#include "terminal.h"
#include "lib.h"
-#define MAXDEV 6 /* change sscanf()'s manually if changed here */
-#define ANYDEV "any"
-#define ANL "\r\n" /* newline in ASC mode */
+#define MAXSOCK 16 /* max. number of CAN interfaces given on the cmdline */
+#define MAXFILTER 30 /* max. number of possible filters for each socket */
+#define MAXIFNAMES 30 /* size of receive name index to omit ioctls */
+#define MAXCOL 6 /* number of different colors for colorized output */
+#define ANYDEV "any" /* name of interface to receive from any CAN interface */
+#define ANL "\r\n" /* newline in ASC mode */
#define BOLD ATTBOLD
#define RED ATTBOLD FGRED
#define MAGENTA ATTBOLD FGMAGENTA
#define CYAN ATTBOLD FGCYAN
-const char col_on [MAXDEV][19] = {BLUE, RED, GREEN, BOLD, MAGENTA, CYAN};
+const char col_on [MAXCOL][19] = {BLUE, RED, GREEN, BOLD, MAGENTA, CYAN};
const char col_off [] = ATTRESET;
-static char devname[MAXDEV][IFNAMSIZ+1];
-static int dindex[MAXDEV];
-static int max_devname_len;
+static char devname[MAXIFNAMES][IFNAMSIZ+1];
+static int dindex[MAXIFNAMES];
+static int max_devname_len; /* to prevent frazzled device name output */
-#define MAXANI 8
-const char anichar[MAXANI] = {'|', '/', '-', '\\', '|', '/', '-', '\\'};
+#define MAXANI 4
+const char anichar[MAXANI] = {'|', '/', '-', '\\'};
extern int optind, opterr, optopt;
void print_usage(char *prg)
{
- fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
- fprintf(stderr, " (use CTRL-C to terminate %s)\n\n", prg);
- fprintf(stderr, "Options: -m <mask> (ID filter mask. Default 0x00000000) *\n");
- fprintf(stderr, " -v <value> (ID filter value. Default 0x00000000) *\n");
- fprintf(stderr, " -i <0|1> (invert the specified ID filter) *\n");
- fprintf(stderr, " -e <emask> (mask for error frames)\n");
- fprintf(stderr, " -t <type> (timestamp: Absolute/Delta/Zero)\n");
- fprintf(stderr, " -c (color mode)\n");
- fprintf(stderr, " -a (enable additional ASCII output)\n");
- fprintf(stderr, " -s <level> (silent mode - 1: animation 2: nothing)\n");
- fprintf(stderr, " -b <can> (bridge mode - send received frames to <can>)\n");
- fprintf(stderr, " -B <can> (bridge mode - like '-b' with disabled loopback)\n");
- fprintf(stderr, " -l (log CAN-frames into file)\n");
- fprintf(stderr, " -L (use log file format on stdout)\n");
- fprintf(stderr, "\n");
- fprintf(stderr, "* The CAN ID filter matches, when ...\n");
- fprintf(stderr, " <received_can_id> & mask == value & mask\n");
- fprintf(stderr, "\n");
- fprintf(stderr, "When using more than one CAN interface the options\n");
- fprintf(stderr, "m/v/i/e have comma seperated values e.g. '-m 0,7FF,0'\n");
- fprintf(stderr, "\nUse interface name '%s' to receive from all CAN interfaces.\n\n", ANYDEV);
+ fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
+ fprintf(stderr, " (use CTRL-C to terminate %s)\n\n", prg);
+ fprintf(stderr, "Options: -t <type> (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
+ fprintf(stderr, " -c (increment color mode level)\n");
+ fprintf(stderr, " -i (binary output - may exceed 80 chars/line)\n");
+ fprintf(stderr, " -a (enable additional ASCII output)\n");
+ fprintf(stderr, " -s <level> (silent mode - 1: animation 2: completely silent)\n");
+ fprintf(stderr, " -b <can> (bridge mode - send received frames to <can>)\n");
