n", 0);
	}

    close(s);

    return 0;
}
int main(int argc, char **argv)
{
	fd_set rdfs;
	int s[MAXSOCK];
	int bridge = 0;
	unsigned char timestamp = 0;
	unsigned char dropmonitor = 0;
	unsigned char silent = SILENT_INI;
	unsigned char silentani = 0;
	unsigned char color = 0;
	unsigned char view = 0;
	unsigned char log = 0;
	unsigned char logfrmt = 0;
	int count = 0;
	int rcvbuf_size = 0;
	int opt, ret;
	int currmax, numfilter;
	char *ptr, *nptr;
	struct sockaddr_can addr;
	char ctrlmsg[CMSG_SPACE(sizeof(struct timeval)) + CMSG_SPACE(sizeof(__u32))];
	struct iovec iov;
	struct msghdr msg;
	struct cmsghdr *cmsg;
	struct can_filter *rfilter;
	can_err_mask_t err_mask;
	struct can_frame frame;
	int nbytes, i;
	struct ifreq ifr;
	struct timeval tv, last_tv;
	FILE *logfile = NULL;

	signal(SIGTERM, sigterm);
	signal(SIGHUP, sigterm);
	signal(SIGINT, sigterm);

	last_tv.tv_sec  = 0;
	last_tv.tv_usec = 0;

	while ((opt = getopt(argc, argv, "t:ciaSs:b:B:ldLn:r:h?")) != -1) {
		switch (opt) {
		case 't':
			timestamp = optarg[0];
			if ((timestamp != 'a') && (timestamp != 'A') &&
			    (timestamp != 'd') && (timestamp != 'z')) {
				fprintf(stderr, "%s: unknown timestamp mode '%c' - ignored\n",
				       basename(argv[0]), optarg[0]);
				timestamp = 0;
			}
			break;

		case 'c':
			color++;
			break;

		case 'i':
			view |= CANLIB_VIEW_BINARY;
			break;

		case 'a':
			view |= CANLIB_VIEW_ASCII;
			break;

		case 'S':
			view |= CANLIB_VIEW_SWAP;
			break;

		case 's':
			silent = atoi(optarg);
			if (silent > SILENT_ON) {
				print_usage(basename(argv[0]));
				exit(1);
			}
			break;

		case 'b':
		case 'B':
			if (strlen(optarg) >= IFNAMSIZ) {
				fprintf(stderr, "Name of CAN device '%s' is too long!\n\n", optarg);
				return 1;
			} else {
				bridge = socket(PF_CAN, SOCK_RAW, CAN_RAW);
				if (bridge < 0) {
					perror("bridge socket");
					return 1;
				}
				addr.can_family = AF_CAN;
				strcpy(ifr.ifr_name, optarg);
				if (ioctl(bridge, SIOCGIFINDEX, &ifr) < 0)
					perror("SIOCGIFINDEX");
				addr.can_ifindex = ifr.ifr_ifindex;
		
				if (!addr.can_ifindex) {
					perror("invalid bridge interface");
					return 1;
				}

				/* disable default receive filter on this write-only RAW socket */
				setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);

				if (opt == 'B') {
					const int loopback = 0;

					setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
						   &loopback, sizeof(loopback));
				}

				if (bind(bridge, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
					perror("bridge bind");
					return 1;
				}
			}
			break;
	    
		case 'l':
			log = 1;
			break;

		case 'd':
			dropmonitor = 1;
			break;

		case 'L':
			logfrmt = 1;
			break;

		case 'n':
			count = atoi(optarg);
			if (count < 1) {
				print_usage(basename(argv[0]));
				exit(1);
			}
			break;

		case 'r':
			rcvbuf_size = atoi(optarg);
			if (rcvbuf_size < 1) {
				print_usage(basename(argv[0]));
				exit(1);
			}
			break;

