candump.c

   1 /*
   2  * candump.c
   3  *
   4  * Copyright (c) 2002-2009 Volkswagen Group Electronic Research
   5  * All rights reserved.
   6  *
   7  * Redistribution and use in source and binary forms, with or without
   8  * modification, are permitted provided that the following conditions
   9  * are met:
  10  * 1. Redistributions of source code must retain the above copyright
  11  *    notice, this list of conditions and the following disclaimer.
  12  * 2. Redistributions in binary form must reproduce the above copyright
  13  *    notice, this list of conditions and the following disclaimer in the
  14  *    documentation and/or other materials provided with the distribution.
  15  * 3. Neither the name of Volkswagen nor the names of its contributors
  16  *    may be used to endorse or promote products derived from this software
  17  *    without specific prior written permission.
  18  *
  19  * Alternatively, provided that this notice is retained in full, this
  20  * software may be distributed under the terms of the GNU General
  21  * Public License ("GPL") version 2, in which case the provisions of the
  22  * GPL apply INSTEAD OF those given above.
  23  *
  24  * The provided data structures and external interfaces from this code
  25  * are not restricted to be used by modules with a GPL compatible license.
  26  *
  27  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  28  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  29  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
  30  * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
  31  * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
  32  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
  33  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
  34  * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
  35  * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
  36  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  37  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
  38  * DAMAGE.
  39  *
  40  * Send feedback to <linux-can@vger.kernel.org>
  41  *
  42  */
  43
  44 #include <stdio.h>
  45 #include <stdlib.h>
  46 #include <unistd.h>
  47 #include <string.h>
  48 #include <signal.h>
  49 #include <ctype.h>
  50 #include <libgen.h>
  51 #include <time.h>
  52 #include <errno.h>
  53
  54 #include <sys/time.h>
  55 #include <sys/types.h>
  56 #include <sys/socket.h>
  57 #include <sys/ioctl.h>
  58 #include <sys/uio.h>
  59 #include <net/if.h>
  60
  61 #include <linux/can.h>
  62 #include <linux/can/raw.h>
  63
  64 #include "terminal.h"
  65 #include "lib.h"
  66
  67 #define MAXSOCK 16    /* max. number of CAN interfaces given on the cmdline */
  68 #define MAXIFNAMES 30 /* size of receive name index to omit ioctls */
  69 #define MAXCOL 6      /* number of different colors for colorized output */
  70 #define ANYDEV "any"  /* name of interface to receive from any CAN interface */
  71 #define ANL "\r\n"    /* newline in ASC mode */
  72
  73 #define SILENT_INI 42 /* detect user setting on commandline */
  74 #define SILENT_OFF 0  /* no silent mode */
  75 #define SILENT_ANI 1  /* silent mode with animation */
  76 #define SILENT_ON  2  /* silent mode (completely silent) */
  77
  78 #define BOLD    ATTBOLD
  79 #define RED     ATTBOLD FGRED
  80 #define GREEN   ATTBOLD FGGREEN
  81 #define YELLOW  ATTBOLD FGYELLOW
  82 #define BLUE    ATTBOLD FGBLUE
  83 #define MAGENTA ATTBOLD FGMAGENTA
  84 #define CYAN    ATTBOLD FGCYAN
  85
  86 const char col_on [MAXCOL][19] = {BLUE, RED, GREEN, BOLD, MAGENTA, CYAN};
  87 const char col_off [] = ATTRESET;
  88
  89 static char *cmdlinename[MAXSOCK];
  90 static __u32 dropcnt[MAXSOCK];
  91 static __u32 last_dropcnt[MAXSOCK];
  92 static char devname[MAXIFNAMES][IFNAMSIZ+1];
  93 static int  dindex[MAXIFNAMES];
  94 static int  max_devname_len; /* to prevent frazzled device name output */
  95 const int canfd_on = 1;
  96
  97 #define MAXANI 4
  98 const char anichar[MAXANI] = {'|', '/', '-', '\\'};
  99 const char extra_m_info[4][4] = {"- -", "B -", "- E", "B E"};
 100
 101 extern int optind, opterr, optopt;
 102
 103 static volatile int running = 1;
 104
 105 void print_usage(char *prg)
 106 {
 107         fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
 108         fprintf(stderr, "  (use CTRL-C to terminate %s)\n\n", prg);
 109         fprintf(stderr, "Options: -t <type>   (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
 110         fprintf(stderr, "         -c          (increment color mode level)\n");
 111         fprintf(stderr, "         -i          (binary output - may exceed 80 chars/line)\n");
 112         fprintf(stderr, "         -a          (enable additional ASCII output)\n");
