8 * Copyright (c) 2002-2009 Volkswagen Group Electronic Research
11 * Redistribution and use in source and binary forms, with or without
12 * modification, are permitted provided that the following conditions
14 * 1. Redistributions of source code must retain the above copyright
15 * notice, this list of conditions and the following disclaimer.
16 * 2. Redistributions in binary form must reproduce the above copyright
17 * notice, this list of conditions and the following disclaimer in the
18 * documentation and/or other materials provided with the distribution.
19 * 3. Neither the name of Volkswagen nor the names of its contributors
20 * may be used to endorse or promote products derived from this software
21 * without specific prior written permission.
23 * Alternatively, provided that this notice is retained in full, this
24 * software may be distributed under the terms of the GNU General
25 * Public License ("GPL") version 2, in which case the provisions of the
26 * GPL apply INSTEAD OF those given above.
28 * The provided data structures and external interfaces from this code
29 * are not restricted to be used by modules with a GPL compatible license.
31 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
32 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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44 * Send feedback to <linux-can@vger.kernel.org>
58 #include <sys/types.h>
59 #include <sys/socket.h>
60 #include <sys/ioctl.h>
64 #include <linux/can.h>
65 #include <linux/can/raw.h>
70 #define MAXSOCK 16 /* max. number of CAN interfaces given on the cmdline */
71 #define MAXIFNAMES 30 /* size of receive name index to omit ioctls */
72 #define MAXCOL 6 /* number of different colors for colorized output */
73 #define ANYDEV "any" /* name of interface to receive from any CAN interface */
74 #define ANL "\r\n" /* newline in ASC mode */
76 #define SILENT_INI 42 /* detect user setting on commandline */
77 #define SILENT_OFF 0 /* no silent mode */
78 #define SILENT_ANI 1 /* silent mode with animation */
79 #define SILENT_ON 2 /* silent mode (completely silent) */
82 #define RED ATTBOLD FGRED
83 #define GREEN ATTBOLD FGGREEN
84 #define YELLOW ATTBOLD FGYELLOW
85 #define BLUE ATTBOLD FGBLUE
86 #define MAGENTA ATTBOLD FGMAGENTA
87 #define CYAN ATTBOLD FGCYAN
89 const char col_on [MAXCOL][19] = {BLUE, RED, GREEN, BOLD, MAGENTA, CYAN};
90 const char col_off [] = ATTRESET;
92 static char *cmdlinename[MAXSOCK];
93 static __u32 dropcnt[MAXSOCK];
94 static __u32 last_dropcnt[MAXSOCK];
95 static char devname[MAXIFNAMES][IFNAMSIZ+1];
96 static int dindex[MAXIFNAMES];
97 static int max_devname_len; /* to prevent frazzled device name output */
98 const int canfd_on = 1;
101 const char anichar[MAXANI] = {'|', '/', '-', '\\'};
103 extern int optind, opterr, optopt;
105 static volatile int running = 1;
107 void print_usage(char *prg)
109 fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
110 fprintf(stderr, " (use CTRL-C to terminate %s)\n\n", prg);
111 fprintf(stderr, "Options: -t <type> (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
112 fprintf(stderr, " -c (increment color mode level)\n");
113 fprintf(stderr, " -i (binary output - may exceed 80 chars/line)\n");
114 fprintf(stderr, " -a (enable additional ASCII output)\n");
115 fprintf(stderr, " -S (swap byte order in printed CAN data[] - marked with '%c' )\n", SWAP_DELIMITER);
116 fprintf(stderr, " -s <level> (silent mode - %d: off (default) %d: animation %d: silent)\n", SILENT_OFF, SILENT_ANI, SILENT_ON);
117 fprintf(stderr, " -b <can> (bridge mode - send received frames to <can>)\n");
118 fprintf(stderr, " -B <can> (bridge mode - like '-b' with disabled loopback)\n");
119 fprintf(stderr, " -u <usecs> (delay bridge forwarding by <usecs> microseconds)\n");
120 fprintf(stderr, " -l (log CAN-frames into file. Sets '-s %d' by default)\n", SILENT_ON);
121 fprintf(stderr, " -L (use log file format on stdout)\n");