+ fprintf(stderr, " -B <can> (bridge mode - like '-b' with disabled loopback)\n");
+ fprintf(stderr, " -l (log CAN-frames into file)\n");
+ fprintf(stderr, " -L (use log file format on stdout)\n");
+ fprintf(stderr, "\n");
+ fprintf(stderr, "Up to %d CAN interfaces with optional filter sets can be specified\n", MAXSOCK);
+ fprintf(stderr, "on the commandline in the form: <ifname>[,filter]*\n");
+ fprintf(stderr, "\nUp to %d comma separated filters can be specified for each given CAN interface:\n", MAXFILTER);
+ fprintf(stderr, " <can_id>:<can_mask> (matches when <received_can_id> & mask == can_id & mask)\n");
+ fprintf(stderr, " <can_id>~<can_mask> (matches when <received_can_id> & mask != can_id & mask)\n");
+ fprintf(stderr, " #<error_mask> (set error frame filter, see include/linux/can/error.h)\n");
+ fprintf(stderr, "\nUse interface name '%s' to receive from all CAN interfaces.\n", ANYDEV);
+ fprintf(stderr, "CAN IDs, masks and data content are given and expected in hexadecimal values.\n");
+ fprintf(stderr, "\nExamples:\n");
+ fprintf(stderr, "%s -c -c -ta can0,123:7FF,400:700,#000000FF can2,400~7F0 can3 can8\n", prg);
+ fprintf(stderr, "%s -l any,0~0,#FFFFFFFF (log only error frames but no(!) data frames)\n", prg);
+ fprintf(stderr, "%s vcan2,92345678:9FFFFFFF (match only for extended CAN ID 12345678)\n", prg);
+ fprintf(stderr, "\n");
}
void sigterm(int signo)
{
- running = 0;
+ running = 0;
}
int idx2dindex(int ifidx, int socket) {
- int i;
- struct ifreq ifr;
+ int i;
+ struct ifreq ifr;
- for (i=0; i<MAXDEV; i++) {
- if (dindex[i] == ifidx)
- return i;
- }
+ for (i=0; i < MAXIFNAMES; i++) {
+ if (dindex[i] == ifidx)
+ return i;
+ }
- /* create new interface index cache entry */
+ /* create new interface index cache entry */
- /* remove index cache zombies first */
- for (i=0; i < MAXDEV; i++) {
- if (dindex[i]) {
- ifr.ifr_ifindex = dindex[i];
- if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
- dindex[i] = 0;
+ /* remove index cache zombies first */
+ for (i=0; i < MAXIFNAMES; i++) {
+ if (dindex[i]) {
+ ifr.ifr_ifindex = dindex[i];
+ if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
+ dindex[i] = 0;
+ }
}
- }
- for (i=0; i < MAXDEV; i++)
- if (!dindex[i]) /* free entry */
- break;
+ for (i=0; i < MAXIFNAMES; i++)
+ if (!dindex[i]) /* free entry */
+ break;
- if (i == MAXDEV) {
- printf("Interface index cache only supports %d interfaces.\n", MAXDEV);
- exit(1);
- }
+ if (i == MAXIFNAMES) {
+ printf("Interface index cache only supports %d interfaces.\n",
+ MAXIFNAMES);
+ exit(1);
+ }
- dindex[i] = ifidx;
+ dindex[i] = ifidx;
- ifr.ifr_ifindex = ifidx;
- if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
- perror("SIOCGIFNAME");
+ ifr.ifr_ifindex = ifidx;
+ if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
+ perror("SIOCGIFNAME");
- if (max_devname_len < strlen(ifr.ifr_name))
- max_devname_len = strlen(ifr.ifr_name);
+ if (max_devname_len < strlen(ifr.ifr_name))
+ max_devname_len = strlen(ifr.ifr_name);
- strcpy(devname[i], ifr.ifr_name);
+ strcpy(devname[i], ifr.ifr_name);
#ifdef DEBUG
- printf("new index %d (%s)\n", i, devname[i]);
+ printf("new index %d (%s)\n", i, devname[i]);
#endif
- return i;
+ return i;
}
int main(int argc, char **argv)
{
- fd_set rdfs;
- int s[MAXDEV];
- int bridge = 0;
- canid_t mask[MAXDEV] = {0};
- canid_t value[MAXDEV] = {0};
