candump.c

   1 /*
   2  *  $Id$
   3  */
   4
   5 /*
   6  * candump.c
   7  *
   8  * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
   9  * All rights reserved.
  10  *
  11  * Redistribution and use in source and binary forms, with or without
  12  * modification, are permitted provided that the following conditions
  13  * are met:
  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.
  22  *
  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.
  27  *
  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.
  30  *
  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
  42  * DAMAGE.
  43  *
  44  * Send feedback to <socketcan-users@lists.berlios.de>
  45  *
  46  */
  47
  48 #include <stdio.h>
  49 #include <stdlib.h>
  50 #include <unistd.h>
  51 #include <string.h>
  52 #include <signal.h>
  53 #include <ctype.h>
  54 #include <libgen.h>
  55 #include <time.h>
  56
  57 #include <sys/time.h>
  58 #include <sys/types.h>
  59 #include <sys/socket.h>
  60 #include <sys/ioctl.h>
  61 #include <sys/uio.h>
  62 #include <net/if.h>
  63
  64 #include <linux/can.h>
  65 #include <linux/can/raw.h>
  66
  67 #include "terminal.h"
  68 #include "lib.h"
  69
  70 #define MAXSOCK 16    /* max. number of CAN interfaces given on the cmdline */
  71 #define MAXFILTER 30  /* max. number of possible filters for each socket */
  72 #define MAXIFNAMES 30 /* size of receive name index to omit ioctls */
  73 #define MAXCOL 6      /* number of different colors for colorized output */
  74 #define ANYDEV "any"  /* name of interface to receive from any CAN interface */
  75 #define ANL "\r\n"    /* newline in ASC mode */
  76
  77 #define SILENT_INI 42 /* detect user setting on commandline */
  78 #define SILENT_OFF 0  /* no silent mode */
  79 #define SILENT_ANI 1  /* silent mode with animation */
  80 #define SILENT_ON  2  /* silent mode (completely silent) */
  81
  82 #define BOLD    ATTBOLD
  83 #define RED     ATTBOLD FGRED
  84 #define GREEN   ATTBOLD FGGREEN
  85 #define YELLOW  ATTBOLD FGYELLOW
  86 #define BLUE    ATTBOLD FGBLUE
  87 #define MAGENTA ATTBOLD FGMAGENTA
  88 #define CYAN    ATTBOLD FGCYAN
  89
  90 const char col_on [MAXCOL][19] = {BLUE, RED, GREEN, BOLD, MAGENTA, CYAN};
  91 const char col_off [] = ATTRESET;
  92
  93 static char devname[MAXIFNAMES][IFNAMSIZ+1];
  94 static int  dindex[MAXIFNAMES];
  95 static int  max_devname_len; /* to prevent frazzled device name output */
  96
  97 #define MAXANI 4
  98 const char anichar[MAXANI] = {'|', '/', '-', '\\'};
  99
 100 extern int optind, opterr, optopt;
 101
 102 static volatile int running = 1;
 103
 104 void print_usage(char *prg)
 105 {
 106         fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
 107         fprintf(stderr, "  (use CTRL-C to terminate %s)\n\n", prg);
 108         fprintf(stderr, "Options: -t <type>   (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
 109         fprintf(stderr, "         -c          (increment color mode level)\n");
 110         fprintf(stderr, "         -i          (binary output - may exceed 80 chars/line)\n");
 111         fprintf(stderr, "         -a          (enable additional ASCII output)\n");
 112         fprintf(stderr, "         -s <level>  (silent mode - %d: off (default) %d: animation %d: silent)\n", SILENT_OFF, SILENT_ANI, SILENT_ON);
 113         fprintf(stderr, "         -b <can>    (bridge mode - send received frames to <can>)\n");
 114         fprintf(stderr, "         -B <can>    (bridge mode - like '-b' with disabled loopback)\n");
 115         fprintf(stderr, "         -l          (log CAN-frames into file. Sets '-s %d' by default)\n", SILENT_ON);
 116         fprintf(stderr, "         -L          (use log file format on stdout)\n");
 117         fprintf(stderr, "\n");
 118         fprintf(stderr, "Up to %d CAN interfaces with optional filter sets can be specified\n", MAXSOCK);
 119         fprintf(stderr, "on the commandline in the form: <ifname>[,filter]*\n");
 120         fprintf(stderr, "\nUp to %d comma separated filters can be specified for each given CAN interface:\n", MAXFILTER);
 121         fprintf(stderr, " <can_id>:<can_mask> (matches when <received_can_id> & mask == can_id & mask)\n");
 122         fprintf(stderr, " <can_id>~<can_mask> (matches when <received_can_id> & mask != can_id & mask)\n");
 123         fprintf(stderr, " #<error_mask>       (set error frame filter, see include/linux/can/error.h)\n");
 124         fprintf(stderr, "\nCAN IDs, masks and data content are given and expected in hexadecimal values.\n");
 125         fprintf(stderr, "When can_id and can_mask are both 8 digits, they are assumed to be 29 bit EFF.\n");
 126         fprintf(stderr, "Without any given filter all data frames are received ('0:0' default filter).\n");
 127         fprintf(stderr, "\nUse interface name '%s' to receive from all CAN interfaces.\n", ANYDEV);
 128         fprintf(stderr, "\nExamples:\n");
 129         fprintf(stderr, "%s -c -c -ta can0,123:7FF,400:700,#000000FF can2,400~7F0 can3 can8\n", prg);
 130         fprintf(stderr, "%s -l any,0~0,#FFFFFFFF    (log only error frames but no(!) data frames)\n", prg);
 131         fprintf(stderr, "%s -l any,0:0,#FFFFFFFF    (log error frames and also all data frames)\n", prg);