122 fprintf(stderr, " -n <count> (terminate after receiption of <count> CAN frames)\n");
123 fprintf(stderr, " -r <size> (set socket receive buffer to <size>)\n");
124 fprintf(stderr, " -d (monitor dropped CAN frames)\n");
125 fprintf(stderr, " -e (dump CAN error frames in human-readable format)\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");
147 void sigterm(int signo)
152 int idx2dindex(int ifidx, int socket) {
157 for (i=0; i < MAXIFNAMES; i++) {
158 if (dindex[i] == ifidx)
162 /* create new interface index cache entry */
164 /* remove index cache zombies first */
165 for (i=0; i < MAXIFNAMES; i++) {
167 ifr.ifr_ifindex = dindex[i];
168 if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
173 for (i=0; i < MAXIFNAMES; i++)
174 if (!dindex[i]) /* free entry */
177 if (i == MAXIFNAMES) {
178 fprintf(stderr, "Interface index cache only supports %d interfaces.\n",
185 ifr.ifr_ifindex = ifidx;
186 if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
187 perror("SIOCGIFNAME");
189 if (max_devname_len < strlen(ifr.ifr_name))
190 max_devname_len = strlen(ifr.ifr_name);
192 strcpy(devname[i], ifr.ifr_name);
195 printf("new index %d (%s)\n", i, devname[i]);
201 int main(int argc, char **argv)
206 useconds_t bridge_delay = 0;
207 unsigned char timestamp = 0;
208 unsigned char dropmonitor = 0;
209 unsigned char silent = SILENT_INI;
210 unsigned char silentani = 0;
211 unsigned char color = 0;
212 unsigned char view = 0;
213 unsigned char log = 0;
214 unsigned char logfrmt = 0;
218 int currmax, numfilter;
220 struct sockaddr_can addr;
221 char ctrlmsg[CMSG_SPACE(sizeof(struct timeval)) + CMSG_SPACE(sizeof(__u32))];
224 struct cmsghdr *cmsg;
225 struct can_filter *rfilter;
226 can_err_mask_t err_mask;
227 struct canfd_frame frame;
228 int nbytes, i, maxdlen;
230 struct timeval tv, last_tv;
231 FILE *logfile = NULL;
233 signal(SIGTERM, sigterm);
234 signal(SIGHUP, sigterm);
235 signal(SIGINT, sigterm);
240 while ((opt = getopt(argc, argv, "t:ciaSs:b:B:u:ldLn:r:he?")) != -1) {
243 timestamp = optarg[0];
244 if ((timestamp != 'a') && (timestamp != 'A') &&
245 (timestamp != 'd') && (timestamp != 'z')) {
246 fprintf(stderr, "%s: unknown timestamp mode '%c' - ignored\n",
247 basename(argv[0]), optarg[0]);
257 view |= CANLIB_VIEW_BINARY;
261 view |= CANLIB_VIEW_ASCII;
265 view |= CANLIB_VIEW_SWAP;
269 view |= CANLIB_VIEW_ERROR;
273 silent = atoi(optarg);
274 if (silent > SILENT_ON) {
275 print_usage(basename(argv[0]));
282 if (strlen(optarg) >= IFNAMSIZ) {
283 fprintf(stderr, "Name of CAN device '%s' is too long!\n\n", optarg);
286 bridge = socket(PF_CAN, SOCK_RAW, CAN_RAW);
288 perror("bridge socket");
291 addr.can_family = AF_CAN;
292 strcpy(ifr.ifr_name, optarg);
293 if (ioctl(bridge, SIOCGIFINDEX, &ifr) < 0)
294 perror("SIOCGIFINDEX");
295 addr.can_ifindex = ifr.ifr_ifindex;
297 if (!addr.can_ifindex) {
298 perror("invalid bridge interface");
302 /* disable default receive filter on this write-only RAW socket */
303 setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
306 const int loopback = 0;
308 setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
309 &loopback, sizeof(loopback));
312 if (bind(bridge, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
313 perror("bridge bind");
320 bridge_delay = (useconds_t)strtoul(optarg, (char **)NULL, 10);
336 count = atoi(optarg);
338 print_usage(basename(argv[0]));
344 rcvbuf_size = atoi(optarg);
345 if (rcvbuf_size < 1) {
346 print_usage(basename(argv[0]));
352 print_usage(basename(argv[0]));
358 if (optind == argc) {
359 print_usage(basename(argv[0]));
363 if (logfrmt && view) {
364 fprintf(stderr, "Log file format selected: Please disable ASCII/BINARY/SWAP options!\n");
368 if (silent == SILENT_INI) {
370 fprintf(stderr, "Disabled standard output while logging.\n");
371 silent = SILENT_ON; /* disable output on stdout */
373 silent = SILENT_OFF; /* default output */
376 currmax = argc - optind; /* find real number of CAN devices */
378 if (currmax > MAXSOCK) {