- int inv_filter[MAXDEV] = {0};
- can_err_mask_t err_mask[MAXDEV] = {0};
- unsigned char timestamp = 0;
- unsigned char silent = 0;
- unsigned char silentani = 0;
- unsigned char color = 0;
- unsigned char ascii = 0;
- unsigned char log = 0;
- unsigned char logfrmt = 0;
- int opt, ret;
- int currmax = 1; /* we assume at least one can bus ;-) */
- struct sockaddr_can addr;
- struct can_filter rfilter;
- struct can_frame frame;
- int nbytes, i, j;
- struct ifreq ifr;
- struct timeval tv, last_tv;
- FILE *logfile = NULL;
-
- signal(SIGTERM, sigterm);
- signal(SIGHUP, sigterm);
- signal(SIGINT, sigterm);
-
- last_tv.tv_sec = 0;
- last_tv.tv_usec = 0;
-
- while ((opt = getopt(argc, argv, "m:v:i:e:t:cas:b:B:lL")) != -1) {
- switch (opt) {
- case 'm':
- i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
- &mask[0], &mask[1], &mask[2],
- &mask[3], &mask[4], &mask[5]);
- if (i > currmax)
- currmax = i;
- break;
-
- case 'v':
- i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
- &value[0], &value[1], &value[2],
- &value[3], &value[4], &value[5]);
- if (i > currmax)
- currmax = i;
- break;
-
- case 'i':
- i = sscanf(optarg, "%d,%d,%d,%d,%d,%d",
- &inv_filter[0], &inv_filter[1], &inv_filter[2],
- &inv_filter[3], &inv_filter[4], &inv_filter[5]);
- if (i > currmax)
- currmax = i;
- break;
-
- case 'e':
- i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
- &err_mask[0], &err_mask[1], &err_mask[2],
- &err_mask[3], &err_mask[4], &err_mask[5]);
- if (i > currmax)
- currmax = i;
- break;
-
- case 't':
- timestamp = optarg[0];
- if ((timestamp != 'a') && (timestamp != 'A') &&
- (timestamp != 'd') && (timestamp != 'z')) {
- printf("%s: unknown timestamp mode '%c' - ignored\n",
- basename(argv[0]), optarg[0]);
- timestamp = 0;
- }
- break;
-
- case 'c':
- color++;
- break;
-
- case 'a':
- ascii = 1;
- break;
-
- case 's':
- silent = atoi(optarg);
- break;
-
- case 'b':
- case 'B':
- if (strlen(optarg) >= IFNAMSIZ) {
- printf("Name of CAN device '%s' is too long!\n\n", optarg);
- return 1;
- }
- else {
- if ((bridge = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
- perror("bridge socket");
- return 1;
- }
- addr.can_family = AF_CAN;
- strcpy(ifr.ifr_name, optarg);
- if (ioctl(bridge, SIOCGIFINDEX, &ifr) < 0)
- perror("SIOCGIFINDEX");
- addr.can_ifindex = ifr.ifr_ifindex;
+ fd_set rdfs;
+ int s[MAXSOCK];
+ int bridge = 0;
+ unsigned char timestamp = 0;
+ unsigned char silent = 0;
+ unsigned char silentani = 0;
+ unsigned char color = 0;
+ unsigned char view = 0;
+ unsigned char log = 0;
+ unsigned char logfrmt = 0;
+ int opt, ret;
+ int currmax, numfilter;
+ char *ptr, *nptr;
+ struct sockaddr_can addr;
+ struct can_filter rfilter[MAXFILTER];
+ can_err_mask_t err_mask;
+ struct can_frame frame;
+ int nbytes, i;
+ struct ifreq ifr;
+ struct timeval tv, last_tv;
+ FILE *logfile = NULL;
+
+ signal(SIGTERM, sigterm);
+ signal(SIGHUP, sigterm);
+ signal(SIGINT, sigterm);
+
+ last_tv.tv_sec = 0;
+ last_tv.tv_usec = 0;
+
+ while ((opt = getopt(argc, argv, "t:cias:b:B:lLh?")) != -1) {
+ switch (opt) {
+ case 't':
+ timestamp = optarg[0];
+ if ((timestamp != 'a') && (timestamp != 'A') &&
+ (timestamp != 'd') && (timestamp != 'z')) {
+ printf("%s: unknown timestamp mode '%c' - ignored\n",
+ basename(argv[0]), optarg[0]);
+ timestamp = 0;
+ }
+ break;
+
+ case 'c':
+ color++;
