6 * canplayer.c - replay a compact CAN frame logfile to CAN devices
8 * Copyright (c) 2002-2007 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
33 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
34 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
35 * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
36 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
37 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
38 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
39 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
40 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
41 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
44 * Send feedback to <socketcan-users@lists.berlios.de>
56 #include <sys/ioctl.h>
58 #include <linux/can.h>
59 #include <linux/can/raw.h>
63 #define DEFAULT_GAP 1 /* ms */
64 #define DEFAULT_LOOPS 1 /* only one replay */
65 #define CHANNELS 20 /* anyone using more than 20 CAN interfaces at a time? */
66 #define BUFSZ 400 /* for one line in the logfile */
67 #define STDOUTIDX 65536 /* interface index for printing on stdout - bigger than max uint16 */
74 static struct assignment asgn[CHANNELS];
76 extern int optind, opterr, optopt;
78 void print_usage(char *prg)
80 fprintf(stderr, "\nUsage: %s <options> [interface assignment]*\n\n", prg);
81 fprintf(stderr, "Options: -I <infile> (default stdin)\n");
82 fprintf(stderr, " -l <num> "
83 "(process input file <num> times)\n"
85 "(Use 'i' for infinite loop - default: %d)\n", DEFAULT_LOOPS);
86 fprintf(stderr, " -t (ignore timestamps: "
87 "send frames immediately)\n");
88 fprintf(stderr, " -g <ms> (gap in milli "
89 "seconds - default: %d ms)\n", DEFAULT_GAP);
90 fprintf(stderr, " -s <s> (skip gaps in "
91 "timestamps > 's' seconds)\n");
92 fprintf(stderr, " -x (disable local "
93 "loopback of sent CAN frames)\n");
94 fprintf(stderr, " -v (verbose: print "
95 "sent CAN frames)\n\n");
96 fprintf(stderr, "Interface assignment: 0..n assignments like "
97 "<write-if>=<log-if>\n");
98 fprintf(stderr, "e.g. vcan2=can0 ( send frames received from can0 on "
100 fprintf(stderr, "extra hook: stdout=can0 ( print logfile line marked with can0 on "
102 fprintf(stderr, "No assignments => send frames to the interface(s) they "
103 "had been received from.\n\n");
104 fprintf(stderr, "Lines in the logfile not beginning with '(' (start of "
105 "timestamp) are ignored.\n\n");
108 /* copied from /usr/src/linux/include/linux/time.h ...
109 * lhs < rhs: return <0
110 * lhs == rhs: return 0
111 * lhs > rhs: return >0
113 static inline int timeval_compare(struct timeval *lhs, struct timeval *rhs)
115 if (lhs->tv_sec < rhs->tv_sec)
117 if (lhs->tv_sec > rhs->tv_sec)
119 return lhs->tv_usec - rhs->tv_usec;
122 static inline void create_diff_tv(struct timeval *today, struct timeval *diff,
123 struct timeval *log) {
125 /* create diff_tv so that log_tv + diff_tv = today_tv */
126 diff->tv_sec = today->tv_sec - log->tv_sec;
127 diff->tv_usec = today->tv_usec - log->tv_usec;
130 static inline int frames_to_send(struct timeval *today, struct timeval *diff,
133 /* return value <0 when log + diff < today */
137 cmp.tv_sec = log->tv_sec + diff->tv_sec;
138 cmp.tv_usec = log->tv_usec + diff->tv_usec;
140 if (cmp.tv_usec > 1000000) {
141 cmp.tv_usec -= 1000000;
145 if (cmp.tv_usec < 0) {
146 cmp.tv_usec += 1000000;
150 return timeval_compare(&cmp, today);
153 int get_txidx(char *logif_name) {
157 for (i=0; i<CHANNELS; i++) {
158 if (asgn[i].rxif[0] == 0) /* end of table content */