379 fprintf(stderr, "More than %d CAN devices given on commandline!\n", MAXSOCK);
383 for (i=0; i < currmax; i++) {
385 ptr = argv[optind+i];
386 nptr = strchr(ptr, ',');
389 printf("open %d '%s'.\n", i, ptr);
392 s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW);
398 cmdlinename[i] = ptr; /* save pointer to cmdline name of this socket */
401 nbytes = nptr - ptr; /* interface name is up the first ',' */
403 nbytes = strlen(ptr); /* no ',' found => no filter definitions */
405 if (nbytes >= IFNAMSIZ) {
406 fprintf(stderr, "name of CAN device '%s' is too long!\n", ptr);
410 if (nbytes > max_devname_len)
411 max_devname_len = nbytes; /* for nice printing */
413 addr.can_family = AF_CAN;
415 memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));
416 strncpy(ifr.ifr_name, ptr, nbytes);
419 printf("using interface name '%s'.\n", ifr.ifr_name);
422 if (strcmp(ANYDEV, ifr.ifr_name)) {
423 if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
424 perror("SIOCGIFINDEX");
427 addr.can_ifindex = ifr.ifr_ifindex;
429 addr.can_ifindex = 0; /* any can interface */
433 /* found a ',' after the interface name => check for filters */
435 /* determine number of filters to alloc the filter space */
440 ptr++; /* hop behind the ',' */
441 ptr = strchr(ptr, ','); /* exit condition */
444 rfilter = malloc(sizeof(struct can_filter) * numfilter);
446 fprintf(stderr, "Failed to create filter space!\n");
455 ptr = nptr+1; /* hop behind the ',' */
456 nptr = strchr(ptr, ','); /* update exit condition */
458 if (sscanf(ptr, "%x:%x",
459 &rfilter[numfilter].can_id,
460 &rfilter[numfilter].can_mask) == 2) {
461 rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
463 } else if (sscanf(ptr, "%x~%x",
464 &rfilter[numfilter].can_id,
465 &rfilter[numfilter].can_mask) == 2) {
466 rfilter[numfilter].can_id |= CAN_INV_FILTER;
467 rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
469 } else if (sscanf(ptr, "#%x", &err_mask) != 1) {
470 fprintf(stderr, "Error in filter option parsing: '%s'\n", ptr);
476 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
477 &err_mask, sizeof(err_mask));
480 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
481 rfilter, numfilter * sizeof(struct can_filter));
487 /* try to switch the socket into CAN FD mode */
488 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on));
492 int curr_rcvbuf_size;
493 socklen_t curr_rcvbuf_size_len = sizeof(curr_rcvbuf_size);
495 /* try SO_RCVBUFFORCE first, if we run with CAP_NET_ADMIN */
496 if (setsockopt(s[i], SOL_SOCKET, SO_RCVBUFFORCE,
497 &rcvbuf_size, sizeof(rcvbuf_size)) < 0) {
499 printf("SO_RCVBUFFORCE failed so try SO_RCVBUF ...\n");
501 if (setsockopt(s[i], SOL_SOCKET, SO_RCVBUF,
502 &rcvbuf_size, sizeof(rcvbuf_size)) < 0) {
503 perror("setsockopt SO_RCVBUF");
507 if (getsockopt(s[i], SOL_SOCKET, SO_RCVBUF,
508 &curr_rcvbuf_size, &curr_rcvbuf_size_len) < 0) {
509 perror("getsockopt SO_RCVBUF");
513 /* Only print a warning the first time we detect the adjustment */
514 /* n.b.: The wanted size is doubled in Linux in net/sore/sock.c */
515 if (!i && curr_rcvbuf_size < rcvbuf_size*2)
516 fprintf(stderr, "The socket receive buffer size was "
517 "adjusted due to /proc/sys/net/core/rmem_max.\n");
521 if (timestamp || log || logfrmt) {
523 const int timestamp_on = 1;
525 if (setsockopt(s[i], SOL_SOCKET, SO_TIMESTAMP,
526 ×tamp_on, sizeof(timestamp_on)) < 0) {
527 perror("setsockopt SO_TIMESTAMP");
534 const int dropmonitor_on = 1;
536 if (setsockopt(s[i], SOL_SOCKET, SO_RXQ_OVFL,
537 &dropmonitor_on, sizeof(dropmonitor_on)) < 0) {
538 perror("setsockopt SO_RXQ_OVFL not supported by your Linux Kernel");
543 if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
552 char fname[sizeof("candump-2006-11-20_202026.log")+1];
554 if (time(&currtime) == (time_t)-1) {
559 localtime_r(&currtime, &now);
561 sprintf(fname, "candump-%04d-%02d-%02d_%02d%02d%02d.log",
569 if (silent != SILENT_ON)
570 printf("\nWarning: console output active while logging!");