 132         fprintf(stderr, "%s vcan2,92345678:9FFFFFFF (match only for extended CAN ID 12345678)\n", prg);
 133         fprintf(stderr, "%s vcan2,12345678:1FFFFFFF (analog to above due to 8 digit value length)\n", prg);
 134         fprintf(stderr, "\n");
 135 }
 136
 137 void sigterm(int signo)
 138 {
 139         running = 0;
 140 }
 141
 142 int idx2dindex(int ifidx, int socket) {
 143
 144         int i;
 145         struct ifreq ifr;
 146
 147         for (i=0; i < MAXIFNAMES; i++) {
 148                 if (dindex[i] == ifidx)
 149                         return i;
 150         }
 151
 152         /* create new interface index cache entry */
 153
 154         /* remove index cache zombies first */
 155         for (i=0; i < MAXIFNAMES; i++) {
 156                 if (dindex[i]) {
 157                         ifr.ifr_ifindex = dindex[i];
 158                         if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
 159                                 dindex[i] = 0;
 160                 }
 161         }
 162
 163         for (i=0; i < MAXIFNAMES; i++)
 164                 if (!dindex[i]) /* free entry */
 165                         break;
 166
 167         if (i == MAXIFNAMES) {
 168                 printf("Interface index cache only supports %d interfaces.\n",
 169                        MAXIFNAMES);
 170                 exit(1);
 171         }
 172
 173         dindex[i] = ifidx;
 174
 175         ifr.ifr_ifindex = ifidx;
 176         if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
 177                 perror("SIOCGIFNAME");
 178
 179         if (max_devname_len < strlen(ifr.ifr_name))
 180                 max_devname_len = strlen(ifr.ifr_name);
 181
 182         strcpy(devname[i], ifr.ifr_name);
 183
 184 #ifdef DEBUG
 185         printf("new index %d (%s)\n", i, devname[i]);
 186 #endif
 187
 188         return i;
 189 }
 190
 191 canid_t checkeff(char *ptr, char *nptr)
 192 {
 193         int len;
 194
 195         if (nptr)
 196                 len = nptr - ptr;
 197         else
 198                 len = strlen(ptr);
 199
 200         if (len == 17 && (ptr[8] == ':' || ptr[8] == '~'))
 201                 return CAN_EFF_FLAG;
 202         else
 203                 return 0;
 204 }
 205
 206 int main(int argc, char **argv)
 207 {
 208         fd_set rdfs;
 209         int s[MAXSOCK];
 210         int bridge = 0;
 211         unsigned char timestamp = 0;
 212         unsigned char silent = SILENT_INI;
 213         unsigned char silentani = 0;
 214         unsigned char color = 0;
 215         unsigned char view = 0;
 216         unsigned char log = 0;
 217         unsigned char logfrmt = 0;
 218         int opt, ret;
 219         int currmax, numfilter;
 220         char *ptr, *nptr;
 221         canid_t eff;
 222         struct sockaddr_can addr;
 223         struct can_filter rfilter[MAXFILTER];
 224         can_err_mask_t err_mask;
 225         struct can_frame frame;
 226         int nbytes, i;
 227         struct ifreq ifr;
 228         struct timeval tv, last_tv;
 229         FILE *logfile = NULL;
 230
 231         signal(SIGTERM, sigterm);
 232         signal(SIGHUP, sigterm);
 233         signal(SIGINT, sigterm);
 234
 235         last_tv.tv_sec  = 0;
 236         last_tv.tv_usec = 0;
 237
 238         while ((opt = getopt(argc, argv, "t:cias:b:B:lLh?")) != -1) {
 239                 switch (opt) {
 240                 case 't':
 241                         timestamp = optarg[0];
 242                         if ((timestamp != 'a') && (timestamp != 'A') &&
 243                             (timestamp != 'd') && (timestamp != 'z')) {
 244                                 printf("%s: unknown timestamp mode '%c' - ignored\n",
 245                                        basename(argv[0]), optarg[0]);
 246                                 timestamp = 0;
 247                         }
 248                         break;
 249
 250                 case 'c':
 251                         color++;
 252                         break;
 253
 254                 case 'i':
 255                         view |= CANLIB_VIEW_BINARY;
 256                         break;
 257
 258                 case 'a':
 259                         view |= CANLIB_VIEW_ASCII;
 260                         break;
 261
 262                 case 's':
 263                         silent = atoi(optarg);
 264                         if (silent > SILENT_ON) {
 265                                 print_usage(basename(argv[0]));
 266                                 exit(1);
 267                         }
 268                         break;
 269
 270                 case 'b':
 271                 case 'B':
 272                         if (strlen(optarg) >= IFNAMSIZ) {
 273                                 printf("Name of CAN device '%s' is too long!\n\n", optarg);
 274                                 return 1;
 275                         } else {
 276                                 bridge = socket(PF_CAN, SOCK_RAW, CAN_RAW);
 277                                 if (bridge < 0) {
 278                                         perror("bridge socket");
 279                                         return 1;
 280                                 }