		default:
			print_usage(basename(argv[0]));
			exit(1);
			break;
		}
	}

	if (optind == argc) {
		print_usage(basename(argv[0]));
		exit(0);
	}
	
	if (logfrmt && view) {
		fprintf(stderr, "Log file format selected: Please disable ASCII/BINARY/SWAP options!\n");
		exit(0);
	}

	if (silent == SILENT_INI) {
		if (log) {
			fprintf(stderr, "Disabled standard output while logging.\n");
			silent = SILENT_ON; /* disable output on stdout */
		} else
			silent = SILENT_OFF; /* default output */
	}

	currmax = argc - optind; /* find real number of CAN devices */

	if (currmax > MAXSOCK) {
		fprintf(stderr, "More than %d CAN devices given on commandline!\n", MAXSOCK);
		return 1;
	}

	for (i=0; i < currmax; i++) {

		ptr = argv[optind+i];
		nptr = strchr(ptr, ',');

#ifdef DEBUG
		printf("open %d '%s'.\n", i, ptr);
#endif

		s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW);
		if (s[i] < 0) {
			perror("socket");
			return 1;
		}

		cmdlinename[i] = ptr; /* save pointer to cmdline name of this socket */

		if (nptr)
			nbytes = nptr - ptr;  /* interface name is up the first ',' */
		else
			nbytes = strlen(ptr); /* no ',' found => no filter definitions */

		if (nbytes >= IFNAMSIZ) {
			fprintf(stderr, "name of CAN device '%s' is too long!\n", ptr);
			return 1;
		}

		if (nbytes > max_devname_len)
			max_devname_len = nbytes; /* for nice printing */

		addr.can_family = AF_CAN;

		memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));
		strncpy(ifr.ifr_name, ptr, nbytes);

#ifdef DEBUG
		printf("using interface name '%s'.\n", ifr.ifr_name);
#endif

		if (strcmp(ANYDEV, ifr.ifr_name)) {
			if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
				perror("SIOCGIFINDEX");
				exit(1);
			}
			addr.can_ifindex = ifr.ifr_ifindex;
		} else
			addr.can_ifindex = 0; /* any can interface */

		if (nptr) {

			/* found a ',' after the interface name => check for filters */

			/* determine number of filters to alloc the filter space */
			numfilter = 0;
			ptr = nptr;
			while (ptr) {
				numfilter++;
				ptr++; /* hop behind the ',' */
				ptr = strchr(ptr, ','); /* exit condition */
			}

			rfilter = malloc(sizeof(struct can_filter) * numfilter);
			if (!rfilter) {
				fprintf(stderr, "Failed to create filter space!\n");
				return 1;
			}

			numfilter = 0;
			err_mask = 0;

			while (nptr) {

				ptr = nptr+1; /* hop behind the ',' */
				nptr = strchr(ptr, ','); /* update exit condition */

				if (sscanf(ptr, "%x:%x",
					   &rfilter[numfilter].can_id, 
					   &rfilter[numfilter].can_mask) == 2) {
 					rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
					numfilter++;
				} else if (sscanf(ptr, "%x~%x",
						  &rfilter[numfilter].can_id, 
						  &rfilter[numfilter].can_mask) == 2) {
 					rfilter[numfilter].can_id |= CAN_INV_FILTER;
 					rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
					numfilter++;
				} else if (sscanf(ptr, "#%x", &err_mask) != 1) { 
					fprintf(stderr, "Error in filter option parsing: '%s'\n", ptr);
					return 1;
				}
			}

			if (err_mask)
				setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
					   &err_mask, sizeof(err_mask));

			if (numfilter)
				setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
					   rfilter, numfilter * sizeof(struct can_filter));

			free(rfilter);

		} /* if (nptr) */

		if (rcvbuf_size) {

			int curr_rcvbuf_size;
			socklen_t curr_rcvbuf_size_len = sizeof(curr_rcvbuf_size);