 113         fprintf(stderr, "         -S          (swap byte order in printed CAN data[] - marked with '%c' )\n", SWAP_DELIMITER);
 114         fprintf(stderr, "         -s <level>  (silent mode - %d: off (default) %d: animation %d: silent)\n", SILENT_OFF, SILENT_ANI, SILENT_ON);
 115         fprintf(stderr, "         -b <can>    (bridge mode - send received frames to <can>)\n");
 116         fprintf(stderr, "         -B <can>    (bridge mode - like '-b' with disabled loopback)\n");
 117         fprintf(stderr, "         -u <usecs>  (delay bridge forwarding by <usecs> microseconds)\n");
 118         fprintf(stderr, "         -l          (log CAN-frames into file. Sets '-s %d' by default)\n", SILENT_ON);
 119         fprintf(stderr, "         -L          (use log file format on stdout)\n");
 120         fprintf(stderr, "         -n <count>  (terminate after receiption of <count> CAN frames)\n");
 121         fprintf(stderr, "         -r <size>   (set socket receive buffer to <size>)\n");
 122         fprintf(stderr, "         -d          (monitor dropped CAN frames)\n");
 123         fprintf(stderr, "         -e          (dump CAN error frames in human-readable format)\n");
 124         fprintf(stderr, "         -x          (print extra message infos, rx/tx brs esi)\n");
 125         fprintf(stderr, "         -T <msecs>  (terminate after <msecs> without any reception)\n");
 126         fprintf(stderr, "\n");
 127         fprintf(stderr, "Up to %d CAN interfaces with optional filter sets can be specified\n", MAXSOCK);
 128         fprintf(stderr, "on the commandline in the form: <ifname>[,filter]*\n");
 129         fprintf(stderr, "\nComma separated filters can be specified for each given CAN interface:\n");
 130         fprintf(stderr, " <can_id>:<can_mask> (matches when <received_can_id> & mask == can_id & mask)\n");
 131         fprintf(stderr, " <can_id>~<can_mask> (matches when <received_can_id> & mask != can_id & mask)\n");
 132         fprintf(stderr, " #<error_mask>       (set error frame filter, see include/linux/can/error.h)\n");
 133         fprintf(stderr, "\nCAN IDs, masks and data content are given and expected in hexadecimal values.\n");
 134         fprintf(stderr, "When can_id and can_mask are both 8 digits, they are assumed to be 29 bit EFF.\n");
 135         fprintf(stderr, "Without any given filter all data frames are received ('0:0' default filter).\n");
 136         fprintf(stderr, "\nUse interface name '%s' to receive from all CAN interfaces.\n", ANYDEV);
 137         fprintf(stderr, "\nExamples:\n");
 138         fprintf(stderr, "%s -c -c -ta can0,123:7FF,400:700,#000000FF can2,400~7F0 can3 can8\n", prg);
 139         fprintf(stderr, "%s -l any,0~0,#FFFFFFFF    (log only error frames but no(!) data frames)\n", prg);
 140         fprintf(stderr, "%s -l any,0:0,#FFFFFFFF    (log error frames and also all data frames)\n", prg);
 141         fprintf(stderr, "%s vcan2,92345678:DFFFFFFF (match only for extended CAN ID 12345678)\n", prg);
 142         fprintf(stderr, "%s vcan2,123:7FF (matches CAN ID 123 - including EFF and RTR frames)\n", prg);
 143         fprintf(stderr, "%s vcan2,123:C00007FF (matches CAN ID 123 - only SFF and non-RTR frames)\n", prg);
 144         fprintf(stderr, "\n");
 145 }
 146
 147 void sigterm(int signo)
 148 {
 149         running = 0;
 150 }
 151
 152 int idx2dindex(int ifidx, int socket) {
 153
 154         int i;
 155         struct ifreq ifr;
 156
 157         for (i=0; i < MAXIFNAMES; i++) {
 158                 if (dindex[i] == ifidx)
 159                         return i;
 160         }
 161
 162         /* create new interface index cache entry */
 163
 164         /* remove index cache zombies first */
 165         for (i=0; i < MAXIFNAMES; i++) {
 166                 if (dindex[i]) {
 167                         ifr.ifr_ifindex = dindex[i];
 168                         if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
 169                                 dindex[i] = 0;
 170                 }
 171         }
 172
 173         for (i=0; i < MAXIFNAMES; i++)
 174                 if (!dindex[i]) /* free entry */
 175                         break;
 176
 177         if (i == MAXIFNAMES) {
 178                 fprintf(stderr, "Interface index cache only supports %d interfaces.\n",
 179                        MAXIFNAMES);
 180                 exit(1);
 181         }
 182
 183         dindex[i] = ifidx;
 184
 185         ifr.ifr_ifindex = ifidx;
 186         if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
 187                 perror("SIOCGIFNAME");
 188
 189         if (max_devname_len < strlen(ifr.ifr_name))
 190                 max_devname_len = strlen(ifr.ifr_name);
 191
 192         strcpy(devname[i], ifr.ifr_name);
