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
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34 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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44 * Send feedback to <socketcan-users@lists.berlios.de>
58 #include <sys/types.h>
59 #include <sys/socket.h>
60 #include <sys/ioctl.h>
63 #include <netinet/in.h>
65 #include <linux/can.h>
66 #include <linux/can/raw.h>
73 #define MAXDEV 6 /* change sscanf()'s manually if changed here */
75 #define ANL "\r\n" /* newline in ASC mode */
79 static char devname[MAXDEV][IFNAMSIZ+1];
80 static int dindex[MAXDEV];
81 static int max_devname_len;
83 extern int optind, opterr, optopt;
85 static volatile int running = 1;
87 void print_usage(char *prg)
89 fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
90 fprintf(stderr, " (use CTRL-C to terminate %s)\n\n", prg);
91 fprintf(stderr, "Options: -m <mask> (ID filter mask. Default 0x00000000) *\n");
92 fprintf(stderr, " -v <value> (ID filter value. Default 0x00000000) *\n");
93 fprintf(stderr, " -i <0|1> (invert the specified ID filter) *\n");
94 fprintf(stderr, " -e <emask> (mask for error frames)\n");
95 fprintf(stderr, " -p <port> (listen on port <port>. Default: %d)\n", DEFPORT);
96 fprintf(stderr, "\n");
97 fprintf(stderr, "* The CAN ID filter matches, when ...\n");
98 fprintf(stderr, " <received_can_id> & mask == value & mask\n");
99 fprintf(stderr, "\n");
100 fprintf(stderr, "When using more than one CAN interface the options\n");
101 fprintf(stderr, "m/v/i/e have comma seperated values e.g. '-m 0,7FF,0'\n");
102 fprintf(stderr, "\nUse interface name '%s' to receive from all CAN interfaces.\n\n", ANYDEV);
105 int idx2dindex(int ifidx, int socket)
110 for (i=0; i<MAXDEV; i++) {
111 if (dindex[i] == ifidx)
115 /* create new interface index cache entry */
117 /* remove index cache zombies first */
118 for (i=0; i < MAXDEV; i++) {
120 ifr.ifr_ifindex = dindex[i];
121 if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
126 for (i=0; i < MAXDEV; i++)
127 if (!dindex[i]) /* free entry */
131 printf("Interface index cache only supports %d interfaces.\n", MAXDEV);
137 ifr.ifr_ifindex = ifidx;
138 if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
139 perror("SIOCGIFNAME");
141 if (max_devname_len < strlen(ifr.ifr_name))
142 max_devname_len = strlen(ifr.ifr_name);
144 strcpy(devname[i], ifr.ifr_name);
147 printf("new index %d (%s)\n", i, devname[i]);
154 * This is a Signalhandler. When we get a signal, that a child
155 * terminated, we wait for it, so the zombie will disappear.
157 void childdied(int i)
163 * This is a Signalhandler for a cought SIGTERM
165 void shutdown_gra(int i)
171 int main(int argc, char **argv)
173 struct sigaction signalaction;
177 int socki, accsocket;
178 canid_t mask[MAXDEV] = {0};
179 canid_t value[MAXDEV] = {0};
180 int inv_filter[MAXDEV] = {0};
181 can_err_mask_t err_mask[MAXDEV] = {0};
183 int currmax = 1; /* we assume at least one can bus ;-) */
184 struct sockaddr_can addr;
185 struct can_filter rfilter;
186 struct can_frame frame;
189 struct timeval tv, last_tv;
191 struct sockaddr_in inaddr;
192 struct sockaddr_in clientaddr;
193 socklen_t sin_size = sizeof(clientaddr);
196 sigemptyset(&sigset);
197 signalaction.sa_handler = &childdied;
198 signalaction.sa_mask = sigset;
199 signalaction.sa_flags = 0;
200 sigaction(SIGCHLD, &signalaction, NULL); /* install signal for dying child */
201 signalaction.sa_handler = &shutdown_gra;
202 signalaction.sa_mask = sigset;
203 signalaction.sa_flags = 0;
204 sigaction(SIGTERM, &signalaction, NULL); /* install Signal for termination */
205 sigaction(SIGINT, &signalaction, NULL); /* install Signal for termination */
211 while ((opt = getopt(argc, argv, "m:v:i:e:p:?")) != -1) {