			/* try SO_RCVBUFFORCE first, if we run with CAP_NET_ADMIN */
			if (setsockopt(s[i], SOL_SOCKET, SO_RCVBUFFORCE,
				       &rcvbuf_size, sizeof(rcvbuf_size)) < 0) {
#ifdef DEBUG
				printf("SO_RCVBUFFORCE failed so try SO_RCVBUF ...\n");
#endif
				if (setsockopt(s[i], SOL_SOCKET, SO_RCVBUF,
					       &rcvbuf_size, sizeof(rcvbuf_size)) < 0) {
					perror("setsockopt SO_RCVBUF");
					return 1;
				}

				if (getsockopt(s[i], SOL_SOCKET, SO_RCVBUF,
					       &curr_rcvbuf_size, &curr_rcvbuf_size_len) < 0) {
					perror("getsockopt SO_RCVBUF");
					return 1;
				}

				/* Only print a warning the first time we detect the adjustment */
				/* n.b.: The wanted size is doubled in Linux in net/sore/sock.c */
				if (!i && curr_rcvbuf_size < rcvbuf_size*2)
					fprintf(stderr, "The socket receive buffer size was "
						"adjusted due to /proc/sys/net/core/rmem_max.\n");
			}
		}

		if (timestamp || log || logfrmt) {

			const int timestamp_on = 1;

			if (setsockopt(s[i], SOL_SOCKET, SO_TIMESTAMP,
				       &timestamp_on, sizeof(timestamp_on)) < 0) {
				perror("setsockopt SO_TIMESTAMP");
				return 1;
			}
		}

		if (dropmonitor) {

			const int dropmonitor_on = 1;

			if (setsockopt(s[i], SOL_SOCKET, SO_RXQ_OVFL,
				       &dropmonitor_on, sizeof(dropmonitor_on)) < 0) {
				perror("setsockopt SO_RXQ_OVFL not supported by your Linux Kernel");
				return 1;
			}
		}

		if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
			perror("bind");
			return 1;
		}
	}

	if (log) {
		time_t currtime;
		struct tm now;
		char fname[sizeof("candump-2006-11-20_202026.log")+1];

		if (time(&currtime) == (time_t)-1) {
			perror("time");
			return 1;
		}

		localtime_r(&currtime, &now);

		sprintf(fname, "candump-%04d-%02d-%02d_%02d%02d%02d.log",
			now.tm_year + 1900,
			now.tm_mon + 1,
			now.tm_mday,
			now.tm_hour,
			now.tm_min,
			now.tm_sec);

		if (silent != SILENT_ON)
			printf("\nWarning: console output active while logging!");

		fprintf(stderr, "\nEnabling Logfile '%s'\n\n", fname);

		logfile = fopen(fname, "w");
		if (!logfile) {
			perror("logfile");
			return 1;
		}
	}

	/* these settings are static and can be held out of the hot path */
	iov.iov_base = &frame;
	msg.msg_name = &addr;
	msg.msg_iov = &iov;
	msg.msg_iovlen = 1;
	msg.msg_control = &ctrlmsg;

	while (running) {

		FD_ZERO(&rdfs);
		for (i=0; i<currmax; i++)
			FD_SET(s[i], &rdfs);

		if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, NULL)) < 0) {
			//perror("select");
			running = 0;
			continue;
		}

		for (i=0; i<currmax; i++) {  /* check all CAN RAW sockets */

			if (FD_ISSET(s[i], &rdfs)) {

				int idx;