 193
 194 #ifdef DEBUG
 195         printf("new index %d (%s)\n", i, devname[i]);
 196 #endif
 197
 198         return i;
 199 }
 200
 201 int main(int argc, char **argv)
 202 {
 203         fd_set rdfs;
 204         int s[MAXSOCK];
 205         int bridge = 0;
 206         useconds_t bridge_delay = 0;
 207         unsigned char timestamp = 0;
 208         unsigned char dropmonitor = 0;
 209         unsigned char extra_msg_info = 0;
 210         unsigned char silent = SILENT_INI;
 211         unsigned char silentani = 0;
 212         unsigned char color = 0;
 213         unsigned char view = 0;
 214         unsigned char log = 0;
 215         unsigned char logfrmt = 0;
 216         int count = 0;
 217         int rcvbuf_size = 0;
 218         int opt, ret;
 219         int currmax, numfilter;
 220         char *ptr, *nptr;
 221         struct sockaddr_can addr;
 222         char ctrlmsg[CMSG_SPACE(sizeof(struct timeval)) + CMSG_SPACE(sizeof(__u32))];
 223         struct iovec iov;
 224         struct msghdr msg;
 225         struct cmsghdr *cmsg;
 226         struct can_filter *rfilter;
 227         can_err_mask_t err_mask;
 228         struct canfd_frame frame;
 229         int nbytes, i, maxdlen;
 230         struct ifreq ifr;
 231         struct timeval tv, last_tv;
 232         struct timeval timeout, timeout_config = { 0, 0 }, *timeout_current = NULL;
 233         FILE *logfile = NULL;
 234
 235         signal(SIGTERM, sigterm);
 236         signal(SIGHUP, sigterm);
 237         signal(SIGINT, sigterm);
 238
 239         last_tv.tv_sec  = 0;
 240         last_tv.tv_usec = 0;
 241
 242         while ((opt = getopt(argc, argv, "t:ciaSs:b:B:u:ldxLn:r:heT:?")) != -1) {
 243                 switch (opt) {
 244                 case 't':
 245                         timestamp = optarg[0];
 246                         if ((timestamp != 'a') && (timestamp != 'A') &&
 247                             (timestamp != 'd') && (timestamp != 'z')) {
 248                                 fprintf(stderr, "%s: unknown timestamp mode '%c' - ignored\n",
 249                                        basename(argv[0]), optarg[0]);
 250                                 timestamp = 0;
 251                         }
 252                         break;
 253
 254                 case 'c':
 255                         color++;
 256                         break;
 257
 258                 case 'i':
 259                         view |= CANLIB_VIEW_BINARY;
 260                         break;
 261
 262                 case 'a':
 263                         view |= CANLIB_VIEW_ASCII;
 264                         break;
 265
 266                 case 'S':
 267                         view |= CANLIB_VIEW_SWAP;
 268                         break;
 269
 270                 case 'e':
 271                         view |= CANLIB_VIEW_ERROR;
 272                         break;
 273
 274                 case 's':
 275                         silent = atoi(optarg);
 276                         if (silent > SILENT_ON) {
 277                                 print_usage(basename(argv[0]));
 278                                 exit(1);
 279                         }
 280                         break;
 281
 282                 case 'b':
 283                 case 'B':
 284                         if (strlen(optarg) >= IFNAMSIZ) {
 285                                 fprintf(stderr, "Name of CAN device '%s' is too long!\n\n", optarg);
 286                                 return 1;
 287                         } else {
 288                                 bridge = socket(PF_CAN, SOCK_RAW, CAN_RAW);
 289                                 if (bridge < 0) {
 290                                         perror("bridge socket");
 291                                         return 1;
 292                                 }
 293                                 addr.can_family = AF_CAN;
 294                                 strcpy(ifr.ifr_name, optarg);
 295                                 if (ioctl(bridge, SIOCGIFINDEX, &ifr) < 0)
 296                                         perror("SIOCGIFINDEX");
 297                                 addr.can_ifindex = ifr.ifr_ifindex;
 298
 299                                 if (!addr.can_ifindex) {
 300                                         perror("invalid bridge interface");
 301                                         return 1;
 302                                 }
 303
 304                                 /* disable default receive filter on this write-only RAW socket */
 305                                 setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
 306
 307                                 if (opt == 'B') {
 308                                         const int loopback = 0;