572 fprintf(stderr, "\nEnabling Logfile '%s'\n\n", fname);
574 logfile = fopen(fname, "w");
581 /* these settings are static and can be held out of the hot path */
582 iov.iov_base = &frame;
583 msg.msg_name = &addr;
586 msg.msg_control = &ctrlmsg;
591 for (i=0; i<currmax; i++)
594 if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, NULL)) < 0) {
600 for (i=0; i<currmax; i++) { /* check all CAN RAW sockets */
602 if (FD_ISSET(s[i], &rdfs)) {
606 /* these settings may be modified by recvmsg() */
607 iov.iov_len = sizeof(frame);
608 msg.msg_namelen = sizeof(addr);
609 msg.msg_controllen = sizeof(ctrlmsg);
612 nbytes = recvmsg(s[i], &msg, 0);
618 if ((size_t)nbytes == CAN_MTU)
619 maxdlen = CAN_MAX_DLEN;
620 else if ((size_t)nbytes == CANFD_MTU)
621 maxdlen = CANFD_MAX_DLEN;
623 fprintf(stderr, "read: incomplete CAN frame\n");
627 if (count && (--count == 0))
632 usleep(bridge_delay);
634 nbytes = write(bridge, &frame, nbytes);
636 perror("bridge write");
638 } else if ((size_t)nbytes != CAN_MTU && (size_t)nbytes != CANFD_MTU) {
639 fprintf(stderr,"bridge write: incomplete CAN frame\n");
644 for (cmsg = CMSG_FIRSTHDR(&msg);
645 cmsg && (cmsg->cmsg_level == SOL_SOCKET);
646 cmsg = CMSG_NXTHDR(&msg,cmsg)) {
647 if (cmsg->cmsg_type == SO_TIMESTAMP)
648 tv = *(struct timeval *)CMSG_DATA(cmsg);
649 else if (cmsg->cmsg_type == SO_RXQ_OVFL)
650 dropcnt[i] = *(__u32 *)CMSG_DATA(cmsg);
653 /* check for (unlikely) dropped frames on this specific socket */
654 if (dropcnt[i] != last_dropcnt[i]) {
658 if (dropcnt[i] > last_dropcnt[i])
659 frames = dropcnt[i] - last_dropcnt[i];
661 frames = 4294967295U - last_dropcnt[i] + dropcnt[i]; /* 4294967295U == UINT32_MAX */
663 if (silent != SILENT_ON)
664 printf("DROPCOUNT: dropped %d CAN frame%s on '%s' socket (total drops %d)\n",
665 frames, (frames > 1)?"s":"", cmdlinename[i], dropcnt[i]);
668 fprintf(logfile, "DROPCOUNT: dropped %d CAN frame%s on '%s' socket (total drops %d)\n",
669 frames, (frames > 1)?"s":"", cmdlinename[i], dropcnt[i]);
671 last_dropcnt[i] = dropcnt[i];
674 idx = idx2dindex(addr.can_ifindex, s[i]);
677 /* log CAN frame with absolute timestamp & device */
678 fprintf(logfile, "(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
679 fprintf(logfile, "%*s ", max_devname_len, devname[idx]);
680 /* without seperator as logfile use-case is parsing */
681 fprint_canframe(logfile, &frame, "\n", 0, maxdlen);
685 /* print CAN frame in log file style to stdout */
686 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
687 printf("%*s ", max_devname_len, devname[idx]);
688 fprint_canframe(stdout, &frame, "\n", 0, maxdlen);
689 goto out_fflush; /* no other output to stdout */
692 if (silent != SILENT_OFF){
693 if (silent == SILENT_ANI) {
694 printf("%c\b", anichar[silentani%=MAXANI]);
697 goto out_fflush; /* no other output to stdout */
700 printf(" %s", (color>2)?col_on[idx%MAXCOL]:"");
704 case 'a': /* absolute with timestamp */
705 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
708 case 'A': /* absolute with date */
713 tm = *localtime(&tv.tv_sec);
714 strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
715 printf("(%s.%06ld) ", timestring, tv.tv_usec);
719 case 'd': /* delta */
720 case 'z': /* starting with zero */
724 if (last_tv.tv_sec == 0) /* first init */
726 diff.tv_sec = tv.tv_sec - last_tv.tv_sec;
727 diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
728 if (diff.tv_usec < 0)
729 diff.tv_sec--, diff.tv_usec += 1000000;
731 diff.tv_sec = diff.tv_usec = 0;
732 printf("(%03ld.%06ld) ", diff.tv_sec, diff.tv_usec);
734 if (timestamp == 'd')
735 last_tv = tv; /* update for delta calculation */
739 default: /* no timestamp output */
743 printf(" %s", (color && (color<3))?col_on[idx%MAXCOL]:"");
744 printf("%*s", max_devname_len, devname[idx]);
745 printf("%s ", (color==1)?col_off:"");
747 fprint_long_canframe(stdout, &frame, NULL, view, maxdlen);
749 printf("%s", (color>1)?col_off:"");
758 for (i=0; i<currmax; i++)