				/* these settings may be modified by recvmsg() */
				iov.iov_len = sizeof(frame);
				msg.msg_namelen = sizeof(addr);
				msg.msg_controllen = sizeof(ctrlmsg);  
				msg.msg_flags = 0;

				nbytes = recvmsg(s[i], &msg, 0);
				if (nbytes < 0) {
					perror("read");
					return 1;
				}

				if (nbytes < sizeof(struct can_frame)) {
					fprintf(stderr, "read: incomplete CAN frame\n");
					return 1;
				}

				if (count && (--count == 0))
					running = 0;

				if (bridge) {
					nbytes = write(bridge, &frame, sizeof(struct can_frame));
					if (nbytes < 0) {
						perror("bridge write");
						return 1;
					} else if (nbytes < sizeof(struct can_frame)) {
						fprintf(stderr,"bridge write: incomplete CAN frame\n");
						return 1;
					}
				}
		    
				for (cmsg = CMSG_FIRSTHDR(&msg);
				     cmsg && (cmsg->cmsg_level == SOL_SOCKET);
				     cmsg = CMSG_NXTHDR(&msg,cmsg)) {
					if (cmsg->cmsg_type == SO_TIMESTAMP)
						tv = *(struct timeval *)CMSG_DATA(cmsg);
					else if (cmsg->cmsg_type == SO_RXQ_OVFL)
						dropcnt[i] = *(__u32 *)CMSG_DATA(cmsg);
				}

				/* check for (unlikely) dropped frames on this specific socket */
				if (dropcnt[i] != last_dropcnt[i]) {

					__u32 frames;

					if (dropcnt[i] > last_dropcnt[i])
						frames = dropcnt[i] - last_dropcnt[i];
					else
						frames = 4294967295U - last_dropcnt[i] + dropcnt[i]; /* 4294967295U == UINT32_MAX */

					if (silent != SILENT_ON)
						printf("DROPCOUNT: dropped %d CAN frame%s on '%s' socket (total drops %d)\n",
						       frames, (frames > 1)?"s":"", cmdlinename[i], dropcnt[i]);

					if (log)
						fprintf(logfile, "DROPCOUNT: dropped %d CAN frame%s on '%s' socket (total drops %d)\n",
							frames, (frames > 1)?"s":"", cmdlinename[i], dropcnt[i]);

					last_dropcnt[i] = dropcnt[i];
				}

				idx = idx2dindex(addr.can_ifindex, s[i]);

				if (log) {
					/* log CAN frame with absolute timestamp & device */
					fprintf(logfile, "(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
					fprintf(logfile, "%*s ", max_devname_len, devname[idx]);
					/* without seperator as logfile use-case is parsing */
					fprint_canframe(logfile, &frame, "\n", 0);
				}

				if (logfrmt) {
					/* print CAN frame in log file style to stdout */
					printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
					printf("%*s ", max_devname_len, devname[idx]);
					fprint_canframe(stdout, &frame, "\n", 0);
					goto out_fflush; /* no other output to stdout */
				}

				if (silent != SILENT_OFF){
					if (silent == SILENT_ANI) {
						printf("%c\b", anichar[silentani%=MAXANI]);
						silentani++;
					}
					goto out_fflush; /* no other output to stdout */
				}
		      
				printf(" %s", (color>2)?col_on[idx%MAXCOL]:"");

				switch (timestamp) {

				case 'a': /* absolute with timestamp */
					printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
					break;

				case 'A': /* absolute with date */
				{
					struct tm tm;
					char timestring[25];

					tm = *localtime(&tv.tv_sec);
					strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
					printf("(%s.%06ld) ", timestring, tv.tv_usec);
				}
				break;

				case 'd': /* delta */
				case 'z': /* starting with zero */
				{
					struct timeval diff;

					if (last_tv.tv_sec == 0)   /* first init */
						last_tv = tv;
					diff.tv_sec  = tv.tv_sec  - last_tv.tv_sec;
					diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
					if (diff.tv_usec < 0)
						diff.tv_sec--, diff.tv_usec += 1000000;
					if (diff.tv_sec < 0)
						diff.tv_sec = diff.tv_usec = 0;
					printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
				
					if (timestamp == 'd')
						last_tv = tv; /* update for delta calculation */
				}
				break;