+ break;
+
+ case 'i':
+ view |= CANLIB_VIEW_BINARY;
+ break;
+
+ case 'a':
+ view |= CANLIB_VIEW_ASCII;
+ break;
+
+ case 's':
+ silent = atoi(optarg);
+ break;
+
+ case 'b':
+ case 'B':
+ if (strlen(optarg) >= IFNAMSIZ) {
+ printf("Name of CAN device '%s' is too long!\n\n", optarg);
+ return 1;
+ } else {
+ bridge = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+ if (bridge < 0) {
+ perror("bridge socket");
+ return 1;
+ }
+ addr.can_family = AF_CAN;
+ strcpy(ifr.ifr_name, optarg);
+ if (ioctl(bridge, SIOCGIFINDEX, &ifr) < 0)
+ perror("SIOCGIFINDEX");
+ addr.can_ifindex = ifr.ifr_ifindex;
- if (!addr.can_ifindex) {
- perror("invalid bridge interface");
- return 1;
- }
-
- if (opt == 'B') {
- int loopback = 0;
-
- setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_LOOPBACK, &loopback, sizeof(loopback));
- }
-
- if (bind(bridge, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
- perror("bridge bind");
- return 1;
- }
- }
- break;
+ if (!addr.can_ifindex) {
+ perror("invalid bridge interface");
+ return 1;
+ }
+
+ if (opt == 'B') {
+ int loopback = 0;
+
+ setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
+ &loopback, sizeof(loopback));
+ }
+
+ if (bind(bridge, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+ perror("bridge bind");
+ return 1;
+ }
+ }
+ break;
- case 'l':
- log = 1;
- break;
-
- case 'L':
- logfrmt = 1;
- break;
-
- default:
- fprintf(stderr, "Unknown option %c\n", opt);
- print_usage(basename(argv[0]));
- exit(1);
- break;
+ case 'l':
+ log = 1;
+ break;
+
+ case 'L':
+ logfrmt = 1;
+ break;
+
+ default:
+ print_usage(basename(argv[0]));
+ exit(1);
+ break;
+ }
}
- }
- if (optind == argc) {
- print_usage(basename(argv[0]));
- exit(0);
- }
+ if (optind == argc) {
+ print_usage(basename(argv[0]));
+ exit(0);
+ }
- /* count in options higher than device count ? */
- if (optind + currmax > argc) {
- printf("low count of CAN devices!\n");
- return 1;
- }
+ currmax = argc - optind; /* find real number of CAN devices */
- currmax = argc - optind; /* find real number of CAN devices */
+ if (currmax > MAXSOCK) {
+ printf("More than %d CAN devices given on commandline!\n", MAXSOCK);
+ return 1;
+ }
- if (currmax > MAXDEV) {
- printf("More than %d CAN devices!\n", MAXDEV);
- return 1;
- }
+ for (i=0; i < currmax; i++) {
- for (i=0; i<currmax; i++) {
+ ptr = argv[optind+i];
+ nptr = strchr(ptr, ',');
#ifdef DEBUG
- printf("open %d '%s' m%08X v%08X i%d e%d.\n",
- i, argv[optind+i], mask[i], value[i],
- inv_filter[i], err_mask[i]);
+ printf("open %d '%s'.\n", i, ptr);
#endif
- if ((s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
- perror("socket");
- return 1;
- }
-
- if (mask[i] || value[i]) {
-
- printf("CAN ID filter[%d] for %s set to "
- "mask = %08X, value = %08X %s\n",
- i, argv[optind+i], mask[i], value[i],
- (inv_filter[i]) ? "(inv_filter)" : "");
-
- rfilter.can_id = value[i];
- rfilter.can_mask = mask[i];
- if (inv_filter[i])
- rfilter.can_id |= CAN_INV_FILTER;
-
- setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
- &rfilter, sizeof(rfilter));
- }
-
- if (err_mask[i])
- setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
- &err_mask[i], sizeof(err_mask[i]));
-
- j = strlen(argv[optind+i]);
-
- if (!(j < IFNAMSIZ)) {
- printf("name of CAN device '%s' is too long!\n", argv[optind+i]);
- return 1;
- }
-
