void prframe(FILE *file, struct timeval *tv, int dev, struct can_frame *cf) {
fprintf(file, "(%ld.%06ld) ", tv->tv_sec, tv->tv_usec);
if (dev > 0)
fprintf(file, "can%d ", dev-1);
else
fprintf(file, "canX ");
fprint_canframe(file, cf, "\n", 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,
×tamp_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;
}