				default: /* no timestamp output */
					break;
				}

				printf(" %s", (color && (color<3))?col_on[idx%MAXCOL]:"");
				printf("%*s", max_devname_len, devname[idx]);
				printf("%s  ", (color==1)?col_off:"");

				fprint_long_canframe(stdout, &frame, NULL, view);

				printf("%s", (color>1)?col_off:"");
				printf("\n");
			}

		out_fflush:
			fflush(stdout);
		}
	}

	for (i=0; i<currmax; i++)
		close(s[i]);

	if (bridge)
		close(bridge);

	if (log)
		fclose(logfile);

	return 0;
}
int main(int argc, char **argv)
{
    unsigned long gap = DEFAULT_GAP; 
    unsigned char extended = 0;
    unsigned char fix_id = 0;
    unsigned char fix_data = 0;
    unsigned char fix_dlc = 0;
    unsigned char default_frame = 1;
    unsigned char verbose = 0;

    int opt;
    int s; /* socket */

    struct sockaddr_can addr;
    static struct can_frame frame;
    int nbytes;
    struct ifreq ifr;

    struct timespec ts;

    signal(SIGTERM, sigterm);
    signal(SIGHUP, sigterm);
    signal(SIGINT, sigterm);

    while ((opt = getopt(argc, argv, "g:eIDLf:v")) != -1) {
	switch (opt) {
	case 'g':
	    gap = strtoul(optarg, NULL, 10);
	    break;

	case 'e':
	    extended = 1;
	    break;

	case 'I':
	    fix_id = 1;
	    break;

	case 'D':
	    fix_data = 1;
	    break;

	case 'L':
	    fix_dlc = 1;
	    break;

	case 'f':
	    default_frame = 0;
	    if (parse_canframe(optarg, &frame)) {
		fprintf(stderr, "'%s' is a wrong CAN frame format.\n", optarg);
		exit(1);
	    }
	    break;

	case 'v':
	    verbose = 1;
	    break;

	default:
	    print_usage(basename(argv[0]));
	    exit(1);
	    break;
	}
    }

    if (optind == argc) {
	print_usage(basename(argv[0]));
	exit(0);
    }

    ts.tv_sec = gap / 1000;
    ts.tv_nsec = (gap % 1000) * 1000000;


    if (default_frame) {
	if (extended)
	    frame.can_id = 0x12345678 | CAN_EFF_FLAG;
	else
	    frame.can_id = 0x123;

	frame.can_dlc = 8;

	frame.data[0] = 0x01;
	frame.data[1] = 0x23;
	frame.data[2] = 0x45;
	frame.data[3] = 0x67;
	frame.data[4] = 0x89;
	frame.data[5] = 0xAB;
	frame.data[6] = 0xCD;
	frame.data[7] = 0xEF;
    }

    if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
	perror("socket");
	return 1;
    }

    addr.can_family = AF_CAN;

    strcpy(ifr.ifr_name, argv[optind]);
    if (ioctl(s, SIOCGIFINDEX, &ifr) < 0)
	perror("SIOCGIFINDEX");
    addr.can_ifindex = ifr.ifr_ifindex;

    /* disable default receive filter on this RAW socket */
    /* This is obsolete as we do not read from the socket at all, but for */
    /* this reason we can remove the receive list in the Kernel to save a */
    /* little (really a very little!) CPU usage.                          */
    setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);

    if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
	perror("bind");
	return 1;
    }

    while (running) {

	if (!fix_id) {
	    frame.can_id = random();
	    if (extended) {
		frame.can_id &= CAN_EFF_MASK;
		frame.can_id |= CAN_EFF_FLAG;
	    } else
		frame.can_id &= CAN_SFF_MASK;
	}

	if (!fix_dlc) {
	    frame.can_dlc = random() & 0xF;
	    if (frame.can_dlc & 8)
		frame.can_dlc = 8; /* for about 50% of the frames */
	}

