+/*
+ * $Id: isotpsniffer.c 824 2008-09-02 07:01:51Z hartko $
+ */
+
+/*
+ * isotpsniffer.c - dump ISO15765-2 datagrams using PF_CAN isotp protocol
+ *
+ * Copyright (c) 2008 Volkswagen Group Electronic Research
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of Volkswagen nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * Alternatively, provided that this notice is retained in full, this
+ * software may be distributed under the terms of the GNU General
+ * Public License ("GPL") version 2, in which case the provisions of the
+ * GPL apply INSTEAD OF those given above.
+ *
+ * The provided data structures and external interfaces from this code
+ * are not restricted to be used by modules with a GPL compatible license.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+ * DAMAGE.
+ *
+ * Send feedback to <socketcan-users@lists.berlios.de>
+ *
+ */
+
+#include <stdio.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <string.h>
+#include <libgen.h>
+#include <time.h>
+
+#include <net/if.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+
+#include <linux/can.h>
+#include <linux/can/isotp.h>
+#include "terminal.h"
+
+#define NO_CAN_ID 0xFFFFFFFFU
+
+#define FORMAT_HEX 1
+#define FORMAT_ASCII 2
+#define FORMAT_DEFAULT (FORMAT_ASCII | FORMAT_HEX)
+
+void print_usage(char *prg)
+{
+ fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
+ fprintf(stderr, "Options: -s <can_id> (source can_id. Use 8 digits for extended IDs)\n");
+ fprintf(stderr, " -d <can_id> (destination can_id. Use 8 digits for extended IDs)\n");
+ fprintf(stderr, " -x <addr> (extended addressing mode.)\n");
+ fprintf(stderr, " -c (color mode)\n");
+ fprintf(stderr, " -t <type> (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
+ fprintf(stderr, " -f <format> (1 = HEX, 2 = ASCII, 3 = HEX & ASCII - default: %d)\n", FORMAT_DEFAULT);
+ fprintf(stderr, " -h <len> (head: print only first <len> bytes)\n");
+ fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
+ fprintf(stderr, "\n");
+}
+
+void printbuf(unsigned char *buffer, int nbytes, int color, int timestamp,
+ int format, struct timeval *tv, struct timeval *last_tv,
+ canid_t src, int socket, char *candevice, int head)
+{
+ int i;
+
+ if (color == 1)
+ printf("%s", FGRED);
+
+ if (color == 2)
+ printf("%s", FGBLUE);
+
+ if (timestamp) {
+ ioctl(socket, SIOCGSTAMP, tv);
+
+ 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;
+
+ default: /* no timestamp output */
+ break;
+ }
+ }
+
+ /* the source socket gets pdu data from the detination id */
+ printf(" %s %03X [%d] ", candevice, src & CAN_EFF_MASK, nbytes);
+ if (format & FORMAT_HEX) {
+ for (i=0; i<nbytes; i++) {
+ printf("%02X ", buffer[i]);
+ if (head && i+1 >= head) {
+ printf("... ");
+ break;
+ }
+ }
+ if (format & FORMAT_ASCII)
+ printf(" - ");
+ }
+ if (format & FORMAT_ASCII) {
+ printf("'");
+ for (i=0; i<nbytes; i++) {
+ if ((buffer[i] > 0x1F) && (buffer[i] < 0x7F))
+ printf("%c", buffer[i]);
+ else
+ printf(".");
+ if (head && i+1 >= head)
+ break;
+ }
+ printf("'");
+ if (head && i+1 >= head)
+ printf(" ... ");
+ }
+
+ if (color)
+ printf("%s", ATTRESET);