160 if (strcmp(asgn[i].rxif, logif_name) == 0) /* found device name */
164 if ((i == CHANNELS) || (asgn[i].rxif[0] == 0))
165 return 0; /* not found */
167 return asgn[i].txifidx; /* return interface index */
170 char *get_txname(char *logif_name) {
174 for (i=0; i<CHANNELS; i++) {
175 if (asgn[i].rxif[0] == 0) /* end of table content */
177 if (strcmp(asgn[i].rxif, logif_name) == 0) /* found device name */
181 if ((i == CHANNELS) || (asgn[i].rxif[0] == 0))
182 return 0; /* not found */
184 return asgn[i].txif; /* return interface name */
187 int add_assignment(char *mode, int socket, char *txname, char *rxname,
193 /* find free entry */
194 for (i=0; i<CHANNELS; i++) {
195 if (asgn[i].txif[0] == 0)
200 fprintf(stderr, "Assignment table exceeded!\n");
204 if (strlen(txname) >= IFNAMSIZ) {
205 fprintf(stderr, "write-if interface name '%s' too long!", txname);
208 strcpy(asgn[i].txif, txname);
210 if (strlen(rxname) >= IFNAMSIZ) {
211 fprintf(stderr, "log-if interface name '%s' too long!", rxname);
214 strcpy(asgn[i].rxif, rxname);
216 if (strcmp(txname, "stdout")) {
217 strcpy(ifr.ifr_name, txname);
218 if (ioctl(socket, SIOCGIFINDEX, &ifr) < 0) {
219 perror("SIOCGIFINDEX");
220 fprintf(stderr, "write-if interface name '%s' is wrong!\n", txname);
223 asgn[i].txifidx = ifr.ifr_ifindex;
225 asgn[i].txifidx = STDOUTIDX;
227 if (verbose > 1) /* use -v -v to see this */
228 printf("added %s assignment: log-if=%s write-if=%s write-if-idx=%d\n",
229 mode, asgn[i].rxif, asgn[i].txif, asgn[i].txifidx);
234 int main(int argc, char **argv)
236 static char buf[BUFSZ], device[BUFSZ], ascframe[BUFSZ];
237 struct sockaddr_can addr;
238 static struct can_frame frame;
239 static struct timeval today_tv, log_tv, last_log_tv, diff_tv;
240 struct timespec sleep_ts;
241 int s; /* CAN_RAW socket */
242 FILE *infile = stdin;
243 unsigned long gap = DEFAULT_GAP;
244 int use_timestamps = 1;
245 static int verbose, opt, delay_loops, skipgap;
246 static int loopback_disable = 0;
247 static int infinite_loops = 0;
248 static int loops = DEFAULT_LOOPS;
249 int assignments; /* assignments defined on the commandline */
250 int txidx; /* sendto() interface index */
251 int eof, nbytes, i, j;
254 while ((opt = getopt(argc, argv, "I:l:tg:s:xv?")) != -1) {
257 infile = fopen(optarg, "r");
265 if (optarg[0] == 'i')
268 if (!(loops = atoi(optarg))) {
269 fprintf(stderr, "Invalid argument for option -l !\n");
279 gap = strtoul(optarg, NULL, 10);
283 skipgap = strtoul(optarg, NULL, 10);
285 fprintf(stderr, "Invalid argument for option -s !\n");
291 loopback_disable = 1;
300 print_usage(basename(argv[0]));
306 assignments = argc - optind; /* find real number of user assignments */
308 if (infile == stdin) { /* no jokes with stdin */
313 if (verbose > 1) { /* use -v -v to see this */
315 printf("infinite_loops\n");
317 printf("%d loops\n", loops);
320 sleep_ts.tv_sec = gap / 1000;
321 sleep_ts.tv_nsec = (gap % 1000) * 1000000;
324 if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
329 addr.can_family = AF_CAN;
330 addr.can_ifindex = 0;
332 /* disable unneeded default receive filter on this RAW socket */
333 setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
335 if (loopback_disable) {
338 setsockopt(s, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
339 &loopback, sizeof(loopback));
342 if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
348 /* add & check user assginments from commandline */
349 for (i=0; i<assignments; i++) {
350 if (strlen(argv[optind+i]) >= BUFSZ) {