- if (j > max_devname_len)
- max_devname_len = j; /* for nice printing */
-
- addr.can_family = AF_CAN;
-
- if (strcmp(ANYDEV, argv[optind+i])) {
- strcpy(ifr.ifr_name, argv[optind+i]);
- if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
- perror("SIOCGIFINDEX");
- exit(1);
- }
- addr.can_ifindex = ifr.ifr_ifindex;
- }
- else
- addr.can_ifindex = 0; /* any can interface */
-
- if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
- perror("bind");
- return 1;
- }
- }
-
- if (log) {
- time_t currtime;
- struct tm now;
- char fname[sizeof("candump-2006-11-20_202026.log")+1];
-
- if (time(&currtime) == (time_t)-1) {
- perror("time");
- return 1;
- }
+ s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+ if (s[i] < 0) {
+ perror("socket");
+ return 1;
+ }
- localtime_r(&currtime, &now);
+ if (nptr)
+ nbytes = nptr - ptr; /* interface name is up the first ',' */
+ else
+ nbytes = strlen(ptr); /* no ',' found => no filter definitions */
- sprintf(fname, "candump-%04d-%02d-%02d_%02d%02d%02d.log",
- now.tm_year + 1900,
- now.tm_mon + 1,
- now.tm_mday,
- now.tm_hour,
- now.tm_min,
- now.tm_sec);
+ if (nbytes >= IFNAMSIZ) {
+ printf("name of CAN device '%s' is too long!\n", ptr);
+ return 1;
+ }
- printf("\nEnabling Logfile '%s'\n\n", fname);
+ if (nbytes > max_devname_len)
+ max_devname_len = nbytes; /* for nice printing */
- logfile = fopen(fname, "w");
- if (!logfile) {
- perror("logfile");
- return 1;
- }
- }
+ addr.can_family = AF_CAN;
- while (running) {
+ memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));
+ strncpy(ifr.ifr_name, ptr, nbytes);
- FD_ZERO(&rdfs);
- for (i=0; i<currmax; i++)
- FD_SET(s[i], &rdfs);
+#ifdef DEBUG
+ printf("using interface name '%s'.\n", ifr.ifr_name);
+#endif
- if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, NULL)) < 0) {
- //perror("select");
- running = 0;
- continue;
+ if (strcmp(ANYDEV, ifr.ifr_name)) {
+ if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
+ perror("SIOCGIFINDEX");
+ exit(1);
+ }
+ addr.can_ifindex = ifr.ifr_ifindex;
+ } else
+ addr.can_ifindex = 0; /* any can interface */
+
+ if (nptr) {
+
+ /* found a ',' after the interface name => check for filters */
+
+ numfilter = 0;
+ err_mask = 0;
+
+ while (nptr) {
+
+ ptr = nptr+1; /* hop behind the ',' */
+ nptr = strchr(ptr, ','); /* update exit condition */
+
+ if (sscanf(ptr, "%lx:%lx",
+ (long unsigned int *)
+ &rfilter[numfilter].can_id,
+ (long unsigned int *)
+ &rfilter[numfilter].can_mask) == 2) {
+ numfilter++;
+ } else if (sscanf(ptr, "%lx~%lx",
+ (long unsigned int *)
+ &rfilter[numfilter].can_id,
+ (long unsigned int *)
+ &rfilter[numfilter].can_mask) == 2) {
+ rfilter[numfilter].can_id |= CAN_INV_FILTER;
+ numfilter++;
+ } else if (sscanf(ptr, "#%lx",
+ (long unsigned int *)&err_mask) != 1) {
+ printf("Error in filter option parsing: '%s'\n", ptr);
+ exit(1);
+ }
+
+ if (numfilter > MAXFILTER) {
+ printf("Too many filters specified for '%s'.\n",
+ ifr.ifr_name);
+ exit(1);
+ }
+ }
+
+ if (err_mask)
+ setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
+ &err_mask, sizeof(err_mask));
+
+ if (numfilter)
+ setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
+ &rfilter, numfilter * sizeof(struct can_filter));
+ } /* if (nptr) */
+
+ if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+ perror("bind");
+ return 1;
+ }
}