+
+ printf("\n");
+ fflush(stdout);
+}
+
+int main(int argc, char **argv)
+{
+ fd_set rdfs;
+ int s, t;
+ struct sockaddr_can addr;
+ struct ifreq ifr;
+ static struct can_isotp_options opts;
+ int opt, quit = 0;
+ int color = 0;
+ int head = 0;
+ int timestamp = 0;
+ int format = FORMAT_DEFAULT;
+ canid_t src = NO_CAN_ID;
+ canid_t dst = NO_CAN_ID;
+ extern int optind, opterr, optopt;
+ static struct timeval tv, last_tv;
+
+ unsigned char buffer[4096];
+ int nbytes;
+
+ while ((opt = getopt(argc, argv, "s:d:x:h:ct:f:")) != -1) {
+ switch (opt) {
+ case 's':
+ src = strtoul(optarg, (char **)NULL, 16);
+ if (strlen(optarg) > 7)
+ src |= CAN_EFF_FLAG;
+ break;
+
+ case 'd':
+ dst = strtoul(optarg, (char **)NULL, 16);
+ if (strlen(optarg) > 7)
+ dst |= CAN_EFF_FLAG;
+ break;
+
+ case 'x':
+ opts.flags |= CAN_ISOTP_EXTEND_ADDR;
+ opts.ext_address = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+ break;
+
+ case 'f':
+ format = (atoi(optarg) & (FORMAT_ASCII | FORMAT_HEX));
+ break;
+
+ case 'h':
+ head = atoi(optarg);
+ break;
+
+ case 'c':
+ color = 1;
+ 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;
+
+ default:
+ fprintf(stderr, "Unknown option %c\n", opt);
+ print_usage(basename(argv[0]));
+ exit(0);
+ break;
+ }
+ }
+
+ if ((argc - optind) != 1 || src == NO_CAN_ID || dst == NO_CAN_ID) {
+ print_usage(basename(argv[0]));
+ exit(0);
+ }
+
+ if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
+ perror("socket");
+ exit(1);
+ }
+
+ if ((t = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
+ perror("socket");
+ exit(1);
+ }
+
+ opts.flags |= CAN_ISOTP_LISTEN_MODE;
+
+ setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
+ setsockopt(t, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
+
+ addr.can_family = AF_CAN;
+ strcpy(ifr.ifr_name, argv[optind]);
+ ioctl(s, SIOCGIFINDEX, &ifr);
+ addr.can_ifindex = ifr.ifr_ifindex;
+
+ addr.can_addr.tp.tx_id = dst;
+ addr.can_addr.tp.rx_id = src;
+
+ if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+ perror("bind");
+ close(s);
+ exit(1);
+ }
+
+ addr.can_addr.tp.tx_id = src;
+ addr.can_addr.tp.rx_id = dst;
+
+ if (bind(t, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+ perror("bind");
+ close(s);
+ exit(1);
+ }
+
+ while (!quit) {
+
+ FD_ZERO(&rdfs);
+ FD_SET(s, &rdfs);
+ FD_SET(t, &rdfs);
+ FD_SET(0, &rdfs);
+
+ if ((nbytes = select(t+1, &rdfs, NULL, NULL, NULL)) < 0) {
+ perror("select");
+ continue;
+ }
+
+ if (FD_ISSET(0, &rdfs)) {
+ getchar();
+ quit = 1;
+ printf("quit due to keyboard input.\n");
+ }
+
+ if (FD_ISSET(s, &rdfs)) {
+ nbytes = read(s, buffer, 4096);
+ if (nbytes < 0) {
+ perror("read socket s");
+ return -1;
+ }
+ if (nbytes > 4095)
+ return -1;
+ printbuf(buffer, nbytes, color?1:0, timestamp, format,
+ &tv, &last_tv, src, s, ifr.ifr_name, head);
+ }
+
+ if (FD_ISSET(t, &rdfs)) {
+ nbytes = read(t, buffer, 4096);
+ if (nbytes < 0) {
+ perror("read socket t");
+ return -1;
+ }
+ if (nbytes > 4095)
+ return -1;
+ printbuf(buffer, nbytes, color?2:0, timestamp, format,
+ &tv, &last_tv, dst, t, ifr.ifr_name, head);
+ }
+ }
+
+ close(s);
+
+ return 0;
+}