 281                                 addr.can_family = AF_CAN;
 282                                 strcpy(ifr.ifr_name, optarg);
 283                                 if (ioctl(bridge, SIOCGIFINDEX, &ifr) < 0)
 284                                         perror("SIOCGIFINDEX");
 285                                 addr.can_ifindex = ifr.ifr_ifindex;
 286
 287                                 if (!addr.can_ifindex) {
 288                                         perror("invalid bridge interface");
 289                                         return 1;
 290                                 }
 291
 292                                 if (opt == 'B') {
 293                                         int loopback = 0;
 294
 295                                         setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
 296                                                    &loopback, sizeof(loopback));
 297                                 }
 298
 299                                 if (bind(bridge, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 300                                         perror("bridge bind");
 301                                         return 1;
 302                                 }
 303                         }
 304                         break;
 305
 306                 case 'l':
 307                         log = 1;
 308                         break;
 309
 310                 case 'L':
 311                         logfrmt = 1;
 312                         break;
 313
 314                 default:
 315                         print_usage(basename(argv[0]));
 316                         exit(1);
 317                         break;
 318                 }
 319         }
 320
 321         if (optind == argc) {
 322                 print_usage(basename(argv[0]));
 323                 exit(0);
 324         }
 325
 326         if (silent == SILENT_INI) {
 327                 if (log) {
 328                         printf("\nDisabled standard output while logging.");
 329                         silent = SILENT_ON; /* disable output on stdout */
 330                 } else
 331                         silent = SILENT_OFF; /* default output */
 332         }
 333
 334         currmax = argc - optind; /* find real number of CAN devices */
 335
 336         if (currmax > MAXSOCK) {
 337                 printf("More than %d CAN devices given on commandline!\n", MAXSOCK);
 338                 return 1;
 339         }
 340
 341         for (i=0; i < currmax; i++) {
 342
 343                 ptr = argv[optind+i];
 344                 nptr = strchr(ptr, ',');
 345
 346 #ifdef DEBUG
 347                 printf("open %d '%s'.\n", i, ptr);
 348 #endif
 349
 350                 s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW);
 351                 if (s[i] < 0) {
 352                         perror("socket");
 353                         return 1;
 354                 }
 355
 356                 if (nptr)
 357                         nbytes = nptr - ptr;  /* interface name is up the first ',' */
 358                 else
 359                         nbytes = strlen(ptr); /* no ',' found => no filter definitions */
 360
 361                 if (nbytes >= IFNAMSIZ) {
 362                         printf("name of CAN device '%s' is too long!\n", ptr);
 363                         return 1;
 364                 }
 365
 366                 if (nbytes > max_devname_len)
 367                         max_devname_len = nbytes; /* for nice printing */
 368
 369                 addr.can_family = AF_CAN;
 370
 371                 memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));
 372                 strncpy(ifr.ifr_name, ptr, nbytes);
 373
 374 #ifdef DEBUG
 375                 printf("using interface name '%s'.\n", ifr.ifr_name);
 376 #endif
 377
 378                 if (strcmp(ANYDEV, ifr.ifr_name)) {
 379                         if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
 380                                 perror("SIOCGIFINDEX");
 381                                 exit(1);
 382                         }
 383                         addr.can_ifindex = ifr.ifr_ifindex;
 384                 } else
 385                         addr.can_ifindex = 0; /* any can interface */
 386
 387                 if (nptr) {
 388
 389                         /* found a ',' after the interface name => check for filters */
 390
 391                         numfilter = 0;
 392                         err_mask = 0;
 393
 394                         while (nptr) {
 395
 396                                 ptr = nptr+1; /* hop behind the ',' */
 397                                 nptr = strchr(ptr, ','); /* update exit condition */
 398
 399                                 if (sscanf(ptr, "%lx:%lx",
 400                                            (long unsigned int *)
 401                                            &rfilter[numfilter].can_id,
 402                                            (long unsigned int *)
 403                                            &rfilter[numfilter].can_mask) == 2) {
 404                                         eff = checkeff(ptr, nptr);
 405                                         rfilter[numfilter].can_id |= eff;