- for (i=0; i<currmax; i++) { /* check all CAN RAW sockets */
+ if (log) {
+ time_t currtime;
+ struct tm now;
+ char fname[sizeof("candump-2006-11-20_202026.log")+1];
- if (FD_ISSET(s[i], &rdfs)) {
+ if (time(&currtime) == (time_t)-1) {
+ perror("time");
+ return 1;
+ }
- socklen_t len = sizeof(addr);
- int idx;
+ localtime_r(&currtime, &now);
- if ((nbytes = recvfrom(s[i], &frame,
- sizeof(struct can_frame), 0,
- (struct sockaddr*)&addr, &len)) < 0) {
- perror("read");
- return 1;
- }
+ sprintf(fname, "candump-%04d-%02d-%02d_%02d%02d%02d.log",
+ now.tm_year + 1900,
+ now.tm_mon + 1,
+ now.tm_mday,
+ now.tm_hour,
+ now.tm_min,
+ now.tm_sec);
- if (nbytes < sizeof(struct can_frame)) {
- fprintf(stderr, "read: incomplete CAN frame\n");
- return 1;
- }
+ printf("\nEnabling Logfile '%s'\n\n", fname);
- if (bridge) {
- if ((nbytes = write(bridge, &frame,
- sizeof(struct can_frame))) < 0) {
- perror("bridge write");
- return 1;
- } else if (nbytes < sizeof(struct can_frame)) {
- fprintf(stderr,"bridge write: incomplete CAN frame\n");
+ logfile = fopen(fname, "w");
+ if (!logfile) {
+ perror("logfile");
return 1;
- }
}
-
- if (timestamp || log || logfrmt)
- if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
- perror("SIOCGSTAMP");
-
+ }
- idx = idx2dindex(addr.can_ifindex, s[i]);
+ while (running) {
- if (log) {
- /* log CAN frame with absolute timestamp & device */
- fprintf(logfile, "(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
- fprintf(logfile, "%*s ", max_devname_len, devname[idx]);
- /* without seperator as logfile use-case is parsing */
- fprint_canframe(logfile, &frame, "\n", 0);
- }
+ FD_ZERO(&rdfs);
+ for (i=0; i<currmax; i++)
+ FD_SET(s[i], &rdfs);
- if (logfrmt) {
- /* print CAN frame in log file style to stdout */
- printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
- printf("%*s ", max_devname_len, devname[idx]);
- fprint_canframe(stdout, &frame, "\n", 0);
- goto out_fflush; /* no other output to stdout */
+ if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, NULL)) < 0) {
+ //perror("select");
+ running = 0;
+ continue;
}
- if (silent){
- if (silent == 1) {
- printf("%c\b", anichar[silentani%=MAXANI]);
- silentani++;
- }
- goto out_fflush; /* no other output to stdout */
- }
+ for (i=0; i<currmax; i++) { /* check all CAN RAW sockets */
+
+ if (FD_ISSET(s[i], &rdfs)) {
+
+ socklen_t len = sizeof(addr);
+ int idx;
+
+ nbytes = recvfrom(s[i], &frame, sizeof(struct can_frame), 0,
+ (struct sockaddr*)&addr, &len);
+ if (nbytes < 0) {
+ perror("read");
+ return 1;
+ }
+
+ if (nbytes < sizeof(struct can_frame)) {
+ fprintf(stderr, "read: incomplete CAN frame\n");
+ return 1;
+ }
+
+ if (bridge) {
+ nbytes = write(bridge, &frame, sizeof(struct can_frame));
+ if (nbytes < 0) {
+ perror("bridge write");
+ return 1;
+ } else if (nbytes < sizeof(struct can_frame)) {
+ fprintf(stderr,"bridge write: incomplete CAN frame\n");
+ return 1;
+ }
+ }
+
+ if (timestamp || log || logfrmt)
+ if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
+ perror("SIOCGSTAMP");
+
+
+ idx = idx2dindex(addr.can_ifindex, s[i]);
+
+ if (log) {
+ /* log CAN frame with absolute timestamp & device */
+ fprintf(logfile, "(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
+ fprintf(logfile, "%*s ", max_devname_len, devname[idx]);
+ /* without seperator as logfile use-case is parsing */
