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25 * software may be distributed under the terms of the GNU General
26 * Public License ("GPL") version 2 as distributed in the 'COPYING'
27 * file from the main directory of the linux kernel source.
29 * The provided data structures and external interfaces from this code
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59 #include <sys/types.h>
60 #include <sys/socket.h>
61 #include <sys/ioctl.h>
65 #include <linux/can.h>
66 #include <linux/can/raw.h>
71 #define MAXDEV 6 /* change sscanf()'s manually if changed here */
73 #define ANL "\r\n" /* newline in ASC mode */
76 #define RED ATTBOLD FGRED
77 #define GREEN ATTBOLD FGGREEN
78 #define YELLOW ATTBOLD FGYELLOW
79 #define BLUE ATTBOLD FGBLUE
80 #define MAGENTA ATTBOLD FGMAGENTA
81 #define CYAN ATTBOLD FGCYAN
83 const char col_on [MAXDEV][19] = {BOLD, MAGENTA, GREEN, BLUE, CYAN, RED};
84 const char col_off [] = ATTRESET;
86 static char devname[MAXDEV][IFNAMSIZ+1];
87 static int dindex[MAXDEV];
88 static int max_devname_len;
91 const char anichar[MAXANI] = {'|', '/', '-', '\\', '|', '/', '-', '\\'};
93 extern int optind, opterr, optopt;
95 static volatile int running = 1;
97 void print_usage(char *prg)
99 fprintf(stderr, "Usage: %s [can-interfaces]\n", prg);
100 fprintf(stderr, " (use CTRL-C to terminate %s)\n", prg);
101 fprintf(stderr, "Options: -m <mask> (default 0x00000000)\n");
102 fprintf(stderr, " -v <value> (default 0x00000000)\n");
103 fprintf(stderr, " -i <0|1> (inv_filter)\n");
104 fprintf(stderr, " -e <emask> (mask for error frames)\n");
105 fprintf(stderr, " -t <type> (timestamp: Absolute/Delta/Zero)\n");
106 fprintf(stderr, " -c (color mode)\n");
107 fprintf(stderr, " -a (enable additional ASCII output)\n");
108 fprintf(stderr, " -s <level> (silent mode - 1: animation 2: nothing)\n");
109 fprintf(stderr, " -b <can> (bridge mode - send received frames to <can>)\n");
110 fprintf(stderr, " -B <can> (bridge mode - like '-b' with disabled loopback)\n");
111 fprintf(stderr, " -l (log CAN-frames into file)\n");
112 fprintf(stderr, " -L (use log file format on stdout)\n");
113 fprintf(stderr, "\n");
114 fprintf(stderr, "When using more than one CAN interface the options\n");
115 fprintf(stderr, "m/v/i/e have comma seperated values e.g. '-m 0,7FF,0'\n");
116 fprintf(stderr, "Use interface name '%s' to receive from all can-interfaces\n", ANYDEV);
119 void sigterm(int signo)
124 int idx2dindex(int ifidx, int socket) {
129 for (i=0; i<MAXDEV; i++) {
130 if (dindex[i] == ifidx)
134 /* create new interface index cache entry */
136 for (i=0; i < MAXDEV; i++)
137 if (!dindex[i]) /* free entry */
141 printf("BUG in interface index cache! MAXDEV?\n");
147 ifr.ifr_ifindex = ifidx;
148 if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
149 perror("SIOCGIFNAME");
151 if (max_devname_len < strlen(ifr.ifr_name))
152 max_devname_len = strlen(ifr.ifr_name);
154 strcpy(devname[i], ifr.ifr_name);
157 printf("new index %d (%s)\n", i, devname[i]);
163 int main(int argc, char **argv)
168 canid_t mask[MAXDEV] = {0};
169 canid_t value[MAXDEV] = {0};
170 int inv_filter[MAXDEV] = {0};
171 can_err_mask_t err_mask[MAXDEV] = {0};
172 unsigned char timestamp = 0;
173 unsigned char silent = 0;
174 unsigned char silentani = 0;
175 unsigned char color = 0;
176 unsigned char ascii = 0;
177 unsigned char log = 0;
178 unsigned char logfrmt = 0;
180 int currmax = 1; /* we assume at least one can bus ;-) */
181 struct sockaddr_can addr;
182 struct can_filter rfilter;
183 struct can_frame frame;
186 struct timeval tv, last_tv;
187 FILE *logfile = NULL;
189 signal(SIGTERM, sigterm);
190 signal(SIGHUP, sigterm);
191 signal(SIGINT, sigterm);
196 while ((opt = getopt(argc, argv, "m:v:i:e:t:cas:b:B:lL")) != -1) {
199 i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
200 &mask[0], &mask[1], &mask[2],
201 &mask[3], &mask[4], &mask[5]);
207 i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
208 &value[0], &value[1], &value[2],
209 &value[3], &value[4], &value[5]);
215 i = sscanf(optarg, "%d,%d,%d,%d,%d,%d",
216 &inv_filter[0], &inv_filter[1], &inv_filter[2],
217 &inv_filter[3], &inv_filter[4], &inv_filter[5]);
223 i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
224 &err_mask[0], &err_mask[1], &err_mask[2],
225 &err_mask[3], &err_mask[4], &err_mask[5]);
231 timestamp = optarg[0];
232 if ((timestamp != 'a') && (timestamp != 'A') &&
233 (timestamp != 'd') && (timestamp != 'z')) {
234 printf("%s: unknown timestamp mode '%c' - ignored\n",
235 basename(argv[0]), optarg[0]);
249 silent = atoi(optarg);
254 if (strlen(optarg) >= IFNAMSIZ) {
255 printf("Name of CAN device '%s' is too long!\n\n", optarg);
259 if ((bridge = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
260 perror("bridge socket");
263 addr.can_family = AF_CAN;
264 strcpy(ifr.ifr_name, optarg);
265 if (ioctl(bridge, SIOCGIFINDEX, &ifr) < 0)
266 perror("SIOCGIFINDEX");