 309
 310                                         setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
 311                                                    &loopback, sizeof(loopback));
 312                                 }
 313
 314                                 if (bind(bridge, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 315                                         perror("bridge bind");
 316                                         return 1;
 317                                 }
 318                         }
 319                         break;
 320
 321                 case 'u':
 322                         bridge_delay = (useconds_t)strtoul(optarg, (char **)NULL, 10);
 323                         break;
 324
 325                 case 'l':
 326                         log = 1;
 327                         break;
 328
 329                 case 'd':
 330                         dropmonitor = 1;
 331                         break;
 332
 333                 case 'x':
 334                         extra_msg_info = 1;
 335                         break;
 336
 337                 case 'L':
 338                         logfrmt = 1;
 339                         break;
 340
 341                 case 'n':
 342                         count = atoi(optarg);
 343                         if (count < 1) {
 344                                 print_usage(basename(argv[0]));
 345                                 exit(1);
 346                         }
 347                         break;
 348
 349                 case 'r':
 350                         rcvbuf_size = atoi(optarg);
 351                         if (rcvbuf_size < 1) {
 352                                 print_usage(basename(argv[0]));
 353                                 exit(1);
 354                         }
 355                         break;
 356
 357                 case 'T':
 358                         errno = 0;
 359                         timeout_config.tv_usec = strtol(optarg, NULL, 0);
 360                         if (errno != 0) {
 361                                 print_usage(basename(argv[0]));
 362                                 exit(1);
 363                         }
 364                         timeout_config.tv_sec = timeout_config.tv_usec / 1000;
 365                         timeout_config.tv_usec = (timeout_config.tv_usec % 1000) * 1000;
 366                         timeout_current = &timeout;
 367                         break;
 368                 default:
 369                         print_usage(basename(argv[0]));
 370                         exit(1);
 371                         break;
 372                 }
 373         }
 374
 375         if (optind == argc) {
 376                 print_usage(basename(argv[0]));
 377                 exit(0);
 378         }
 379
 380         if (logfrmt && view) {
 381                 fprintf(stderr, "Log file format selected: Please disable ASCII/BINARY/SWAP options!\n");
 382                 exit(0);
 383         }
 384
 385         if (silent == SILENT_INI) {
 386                 if (log) {
 387                         fprintf(stderr, "Disabled standard output while logging.\n");
 388                         silent = SILENT_ON; /* disable output on stdout */
 389                 } else
 390                         silent = SILENT_OFF; /* default output */
 391         }
 392
 393         currmax = argc - optind; /* find real number of CAN devices */
 394
 395         if (currmax > MAXSOCK) {
 396                 fprintf(stderr, "More than %d CAN devices given on commandline!\n", MAXSOCK);
 397                 return 1;
 398         }
 399
 400         for (i=0; i < currmax; i++) {
 401
 402                 ptr = argv[optind+i];
 403                 nptr = strchr(ptr, ',');
 404
 405 #ifdef DEBUG
 406                 printf("open %d '%s'.\n", i, ptr);
 407 #endif
 408
 409                 s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW);
 410                 if (s[i] < 0) {
 411                         perror("socket");
 412                         return 1;
 413                 }
 414
 415                 cmdlinename[i] = ptr; /* save pointer to cmdline name of this socket */
 416
 417                 if (nptr)
 418                         nbytes = nptr - ptr;  /* interface name is up the first ',' */
 419                 else
 420                         nbytes = strlen(ptr); /* no ',' found => no filter definitions */
 421
 422                 if (nbytes >= IFNAMSIZ) {
 423                         fprintf(stderr, "name of CAN device '%s' is too long!\n", ptr);
 424                         return 1;
 425                 }
 426
 427                 if (nbytes > max_devname_len)