	if (!fix_data) {
	    /* that's what the 64 bit alignment of data[] is for ... :) */
	    *(unsigned long*)(&frame.data[0]) = random();
	    *(unsigned long*)(&frame.data[4]) = random();
	}

	if ((nbytes = write(s, &frame, sizeof(struct can_frame))) < 0) {
	    perror("write");
	    return 1;
	} else if (nbytes < sizeof(struct can_frame)) {
	    fprintf(stderr, "write: incomplete CAN frame\n");
	    return 1;
	}

	if (gap) /* gap == 0 => performance test :-] */
	    if (nanosleep(&ts, NULL))
		return 1;
		    
	if (verbose)
#if 0
	    fprint_long_canframe(stdout, &frame, "\n", 1);
#else
	    fprint_canframe(stdout, &frame, "\n", 1);
#endif
    }

    close(s);

    return 0;
}
Beispiel #4
0
int main(int argc, char **argv)
{
	static char buf[BUFSZ], device[BUFSZ], ascframe[BUFSZ];
	struct sockaddr_can addr;
	static struct canfd_frame frame;
	static struct timeval today_tv, log_tv, last_log_tv, diff_tv;
	struct timespec sleep_ts;
	int s; /* CAN_RAW socket */
	FILE *infile = stdin;
	unsigned long gap = DEFAULT_GAP; 
	int use_timestamps = 1;
	static int verbose, opt, delay_loops;
	static unsigned long skipgap;
	static int loopback_disable = 0;
	static int infinite_loops = 0;
	static int loops = DEFAULT_LOOPS;
	int assignments; /* assignments defined on the commandline */
	int txidx;       /* sendto() interface index */
	int eof, txmtu, i, j;
	char *fret;

	while ((opt = getopt(argc, argv, "I:l:tg:s:xv?")) != -1) {
		switch (opt) {
		case 'I':
			infile = fopen(optarg, "r");
			if (!infile) {
				perror("infile");
				return 1;
			}
			break;

		case 'l':
			if (optarg[0] == 'i')
				infinite_loops = 1;
			else
				if (!(loops = atoi(optarg))) {
					fprintf(stderr, "Invalid argument for option -l !\n");
					return 1;
				}
			break;

		case 't':
			use_timestamps = 0;
			break;

		case 'g':
			gap = strtoul(optarg, NULL, 10);
			break;

		case 's':
			skipgap = strtoul(optarg, NULL, 10);
			if (skipgap < 1) {
				fprintf(stderr, "Invalid argument for option -s !\n");
				return 1;
			}
			break;

		case 'x':
			loopback_disable = 1;
			break;

		case 'v':
			verbose++;
			break;

		case '?':
		default:
			print_usage(basename(argv[0]));
			return 1;
			break;
		}
	}

	assignments = argc - optind; /* find real number of user assignments */

	if (infile == stdin) { /* no jokes with stdin */
		infinite_loops = 0;
		loops = 1;
	}

	if (verbose > 1) { /* use -v -v to see this */
		if (infinite_loops)
			printf("infinite_loops\n");
		else
			printf("%d loops\n", loops);
	}

	sleep_ts.tv_sec  =  gap / 1000;
	sleep_ts.tv_nsec = (gap % 1000) * 1000000;

	/* open socket */
	if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
		perror("socket");
		return 1;
	}

	addr.can_family  = AF_CAN;
	addr.can_ifindex = 0;

	/* disable unneeded default receive filter on this RAW socket */
	setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);