267 addr.can_ifindex = ifr.ifr_ifindex;
269 if (!addr.can_ifindex) {
270 perror("invalid bridge interface");
277 setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_LOOPBACK, &loopback, sizeof(loopback));
280 if (bind(bridge, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
281 perror("bridge bind");
296 fprintf(stderr, "Unknown option %c\n", opt);
297 print_usage(basename(argv[0]));
303 if (optind == argc) {
304 print_usage(basename(argv[0]));
308 /* count in options higher than device count ? */
309 if (optind + currmax > argc) {
310 printf("low count of CAN devices!\n");
314 currmax = argc - optind; /* find real number of CAN devices */
316 if (currmax > MAXDEV) {
317 printf("More than %d CAN devices!\n", MAXDEV);
321 for (i=0; i<currmax; i++) {
324 printf("open %d '%s' m%08X v%08X i%d e%d.\n",
325 i, argv[optind+i], mask[i], value[i],
326 inv_filter[i], err_mask[i]);
329 if ((s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
334 if (mask[i] || value[i]) {
336 printf("CAN ID filter[%d] for %s set to "
337 "mask = %08X, value = %08X %s\n",
338 i, argv[optind+i], mask[i], value[i],
339 (inv_filter[i]) ? "(inv_filter)" : "");
341 rfilter.can_id = value[i];
342 rfilter.can_mask = mask[i];
344 rfilter.can_id |= CAN_INV_FILTER;
346 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
347 &rfilter, sizeof(rfilter));
351 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
352 &err_mask[i], sizeof(err_mask[i]));
354 j = strlen(argv[optind+i]);
356 if (!(j < IFNAMSIZ)) {
357 printf("name of CAN device '%s' is too long!\n", argv[optind+i]);
361 if (j > max_devname_len)
362 max_devname_len = j; /* for nice printing */
364 addr.can_family = AF_CAN;
366 if (strcmp(ANYDEV, argv[optind+i])) {
367 strcpy(ifr.ifr_name, argv[optind+i]);
368 if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
369 perror("SIOCGIFINDEX");
372 addr.can_ifindex = ifr.ifr_ifindex;
375 addr.can_ifindex = 0; /* any can interface */
377 if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
386 char fname[sizeof("candump-2006-11-20_202026.log")+1];
388 if (time(&currtime) == (time_t)-1) {
393 localtime_r(&currtime, &now);
395 sprintf(fname, "candump-%04d-%02d-%02d_%02d%02d%02d.log",
403 printf("\nEnabling Logfile '%s'\n\n", fname);
405 logfile = fopen(fname, "w");
415 for (i=0; i<currmax; i++)
418 if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, NULL)) < 0) {
424 for (i=0; i<currmax; i++) { /* check all CAN RAW sockets */
426 if (FD_ISSET(s[i], &rdfs)) {
428 socklen_t len = sizeof(addr);
431 if ((nbytes = recvfrom(s[i], &frame,
432 sizeof(struct can_frame), 0,
433 (struct sockaddr*)&addr, &len)) < 0) {
438 if (nbytes < sizeof(struct can_frame)) {
439 fprintf(stderr, "read: incomplete CAN frame\n");
444 if ((nbytes = write(bridge, &frame,
445 sizeof(struct can_frame))) < 0) {
446 perror("bridge write");
448 } else if (nbytes < sizeof(struct can_frame)) {
449 fprintf(stderr,"bridge write: incomplete CAN frame\n");
454 if (timestamp || log || logfrmt)
455 if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
456 perror("SIOCGSTAMP");
459 idx = idx2dindex(addr.can_ifindex, s[i]);
462 /* log CAN frame with absolute timestamp & device */
463 fprintf(logfile, "(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
464 fprintf(logfile, "%*s ", max_devname_len, devname[idx]);
465 /* without seperator as logfile use-case is parsing */
466 fprint_canframe(logfile, &frame, "\n", 0);
470 /* print CAN frame in log file style to stdout */
471 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
472 printf("%*s ", max_devname_len, devname[idx]);
473 fprint_canframe(stdout, &frame, "\n", 0);
474 goto out_fflush; /* no other output to stdout */
479 printf("%c\b", anichar[silentani%=MAXANI]);
482 goto out_fflush; /* no other output to stdout */
485 printf(" %s", (color>2)?col_on[idx]:"");
489 case 'a': /* absolute with timestamp */
490 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
493 case 'A': /* absolute with date */
498 tm = *localtime(&tv.tv_sec);
499 strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
500 printf("(%s.%06ld) ", timestring, tv.tv_usec);
504 case 'd': /* delta */
505 case 'z': /* starting with zero */
509 if (last_tv.tv_sec == 0) /* first init */
511 diff.tv_sec = tv.tv_sec - last_tv.tv_sec;
512 diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
513 if (diff.tv_usec < 0)
514 diff.tv_sec--, diff.tv_usec += 1000000;
516 diff.tv_sec = diff.tv_usec = 0;
517 printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
519 if (timestamp == 'd')
520 last_tv = tv; /* update for delta calculation */
524 default: /* no timestamp output */
528 printf(" %s", (color && (color<3))?col_on[idx]:"");
529 printf("%*s", max_devname_len, devname[idx]);
530 printf("%s ", (color==1)?col_off:"");
532 fprint_long_canframe(stdout, &frame, NULL, ascii);
534 printf("%s", (color>1)?col_off:"");
543 for (i=0; i<currmax; i++)