351 fprintf(stderr, "Assignment too long!\n");
352 print_usage(basename(argv[0]));
355 strcpy(buf, argv[optind+i]);
356 for (j=0; j<BUFSZ; j++) { /* find '=' in assignment */
360 if ((j == BUFSZ) || (buf[j] != '=')) {
361 fprintf(stderr, "'=' missing in assignment!\n");
362 print_usage(basename(argv[0]));
365 buf[j] = 0; /* cut string in two pieces */
366 if (add_assignment("user", s, &buf[0], &buf[j+1], verbose))
371 while (infinite_loops || loops--) {
374 rewind(infile); /* for each loop */
376 if (verbose > 1) /* use -v -v to see this */
377 printf (">>>>>>>>> start reading file. remaining loops = %d\n", loops);
379 /* read first non-comment frame from logfile */
380 while ((fret = fgets(buf, BUFSZ-1, infile)) != NULL && buf[0] != '(') {
381 if (strlen(buf) >= BUFSZ-2) {
382 fprintf(stderr, "comment line too long for input buffer\n");
388 goto out; /* nothing to read */
392 if (sscanf(buf, "(%ld.%ld) %s %s", &log_tv.tv_sec, &log_tv.tv_usec,
393 device, ascframe) != 4) {
394 fprintf(stderr, "incorrect line format in logfile\n");
398 if (use_timestamps) { /* throttle sending due to logfile timestamps */
400 gettimeofday(&today_tv, NULL);
401 create_diff_tv(&today_tv, &diff_tv, &log_tv);
402 last_log_tv = log_tv;
407 while ((!use_timestamps) ||
408 (frames_to_send(&today_tv, &diff_tv, &log_tv) < 0)) {
410 /* log_tv/device/ascframe are valid here */
412 if (strlen(device) >= IFNAMSIZ) {
413 fprintf(stderr, "log interface name '%s' too long!", device);
417 txidx = get_txidx(device); /* get ifindex for sending the frame */
419 if ((!txidx) && (!assignments)) {
420 /* ifindex not found and no user assignments */
421 /* => assign this device automatically */
422 if (add_assignment("auto", s, device, device, verbose))
424 txidx = get_txidx(device);
427 if (txidx == STDOUTIDX) { /* hook to print logfile lines on stdout */
429 printf("%s", buf); /* print the line AS-IS without extra \n */
432 } else if (txidx > 0) { /* only send to valid CAN devices */
434 if (parse_canframe(ascframe, &frame)) {
435 fprintf(stderr, "wrong CAN frame format: '%s'!", ascframe);
439 addr.can_family = AF_CAN;
440 addr.can_ifindex = txidx; /* send via this interface */
442 nbytes = sendto(s, &frame, sizeof(struct can_frame), 0,
443 (struct sockaddr*)&addr, sizeof(addr));
445 if (nbytes != sizeof(struct can_frame)) {
451 printf("%s (%s) ", get_txname(device), device);
452 fprint_long_canframe(stdout, &frame, "\n", 1);
456 /* read next non-comment frame from logfile */
457 while ((fret = fgets(buf, BUFSZ-1, infile)) != NULL && buf[0] != '(') {
458 if (strlen(buf) >= BUFSZ-2) {
459 fprintf(stderr, "comment line too long for input buffer\n");
465 eof = 1; /* this file is completely processed */
469 if (sscanf(buf, "(%ld.%ld) %s %s", &log_tv.tv_sec, &log_tv.tv_usec,
470 device, ascframe) != 4) {
471 fprintf(stderr, "incorrect line format in logfile\n");
475 if (use_timestamps) {
476 gettimeofday(&today_tv, NULL);
478 /* test for logfile timestamps jumping backwards OR */
479 /* if the user likes to skip long gaps in the timestamps */
480 if ((last_log_tv.tv_sec > log_tv.tv_sec) ||
481 (skipgap && abs(last_log_tv.tv_sec - log_tv.tv_sec) > skipgap))
482 create_diff_tv(&today_tv, &diff_tv, &log_tv);
484 last_log_tv = log_tv;
487 } /* while frames_to_send ... */
489 if (nanosleep(&sleep_ts, NULL))
492 delay_loops++; /* private statistics */
493 gettimeofday(&today_tv, NULL);
497 } /* while (infinite_loops || loops--) */
504 if (verbose > 1) /* use -v -v to see this */
505 printf("%d delay_loops\n", delay_loops);