	/* try to switch the socket into CAN FD mode */
	setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on));

	if (loopback_disable) {
		int loopback = 0;

		setsockopt(s, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
			   &loopback, sizeof(loopback));
	}

	if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
		perror("bind");
		return 1;
	}

	if (assignments) {
		/* add & check user assginments from commandline */
		for (i=0; i<assignments; i++) {
			if (strlen(argv[optind+i]) >= BUFSZ) {
				fprintf(stderr, "Assignment too long!\n");
				print_usage(basename(argv[0]));
				return 1;
			}
			strcpy(buf, argv[optind+i]);
			for (j=0; j<BUFSZ; j++) { /* find '=' in assignment */
				if (buf[j] == '=')
					break;
			}
			if ((j == BUFSZ) || (buf[j] != '=')) {
				fprintf(stderr, "'=' missing in assignment!\n");
				print_usage(basename(argv[0]));
				return 1;
			}
			buf[j] = 0; /* cut string in two pieces */
			if (add_assignment("user", s, &buf[0], &buf[j+1], verbose))
				return 1;
		}
	}

	while (infinite_loops || loops--) {

		if (infile != stdin)
			rewind(infile); /* for each loop */

		if (verbose > 1) /* use -v -v to see this */
			printf (">>>>>>>>> start reading file. remaining loops = %d\n", loops);

		/* read first non-comment frame from logfile */
		while ((fret = fgets(buf, BUFSZ-1, infile)) != NULL && buf[0] != '(') {
			if (strlen(buf) >= BUFSZ-2) {
				fprintf(stderr, "comment line too long for input buffer\n");
				return 1;
			}
		}

		if (!fret)
			goto out; /* nothing to read */

		eof = 0;

		if (sscanf(buf, "(%ld.%ld) %s %s", &log_tv.tv_sec, &log_tv.tv_usec,
			   device, ascframe) != 4) {
			fprintf(stderr, "incorrect line format in logfile\n");
			return 1;
		}

		if (use_timestamps) { /* throttle sending due to logfile timestamps */

			gettimeofday(&today_tv, NULL);
			create_diff_tv(&today_tv, &diff_tv, &log_tv);
			last_log_tv = log_tv;
		}

		while (!eof) {

			while ((!use_timestamps) ||
			       (frames_to_send(&today_tv, &diff_tv, &log_tv) < 0)) {

				/* log_tv/device/ascframe are valid here */

				if (strlen(device) >= IFNAMSIZ) {
					fprintf(stderr, "log interface name '%s' too long!", device);
					return 1;
				}

				txidx = get_txidx(device); /* get ifindex for sending the frame */
 
				if ((!txidx) && (!assignments)) {
					/* ifindex not found and no user assignments */
					/* => assign this device automatically       */
					if (add_assignment("auto", s, device, device, verbose))
						return 1;
					txidx = get_txidx(device);
				}

				if (txidx == STDOUTIDX) { /* hook to print logfile lines on stdout */

					printf("%s", buf); /* print the line AS-IS without extra \n */
					fflush(stdout);

				} else if (txidx > 0) { /* only send to valid CAN devices */

					txmtu = parse_canframe(ascframe, &frame);
					if (!txmtu) {
						fprintf(stderr, "wrong CAN frame format: '%s'!", ascframe);
						return 1;
					}

					addr.can_family  = AF_CAN;
					addr.can_ifindex = txidx; /* send via this interface */
 
					if (sendto(s, &frame, txmtu, 0,	(struct sockaddr*)&addr, sizeof(addr)) != txmtu) {
						perror("sendto");
						return 1;
					}

					if (verbose) {
						printf("%s (%s) ", get_txname(device), device);

						if (txmtu == CAN_MTU)
							fprint_long_canframe(stdout, &frame, "\n", CANLIB_VIEW_INDENT_SFF, CAN_MAX_DLEN);
						else
							fprint_long_canframe(stdout, &frame, "\n", CANLIB_VIEW_INDENT_SFF, CANFD_MAX_DLEN);
					}
				}