+ fprint_canframe(logfile, &frame, "\n", 0);
+ }
+
+ if (logfrmt) {
+ /* print CAN frame in log file style to stdout */
+ printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
+ printf("%*s ", max_devname_len, devname[idx]);
+ fprint_canframe(stdout, &frame, "\n", 0);
+ goto out_fflush; /* no other output to stdout */
+ }
+
+ if (silent){
+ if (silent == 1) {
+ printf("%c\b", anichar[silentani%=MAXANI]);
+ silentani++;
+ }
+ goto out_fflush; /* no other output to stdout */
+ }
- printf(" %s", (color>2)?col_on[idx]:"");
-
- switch (timestamp) {
-
- case 'a': /* absolute with timestamp */
- printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
- break;
-
- case 'A': /* absolute with date */
- {
- struct tm tm;
- char timestring[25];
-
- tm = *localtime(&tv.tv_sec);
- strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
- printf("(%s.%06ld) ", timestring, tv.tv_usec);
- }
- break;
-
- case 'd': /* delta */
- case 'z': /* starting with zero */
- {
- struct timeval diff;
-
- if (last_tv.tv_sec == 0) /* first init */
- last_tv = tv;
- diff.tv_sec = tv.tv_sec - last_tv.tv_sec;
- diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
- if (diff.tv_usec < 0)
- diff.tv_sec--, diff.tv_usec += 1000000;
- if (diff.tv_sec < 0)
- diff.tv_sec = diff.tv_usec = 0;
- printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
+ printf(" %s", (color>2)?col_on[idx%MAXCOL]:"");
+
+ switch (timestamp) {
+
+ case 'a': /* absolute with timestamp */
+ printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
+ break;
+
+ case 'A': /* absolute with date */
+ {
+ struct tm tm;
+ char timestring[25];
+
+ tm = *localtime(&tv.tv_sec);
+ strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
+ printf("(%s.%06ld) ", timestring, tv.tv_usec);
+ }
+ break;
+
+ case 'd': /* delta */
+ case 'z': /* starting with zero */
+ {
+ struct timeval diff;
+
+ if (last_tv.tv_sec == 0) /* first init */
+ last_tv = tv;
+ diff.tv_sec = tv.tv_sec - last_tv.tv_sec;
+ diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
+ if (diff.tv_usec < 0)
+ diff.tv_sec--, diff.tv_usec += 1000000;
+ if (diff.tv_sec < 0)
+ diff.tv_sec = diff.tv_usec = 0;
+ printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
- if (timestamp == 'd')
- last_tv = tv; /* update for delta calculation */
- }
- break;
+ if (timestamp == 'd')
+ last_tv = tv; /* update for delta calculation */
+ }
+ break;
- default: /* no timestamp output */
- break;
- }
+ default: /* no timestamp output */
+ break;
+ }
- printf(" %s", (color && (color<3))?col_on[idx]:"");
- printf("%*s", max_devname_len, devname[idx]);
- printf("%s ", (color==1)?col_off:"");
+ printf(" %s", (color && (color<3))?col_on[idx%MAXCOL]:"");
+ printf("%*s", max_devname_len, devname[idx]);
+ printf("%s ", (color==1)?col_off:"");
- fprint_long_canframe(stdout, &frame, NULL, ascii);
+ fprint_long_canframe(stdout, &frame, NULL, view);
- printf("%s", (color>1)?col_off:"");
- printf("\n");
- }
+ printf("%s", (color>1)?col_off:"");
+ printf("\n");
+ }
-out_fflush:
- fflush(stdout);
+ out_fflush:
+ fflush(stdout);
+ }
}
- }
- for (i=0; i<currmax; i++)
- close(s[i]);
+ for (i=0; i<currmax; i++)
+ close(s[i]);
- if (bridge)
- close(bridge);
+ if (bridge)
+ close(bridge);
- if (log)
- fclose(logfile);
+ if (log)
+ fclose(logfile);
- return 0;
+ return 0;
}