 428                         max_devname_len = nbytes; /* for nice printing */
 429
 430                 addr.can_family = AF_CAN;
 431
 432                 memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));
 433                 strncpy(ifr.ifr_name, ptr, nbytes);
 434
 435 #ifdef DEBUG
 436                 printf("using interface name '%s'.\n", ifr.ifr_name);
 437 #endif
 438
 439                 if (strcmp(ANYDEV, ifr.ifr_name)) {
 440                         if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
 441                                 perror("SIOCGIFINDEX");
 442                                 exit(1);
 443                         }
 444                         addr.can_ifindex = ifr.ifr_ifindex;
 445                 } else
 446                         addr.can_ifindex = 0; /* any can interface */
 447
 448                 if (nptr) {
 449
 450                         /* found a ',' after the interface name => check for filters */
 451
 452                         /* determine number of filters to alloc the filter space */
 453                         numfilter = 0;
 454                         ptr = nptr;
 455                         while (ptr) {
 456                                 numfilter++;
 457                                 ptr++; /* hop behind the ',' */
 458                                 ptr = strchr(ptr, ','); /* exit condition */
 459                         }
 460
 461                         rfilter = malloc(sizeof(struct can_filter) * numfilter);
 462                         if (!rfilter) {
 463                                 fprintf(stderr, "Failed to create filter space!\n");
 464                                 return 1;
 465                         }
 466
 467                         numfilter = 0;
 468                         err_mask = 0;
 469
 470                         while (nptr) {
 471
 472                                 ptr = nptr+1; /* hop behind the ',' */
 473                                 nptr = strchr(ptr, ','); /* update exit condition */
 474
 475                                 if (sscanf(ptr, "%x:%x",
 476                                            &rfilter[numfilter].can_id,
 477                                            &rfilter[numfilter].can_mask) == 2) {
 478                                         rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
 479                                         numfilter++;
 480                                 } else if (sscanf(ptr, "%x~%x",
 481                                                   &rfilter[numfilter].can_id,
 482                                                   &rfilter[numfilter].can_mask) == 2) {
 483                                         rfilter[numfilter].can_id |= CAN_INV_FILTER;
 484                                         rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
 485                                         numfilter++;
 486                                 } else if (sscanf(ptr, "#%x", &err_mask) != 1) {
 487                                         fprintf(stderr, "Error in filter option parsing: '%s'\n", ptr);
 488                                         return 1;
 489                                 }
 490                         }
 491
 492                         if (err_mask)
 493                                 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
 494                                            &err_mask, sizeof(err_mask));
 495
 496                         if (numfilter)
 497                                 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
 498                                            rfilter, numfilter * sizeof(struct can_filter));
 499
 500                         free(rfilter);
 501
 502                 } /* if (nptr) */
 503
 504                 /* try to switch the socket into CAN FD mode */
 505                 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on));
 506
 507                 if (rcvbuf_size) {
 508
 509                         int curr_rcvbuf_size;
 510                         socklen_t curr_rcvbuf_size_len = sizeof(curr_rcvbuf_size);
 511
 512                         /* try SO_RCVBUFFORCE first, if we run with CAP_NET_ADMIN */
 513                         if (setsockopt(s[i], SOL_SOCKET, SO_RCVBUFFORCE,
 514                                        &rcvbuf_size, sizeof(rcvbuf_size)) < 0) {
 515 #ifdef DEBUG
 516                                 printf("SO_RCVBUFFORCE failed so try SO_RCVBUF ...\n");
 517 #endif
 518                                 if (setsockopt(s[i], SOL_SOCKET, SO_RCVBUF,
 519                                                &rcvbuf_size, sizeof(rcvbuf_size)) < 0) {
 520                                         perror("setsockopt SO_RCVBUF");
