8 * Test programm that implements a socket server which understands ASCII
9 * messages for simple broadcast manager frame send commands.
11 * < interface command ival_s ival_us can_id can_dlc [data]* >
13 * Only the items 'can_id' and 'data' are given in (ASCII) hexadecimal values.
17 * The commands are 'A'dd, 'U'pdate, 'D'elete and 'S'end.
20 * Send the CAN frame 123#1122334455667788 every second on vcan1
21 * < vcan1 A 1 0 123 8 11 22 33 44 55 66 77 88 >
23 * Send the CAN frame 123#1122334455667788 every 10 usecs on vcan1
24 * < vcan1 A 0 10 123 8 11 22 33 44 55 66 77 88 >
26 * Send the CAN frame 123#42424242 every 20 msecs on vcan1
27 * < vcan1 A 0 20000 123 4 42 42 42 42 >
29 * Update the CAN frame 123#42424242 with 123#112233 - no change of timers
30 * < vcan1 U 0 0 123 3 11 22 33 >
32 * Delete the cyclic send job from above
33 * < vcan1 D 0 0 123 0 >
35 * Send a single CAN frame without cyclic transmission
36 * < can0 S 0 0 123 0 >
38 * When the socket is closed the cyclic transmissions are terminated.
42 * The commands are 'R'eceive setup, 'F'ilter ID Setup and 'X' for delete.
45 * Receive CAN ID 0x123 from vcan1 and check for changes in the first byte
46 * < vcan1 R 0 0 123 1 FF >
48 * Receive CAN ID 0x123 from vcan1 and check for changes in given mask
49 * < vcan1 R 0 0 123 8 FF 00 F8 00 00 00 00 00 >
51 * As above but throttle receive update rate down to 1.5 seconds
52 * < vcan1 R 1 500000 123 8 FF 00 F8 00 00 00 00 00 >
54 * Filter for CAN ID 0x123 from vcan1 without content filtering
55 * < vcan1 F 0 0 123 0 >
57 * Delete receive filter ('R' or 'F') for CAN ID 0x123
58 * < vcan1 X 0 0 123 0 >
60 * CAN messages received by the given filters are send in the format:
61 * < interface can_id can_dlc [data]* >
63 * e.g. when receiving a CAN message from vcan1 with
64 * can_id 0x123 , data length 4 and data 0x11, 0x22, 0x33 and 0x44
66 * < vcan1 123 4 11 22 33 44 >
71 * Andre Naujoks (the socket server stuff)
72 * Oliver Hartkopp (the rest)
74 * Copyright (c) 2002-2009 Volkswagen Group Electronic Research
75 * All rights reserved.
77 * Redistribution and use in source and binary forms, with or without
78 * modification, are permitted provided that the following conditions
80 * 1. Redistributions of source code must retain the above copyright
81 * notice, this list of conditions and the following disclaimer.
82 * 2. Redistributions in binary form must reproduce the above copyright
83 * notice, this list of conditions and the following disclaimer in the
84 * documentation and/or other materials provided with the distribution.
85 * 3. Neither the name of Volkswagen nor the names of its contributors
86 * may be used to endorse or promote products derived from this software
87 * without specific prior written permission.
89 * Alternatively, provided that this notice is retained in full, this
90 * software may be distributed under the terms of the GNU General
91 * Public License ("GPL") version 2, in which case the provisions of the
92 * GPL apply INSTEAD OF those given above.
94 * The provided data structures and external interfaces from this code
95 * are not restricted to be used by modules with a GPL compatible license.