215 i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
216 &mask[0], &mask[1], &mask[2],
217 &mask[3], &mask[4], &mask[5]);
223 i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
224 &value[0], &value[1], &value[2],
225 &value[3], &value[4], &value[5]);
231 i = sscanf(optarg, "%d,%d,%d,%d,%d,%d",
232 &inv_filter[0], &inv_filter[1], &inv_filter[2],
233 &inv_filter[3], &inv_filter[4], &inv_filter[5]);
239 i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
240 &err_mask[0], &err_mask[1], &err_mask[2],
241 &err_mask[3], &err_mask[4], &err_mask[5]);
249 print_usage(basename(argv[0]));
255 if (optind == argc) {
256 print_usage(basename(argv[0]));
260 /* count in options higher than device count ? */
261 if (optind + currmax > argc) {
262 printf("low count of CAN devices!\n");
266 currmax = argc - optind; /* find real number of CAN devices */
268 if (currmax > MAXDEV) {
269 printf("More than %d CAN devices!\n", MAXDEV);
274 socki = socket(PF_INET, SOCK_STREAM, 0);
280 inaddr.sin_family = AF_INET;
281 inaddr.sin_addr.s_addr = htonl(INADDR_ANY);
282 inaddr.sin_port = htons(port);
284 while(bind(socki, (struct sockaddr*)&inaddr, sizeof(inaddr)) < 0) {
285 printf(".");fflush(NULL);
289 if (listen(socki, 3) != 0) {
295 accsocket = accept(socki, (struct sockaddr*)&clientaddr, &sin_size);
297 //printf("accepted\n");
303 else if (errno != EINTR) {
309 for (i=0; i<currmax; i++) {
312 printf("open %d '%s' m%08X v%08X i%d e%d.\n",
313 i, argv[optind+i], mask[i], value[i],
314 inv_filter[i], err_mask[i]);
317 if ((s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
322 if (mask[i] || value[i]) {
324 printf("CAN ID filter[%d] for %s set to "
325 "mask = %08X, value = %08X %s\n",
326 i, argv[optind+i], mask[i], value[i],
327 (inv_filter[i]) ? "(inv_filter)" : "");
329 rfilter.can_id = value[i];
330 rfilter.can_mask = mask[i];
332 rfilter.can_id |= CAN_INV_FILTER;
334 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
335 &rfilter, sizeof(rfilter));
339 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
340 &err_mask[i], sizeof(err_mask[i]));
342 j = strlen(argv[optind+i]);
344 if (!(j < IFNAMSIZ)) {
345 printf("name of CAN device '%s' is too long!\n", argv[optind+i]);
349 if (j > max_devname_len)
350 max_devname_len = j; /* for nice printing */
352 addr.can_family = AF_CAN;
354 if (strcmp(ANYDEV, argv[optind+i])) {
355 strcpy(ifr.ifr_name, argv[optind+i]);
356 if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
357 perror("SIOCGIFINDEX");
360 addr.can_ifindex = ifr.ifr_ifindex;
363 addr.can_ifindex = 0; /* any can interface */
365 if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
374 for (i=0; i<currmax; i++)
377 if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, NULL)) < 0) {
383 for (i=0; i<currmax; i++) { /* check all CAN RAW sockets */
385 if (FD_ISSET(s[i], &rdfs)) {
387 socklen_t len = sizeof(addr);
390 if ((nbytes = recvfrom(s[i], &frame,
391 sizeof(struct can_frame), 0,
392 (struct sockaddr*)&addr, &len)) < 0) {
397 if (nbytes < sizeof(struct can_frame)) {
398 fprintf(stderr, "read: incomplete CAN frame\n");
402 if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
403 perror("SIOCGSTAMP");
406 idx = idx2dindex(addr.can_ifindex, s[i]);
408 sprintf(temp, "(%ld.%06ld) %*s ",
409 tv.tv_sec, tv.tv_usec, max_devname_len, devname[idx]);
410 sprint_canframe(temp+strlen(temp), &frame, 0);
413 if (write(accsocket, temp, strlen(temp)) < 0) {
414 perror("writeaccsock");
418 /* printf("%s\n",temp2); */
421 /* print CAN frame in log file style to stdout */
422 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
423 printf("%*s ", max_devname_len, devname[idx]);
424 fprint_canframe(stdout, &frame, "\n", 0);
431 for (i=0; i<currmax; i++)