 406                                         rfilter[numfilter].can_mask |= eff;
 407                                         rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
 408                                         numfilter++;
 409                                 } else if (sscanf(ptr, "%lx~%lx",
 410                                                   (long unsigned int *)
 411                                                   &rfilter[numfilter].can_id,
 412                                                   (long unsigned int *)
 413                                                   &rfilter[numfilter].can_mask) == 2) {
 414                                         rfilter[numfilter].can_id |= CAN_INV_FILTER;
 415                                         eff = checkeff(ptr, nptr);
 416                                         rfilter[numfilter].can_id |= eff;
 417                                         rfilter[numfilter].can_mask |= eff;
 418                                         rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
 419                                         numfilter++;
 420                                 } else if (sscanf(ptr, "#%lx",
 421                                                   (long unsigned int *)&err_mask) != 1) {
 422                                         printf("Error in filter option parsing: '%s'\n", ptr);
 423                                         exit(1);
 424                                 }
 425
 426                                 if (numfilter > MAXFILTER) {
 427                                         printf("Too many filters specified for '%s'.\n",
 428                                                ifr.ifr_name);
 429                                         exit(1);
 430                                 }
 431                         }
 432
 433                         if (err_mask)
 434                                 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
 435                                            &err_mask, sizeof(err_mask));
 436
 437                         if (numfilter)
 438                                 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
 439                                            &rfilter, numfilter * sizeof(struct can_filter));
 440                 } /* if (nptr) */
 441
 442                 if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 443                         perror("bind");
 444                         return 1;
 445                 }
 446         }
 447
 448         if (log) {
 449                 time_t currtime;
 450                 struct tm now;
 451                 char fname[sizeof("candump-2006-11-20_202026.log")+1];
 452
 453                 if (time(&currtime) == (time_t)-1) {
 454                         perror("time");
 455                         return 1;
 456                 }
 457
 458                 localtime_r(&currtime, &now);
 459
 460                 sprintf(fname, "candump-%04d-%02d-%02d_%02d%02d%02d.log",
 461                         now.tm_year + 1900,
 462                         now.tm_mon + 1,
 463                         now.tm_mday,
 464                         now.tm_hour,
 465                         now.tm_min,
 466                         now.tm_sec);
 467
 468                 if (silent != SILENT_ON)
 469                         printf("\nWarning: console output active while logging!");
 470
 471                 printf("\nEnabling Logfile '%s'\n\n", fname);
 472
 473                 logfile = fopen(fname, "w");
 474                 if (!logfile) {
 475                         perror("logfile");
 476                         return 1;
 477                 }
 478         }
 479
 480         while (running) {
 481
 482                 FD_ZERO(&rdfs);
 483                 for (i=0; i<currmax; i++)
 484                         FD_SET(s[i], &rdfs);
 485
 486                 if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, NULL)) < 0) {
 487                         //perror("select");
 488                         running = 0;
 489                         continue;
 490                 }
 491
 492                 for (i=0; i<currmax; i++) {  /* check all CAN RAW sockets */
 493
 494                         if (FD_ISSET(s[i], &rdfs)) {
 495
 496                                 socklen_t len = sizeof(addr);
 497                                 int idx;
 498
 499                                 nbytes = recvfrom(s[i], &frame, sizeof(struct can_frame), 0,
 500                                                   (struct sockaddr*)&addr, &len);
 501                                 if (nbytes < 0) {
 502                                         perror("read");
 503                                         return 1;
 504                                 }
 505
 506                                 if (nbytes < sizeof(struct can_frame)) {
 507                                         fprintf(stderr, "read: incomplete CAN frame\n");
 508                                         return 1;
 509                                 }
 510
 511                                 if (bridge) {
 512                                         nbytes = write(bridge, &frame, sizeof(struct can_frame));
 513                                         if (nbytes < 0) {