				/* read next non-comment frame from logfile */
				while ((fret = fgets(buf, BUFSZ-1, infile)) != NULL && buf[0] != '(') {
					if (strlen(buf) >= BUFSZ-2) {
						fprintf(stderr, "comment line too long for input buffer\n");
						return 1;
					}
				}

				if (!fret) {
					eof = 1; /* this file is completely processed */
					break;
				}

				if (sscanf(buf, "(%ld.%ld) %s %s", &log_tv.tv_sec, &log_tv.tv_usec,
					   device, ascframe) != 4) {
					fprintf(stderr, "incorrect line format in logfile\n");
					return 1;
				}

				if (use_timestamps) {
					gettimeofday(&today_tv, NULL);

					/* test for logfile timestamps jumping backwards OR      */
					/* if the user likes to skip long gaps in the timestamps */
					if ((last_log_tv.tv_sec > log_tv.tv_sec) ||
					    (skipgap && labs(last_log_tv.tv_sec - log_tv.tv_sec) > skipgap))
						create_diff_tv(&today_tv, &diff_tv, &log_tv);

					last_log_tv = log_tv;
				}

			} /* while frames_to_send ... */

			if (nanosleep(&sleep_ts, NULL))
				return 1;

			delay_loops++; /* private statistics */
			gettimeofday(&today_tv, NULL);

		} /* while (!eof) */

	} /* while (infinite_loops || loops--) */

out:

	close(s);
	fclose(infile);

	if (verbose > 1) /* use -v -v to see this */
		printf("%d delay_loops\n", delay_loops);

	return 0;
}
Beispiel #5
0
int main(int argc, char **argv)
{
    int s; /* can raw socket */ 
    int nbytes, ret;
    struct sockaddr_can addr;
    struct can_frame frame, rframe;
    struct ifreq ifr;
    int i;

    /* check command line options */
    if ((argc != 2) && (argc != 3)) {
        fprintf(stderr, "Usage: send frame: %s <device>.\n", argv[0]);
	fprintf(stderr, "Usage: receive frame: %s <device> <can_frame>.\n", argv[0]);
	return 1;
    }

    /* open socket */
    if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
      perror("socket");
      return 1;
    }

    strcpy(ifr.ifr_name, argv[1]);
    ioctl(s, SIOCGIFINDEX, &ifr);

    addr.can_family = AF_CAN;
    addr.can_ifindex = ifr.ifr_ifindex;

#ifdef TOLTO_GEA
    ifr.ifr_ifru.ifru_ivalue = 1000000/2;
    ret = ioctl(s, SIOCSCANBAUDRATE, &ifr);
    if (ret) {
	    printf("Err: cantest failed to set up baud rate for can port %s\n",
			    					argv[1]);
	    printf("     Please check the settings of system clock.\n");
	    exit(1);
    }
#endif

    if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
      perror("bind");
      return 1;
    }

    if (argc ==3) {
			printf("writing to CAN\n");
	    /* parse CAN frame */
	    if (parse_canframe(argv[2], &frame)){
		fprintf(stderr, "\nWrong CAN-frame format!\n\n");
		fprintf(stderr, "Try: <can_id>#{R|data}\n");
		fprintf(stderr, "can_id can have 3 (SFF) or 8 (EFF) hex chars\n");
		fprintf(stderr, "data has 0 to 8 hex-values that can (optionally)");
		fprintf(stderr, " be seperated by '.'\n\n");
		fprintf(stderr, "e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / ");
		fprintf(stderr, "5AA# /\n     1F334455#1122334455667788 / 123#R ");
		fprintf(stderr, "for remote transmission request.\n\n");
		return 1;
	    }
	    if ((nbytes = write(s, &frame, sizeof(frame))) != sizeof(frame)) {
		    perror("write");
		    return 1;
	    }
    } else if (argc == 2) {
			printf("reading from CAN\n");
	    if ((nbytes = read(s, &rframe, sizeof(rframe))) < 0) {
		    perror("rx frame read");
	    	    return 0;
	    }
            printf("\nread %d bytes\n", nbytes);
	    fprint_long_canframe(stdout, &rframe, "\n", 0);
    }

    close(s);
    return 0;
}