 521                                         return 1;
 522                                 }
 523
 524                                 if (getsockopt(s[i], SOL_SOCKET, SO_RCVBUF,
 525                                                &curr_rcvbuf_size, &curr_rcvbuf_size_len) < 0) {
 526                                         perror("getsockopt SO_RCVBUF");
 527                                         return 1;
 528                                 }
 529
 530                                 /* Only print a warning the first time we detect the adjustment */
 531                                 /* n.b.: The wanted size is doubled in Linux in net/sore/sock.c */
 532                                 if (!i && curr_rcvbuf_size < rcvbuf_size*2)
 533                                         fprintf(stderr, "The socket receive buffer size was "
 534                                                 "adjusted due to /proc/sys/net/core/rmem_max.\n");
 535                         }
 536                 }
 537
 538                 if (timestamp || log || logfrmt) {
 539
 540                         const int timestamp_on = 1;
 541
 542                         if (setsockopt(s[i], SOL_SOCKET, SO_TIMESTAMP,
 543                                        &timestamp_on, sizeof(timestamp_on)) < 0) {
 544                                 perror("setsockopt SO_TIMESTAMP");
 545                                 return 1;
 546                         }
 547                 }
 548
 549                 if (dropmonitor) {
 550
 551                         const int dropmonitor_on = 1;
 552
 553                         if (setsockopt(s[i], SOL_SOCKET, SO_RXQ_OVFL,
 554                                        &dropmonitor_on, sizeof(dropmonitor_on)) < 0) {
 555                                 perror("setsockopt SO_RXQ_OVFL not supported by your Linux Kernel");
 556                                 return 1;
 557                         }
 558                 }
 559
 560                 if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 561                         perror("bind");
 562                         return 1;
 563                 }
 564         }
 565
 566         if (log) {
 567                 time_t currtime;
 568                 struct tm now;
 569                 char fname[sizeof("candump-2006-11-20_202026.log")+1];
 570
 571                 if (time(&currtime) == (time_t)-1) {
 572                         perror("time");
 573                         return 1;
 574                 }
 575
 576                 localtime_r(&currtime, &now);
 577
 578                 sprintf(fname, "candump-%04d-%02d-%02d_%02d%02d%02d.log",
 579                         now.tm_year + 1900,
 580                         now.tm_mon + 1,
 581                         now.tm_mday,
 582                         now.tm_hour,
 583                         now.tm_min,
 584                         now.tm_sec);
 585
 586                 if (silent != SILENT_ON)
 587                         printf("\nWarning: console output active while logging!");
 588
 589                 fprintf(stderr, "\nEnabling Logfile '%s'\n\n", fname);
 590
 591                 logfile = fopen(fname, "w");
 592                 if (!logfile) {
 593                         perror("logfile");
 594                         return 1;
 595                 }
 596         }
 597
 598         /* these settings are static and can be held out of the hot path */
 599         iov.iov_base = &frame;
 600         msg.msg_name = &addr;
 601         msg.msg_iov = &iov;
 602         msg.msg_iovlen = 1;
 603         msg.msg_control = &ctrlmsg;
 604
 605         while (running) {
 606
 607                 FD_ZERO(&rdfs);
 608                 for (i=0; i<currmax; i++)
 609                         FD_SET(s[i], &rdfs);
 610
 611                 if (timeout_current)
 612                         *timeout_current = timeout_config;
 613
 614                 if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, timeout_current)) <= 0) {
 615                         //perror("select");
 616                         running = 0;
 617                         continue;
 618                 }
 619
 620                 for (i=0; i<currmax; i++) {  /* check all CAN RAW sockets */
 621
 622                         if (FD_ISSET(s[i], &rdfs)) {
 623
 624                                 int idx;
 625
 626                                 /* these settings may be modified by recvmsg() */
 627                                 iov.iov_len = sizeof(frame);
 628                                 msg.msg_namelen = sizeof(addr);
 629                                 msg.msg_controllen = sizeof(ctrlmsg);
 630                                 msg.msg_flags = 0;
 631
 632                                 nbytes = recvmsg(s[i], &msg, 0);