97 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
98 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
99 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
100 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
101 * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
102 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
103 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
104 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
105 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
106 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
107 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
110 * Send feedback to <linux-can@vger.kernel.org>
121 #include <sys/types.h>
122 #include <sys/wait.h>
123 #include <sys/socket.h>
124 #include <sys/ioctl.h>
127 #include <netinet/in.h>
129 #include <linux/can.h>
130 #include <linux/can/bcm.h>
135 void childdied(int i)
140 int main(int argc, char **argv)
146 struct sockaddr_in saddr, clientaddr;
147 struct sockaddr_can caddr;
148 socklen_t caddrlen = sizeof(caddr);
151 socklen_t sin_size = sizeof(clientaddr);
152 struct sigaction signalaction;
159 struct bcm_msg_head msg_head;
160 struct can_frame frame;
163 sigemptyset(&sigset);
164 signalaction.sa_handler = &childdied;
165 signalaction.sa_mask = sigset;
166 signalaction.sa_flags = 0;
167 sigaction(SIGCHLD, &signalaction, NULL); /* signal for dying child */
169 if((sl = socket(PF_INET, SOCK_STREAM, 0)) < 0) {
170 perror("inetsocket");
174 saddr.sin_family = AF_INET;
175 saddr.sin_addr.s_addr = htonl(INADDR_ANY);
176 saddr.sin_port = htons(PORT);
178 while(bind(sl,(struct sockaddr*)&saddr, sizeof(saddr)) < 0) {
179 printf(".");fflush(NULL);
183 if (listen(sl,3) != 0) {
189 sa = accept(sl,(struct sockaddr *)&clientaddr, &sin_size);
198 if (errno != EINTR) {
200 * If the cause for the error was NOT the
201 * signal from a dying child => give an error
209 /* open BCM socket */
211 if ((sc = socket(PF_CAN, SOCK_DGRAM, CAN_BCM)) < 0) {
216 memset(&caddr, 0, sizeof(caddr));
217 caddr.can_family = PF_CAN;
218 /* can_ifindex is set to 0 (any device) => need for sendto() */
220 if (connect(sc, (struct sockaddr *)&caddr, sizeof(caddr)) < 0) {
228 FD_SET(sc, &readfds);
229 FD_SET(sa, &readfds);
231 select((sc > sa)?sc+1:sa+1, &readfds, NULL, NULL, NULL);
233 if (FD_ISSET(sc, &readfds)) {
235 recvfrom(sc, &msg, sizeof(msg), 0,
236 (struct sockaddr*)&caddr, &caddrlen);
238 ifr.ifr_ifindex = caddr.can_ifindex;
239 ioctl(sc, SIOCGIFNAME, &ifr);
241 sprintf(rxmsg, "< %s %03X %d ", ifr.ifr_name,
242 msg.msg_head.can_id, msg.frame.can_dlc);
244 for ( i = 0; i < msg.frame.can_dlc; i++)
245 sprintf(rxmsg + strlen(rxmsg), "%02X ",
248 /* delimiter '\0' for Adobe(TM) Flash(TM) XML sockets */
249 strcat(rxmsg, ">\0");
251 send(sa, rxmsg, strlen(rxmsg) + 1, 0);
255 if (FD_ISSET(sa, &readfds)) {
260 if (read(sa, buf+idx, 1) < 1)
270 if (idx > MAXLEN-2) {
275 if (buf[idx] != '>') {
283 //printf("read '%s'\n", buf);
285 /* prepare bcm message settings */
286 memset(&msg, 0, sizeof(msg));
287 msg.msg_head.nframes = 1;
289 items = sscanf(buf, "< %6s %c %lu %lu %x %hhu "
290 "%hhx %hhx %hhx %hhx %hhx %hhx "
294 &msg.msg_head.ival2.tv_sec,
295 &msg.msg_head.ival2.tv_usec,
296 &msg.msg_head.can_id,
309 if (msg.frame.can_dlc > 8)
311 if (items != 6 + msg.frame.can_dlc)
314 msg.frame.can_id = msg.msg_head.can_id;
318 msg.msg_head.opcode = TX_SEND;
321 msg.msg_head.opcode = TX_SETUP;
322 msg.msg_head.flags |= SETTIMER | STARTTIMER;
325 msg.msg_head.opcode = TX_SETUP;
326 msg.msg_head.flags = 0;
329 msg.msg_head.opcode = TX_DELETE;
333 msg.msg_head.opcode = RX_SETUP;
334 msg.msg_head.flags = SETTIMER;
337 msg.msg_head.opcode = RX_SETUP;
338 msg.msg_head.flags = RX_FILTER_ID | SETTIMER;
341 msg.msg_head.opcode = RX_DELETE;
344 printf("unknown command '%c'.\n", cmd);
348 if (!ioctl(sc, SIOCGIFINDEX, &ifr)) {
349 caddr.can_ifindex = ifr.ifr_ifindex;
350 sendto(sc, &msg, sizeof(msg), 0,
351 (struct sockaddr*)&caddr, sizeof(caddr));