 633                                 if (nbytes < 0) {
 634                                         perror("read");
 635                                         return 1;
 636                                 }
 637
 638                                 if ((size_t)nbytes == CAN_MTU)
 639                                         maxdlen = CAN_MAX_DLEN;
 640                                 else if ((size_t)nbytes == CANFD_MTU)
 641                                         maxdlen = CANFD_MAX_DLEN;
 642                                 else {
 643                                         fprintf(stderr, "read: incomplete CAN frame\n");
 644                                         return 1;
 645                                 }
 646
 647                                 if (count && (--count == 0))
 648                                         running = 0;
 649
 650                                 if (bridge) {
 651                                         if (bridge_delay)
 652                                                 usleep(bridge_delay);
 653
 654                                         nbytes = write(bridge, &frame, nbytes);
 655                                         if (nbytes < 0) {
 656                                                 perror("bridge write");
 657                                                 return 1;
 658                                         } else if ((size_t)nbytes != CAN_MTU && (size_t)nbytes != CANFD_MTU) {
 659                                                 fprintf(stderr,"bridge write: incomplete CAN frame\n");
 660                                                 return 1;
 661                                         }
 662                                 }
 663
 664                                 for (cmsg = CMSG_FIRSTHDR(&msg);
 665                                      cmsg && (cmsg->cmsg_level == SOL_SOCKET);
 666                                      cmsg = CMSG_NXTHDR(&msg,cmsg)) {
 667                                         if (cmsg->cmsg_type == SO_TIMESTAMP)
 668                                                 tv = *(struct timeval *)CMSG_DATA(cmsg);
 669                                         else if (cmsg->cmsg_type == SO_RXQ_OVFL)
 670                                                 dropcnt[i] = *(__u32 *)CMSG_DATA(cmsg);
 671                                 }
 672
 673                                 /* check for (unlikely) dropped frames on this specific socket */
 674                                 if (dropcnt[i] != last_dropcnt[i]) {
 675
 676                                         __u32 frames;
 677
 678                                         if (dropcnt[i] > last_dropcnt[i])
 679                                                 frames = dropcnt[i] - last_dropcnt[i];
 680                                         else
 681                                                 frames = 4294967295U - last_dropcnt[i] + dropcnt[i]; /* 4294967295U == UINT32_MAX */
 682
 683                                         if (silent != SILENT_ON)
 684                                                 printf("DROPCOUNT: dropped %d CAN frame%s on '%s' socket (total drops %d)\n",
 685                                                        frames, (frames > 1)?"s":"", cmdlinename[i], dropcnt[i]);
 686
 687                                         if (log)
 688                                                 fprintf(logfile, "DROPCOUNT: dropped %d CAN frame%s on '%s' socket (total drops %d)\n",
 689                                                         frames, (frames > 1)?"s":"", cmdlinename[i], dropcnt[i]);
 690
 691                                         last_dropcnt[i] = dropcnt[i];
 692                                 }
 693
 694                                 idx = idx2dindex(addr.can_ifindex, s[i]);
 695
 696                                 /* once we detected a EFF frame indent SFF frames accordingly */
 697                                 if (frame.can_id & CAN_EFF_FLAG)
 698                                         view |= CANLIB_VIEW_INDENT_SFF;
 699
 700                                 if (log) {
 701                                         /* log CAN frame with absolute timestamp & device */
 702                                         fprintf(logfile, "(%010ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 703                                         fprintf(logfile, "%*s ", max_devname_len, devname[idx]);
 704                                         /* without seperator as logfile use-case is parsing */
 705                                         fprint_canframe(logfile, &frame, "\n", 0, maxdlen);
 706                                 }
 707
 708                                 if (logfrmt) {
 709                                         /* print CAN frame in log file style to stdout */
 710                                         printf("(%010ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 711                                         printf("%*s ", max_devname_len, devname[idx]);
 712                                         fprint_canframe(stdout, &frame, "\n", 0, maxdlen);
 713                                         goto out_fflush; /* no other output to stdout */
 714                                 }
 715
 716                                 if (silent != SILENT_OFF){
 717                                         if (silent == SILENT_ANI) {
 718                                                 printf("%c\b", anichar[silentani%=MAXANI]);
 719                                                 silentani++;
 720                                         }
 721                                         goto out_fflush; /* no other output to stdout */
 722                                 }
 723
 724                                 printf(" %s", (color>2)?col_on[idx%MAXCOL]:"");
 725
 726                                 switch (timestamp) {
 727
 728                                 case 'a': /* absolute with timestamp */
 729                                         printf("(%010ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 730                                         break;
 731
 732                                 case 'A': /* absolute with date */
 733                                 {
 734                                         struct tm tm;
 735                                         char timestring[25];
 736
 737                                         tm = *localtime(&tv.tv_sec);
 738                                         strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
 739                                         printf("(%s.%06ld) ", timestring, tv.tv_usec);
 740                                 }
 741                                 break;
 742
 743                                 case 'd': /* delta */
 744                                 case 'z': /* starting with zero */
 745                                 {
 746                                         struct timeval diff;
 747
 748                                         if (last_tv.tv_sec == 0)   /* first init */
 749                                                 last_tv = tv;
 750                                         diff.tv_sec  = tv.tv_sec  - last_tv.tv_sec;
 751                                         diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
 752                                         if (diff.tv_usec < 0)
 753                                                 diff.tv_sec--, diff.tv_usec += 1000000;
 754                                         if (diff.tv_sec < 0)
 755                                                 diff.tv_sec = diff.tv_usec = 0;
 756                                         printf("(%03ld.%06ld) ", diff.tv_sec, diff.tv_usec);
 757
 758                                         if (timestamp == 'd')
 759                                                 last_tv = tv; /* update for delta calculation */
 760                                 }
 761                                 break;
 762
 763                                 default: /* no timestamp output */
 764                                         break;
 765                                 }
 766
 767                                 printf(" %s", (color && (color<3))?col_on[idx%MAXCOL]:"");
 768                                 printf("%*s", max_devname_len, devname[idx]);
 769
 770                                 if (extra_msg_info) {
 771
 772                                         if (msg.msg_flags & MSG_DONTROUTE)
 773                                                 printf ("  TX %s", extra_m_info[frame.flags & 3]);
 774                                         else
 775                                                 printf ("  RX %s", extra_m_info[frame.flags & 3]);
 776                                 }
 777
 778                                 printf("%s  ", (color==1)?col_off:"");
 779
 780                                 fprint_long_canframe(stdout, &frame, NULL, view, maxdlen);
 781
 782                                 printf("%s", (color>1)?col_off:"");
 783                                 printf("\n");
 784                         }
 785
 786                 out_fflush:
 787                         fflush(stdout);
 788                 }
 789         }
 790
 791         for (i=0; i<currmax; i++)
 792                 close(s[i]);
 793
 794         if (bridge)
 795                 close(bridge);
 796
 797         if (log)
 798                 fclose(logfile);
 799
 800         return 0;
 801 }