 514                                                 perror("bridge write");
 515                                                 return 1;
 516                                         } else if (nbytes < sizeof(struct can_frame)) {
 517                                                 fprintf(stderr,"bridge write: incomplete CAN frame\n");
 518                                                 return 1;
 519                                         }
 520                                 }
 521
 522                                 if (timestamp || log || logfrmt)
 523                                         if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
 524                                                 perror("SIOCGSTAMP");
 525
 526
 527                                 idx = idx2dindex(addr.can_ifindex, s[i]);
 528
 529                                 if (log) {
 530                                         /* log CAN frame with absolute timestamp & device */
 531                                         fprintf(logfile, "(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 532                                         fprintf(logfile, "%*s ", max_devname_len, devname[idx]);
 533                                         /* without seperator as logfile use-case is parsing */
 534                                         fprint_canframe(logfile, &frame, "\n", 0);
 535                                 }
 536
 537                                 if (logfrmt) {
 538                                         /* print CAN frame in log file style to stdout */
 539                                         printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 540                                         printf("%*s ", max_devname_len, devname[idx]);
 541                                         fprint_canframe(stdout, &frame, "\n", 0);
 542                                         goto out_fflush; /* no other output to stdout */
 543                                 }
 544
 545                                 if (silent != SILENT_OFF){
 546                                         if (silent == SILENT_ANI) {
 547                                                 printf("%c\b", anichar[silentani%=MAXANI]);
 548                                                 silentani++;
 549                                         }
 550                                         goto out_fflush; /* no other output to stdout */
 551                                 }
 552
 553                                 printf(" %s", (color>2)?col_on[idx%MAXCOL]:"");
 554
 555                                 switch (timestamp) {
 556
 557                                 case 'a': /* absolute with timestamp */
 558                                         printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 559                                         break;
 560
 561                                 case 'A': /* absolute with date */
 562                                 {
 563                                         struct tm tm;
 564                                         char timestring[25];
 565
 566                                         tm = *localtime(&tv.tv_sec);
 567                                         strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
 568                                         printf("(%s.%06ld) ", timestring, tv.tv_usec);
 569                                 }
 570                                 break;
 571
 572                                 case 'd': /* delta */
 573                                 case 'z': /* starting with zero */
 574                                 {
 575                                         struct timeval diff;
 576
 577                                         if (last_tv.tv_sec == 0)   /* first init */
 578                                                 last_tv = tv;
 579                                         diff.tv_sec  = tv.tv_sec  - last_tv.tv_sec;
 580                                         diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
 581                                         if (diff.tv_usec < 0)
 582                                                 diff.tv_sec--, diff.tv_usec += 1000000;
 583                                         if (diff.tv_sec < 0)
 584                                                 diff.tv_sec = diff.tv_usec = 0;
 585                                         printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
 586
 587                                         if (timestamp == 'd')
 588                                                 last_tv = tv; /* update for delta calculation */
 589                                 }
 590                                 break;
 591
 592                                 default: /* no timestamp output */
 593                                         break;
 594                                 }
 595
 596                                 printf(" %s", (color && (color<3))?col_on[idx%MAXCOL]:"");
 597                                 printf("%*s", max_devname_len, devname[idx]);
 598                                 printf("%s  ", (color==1)?col_off:"");
 599
 600                                 fprint_long_canframe(stdout, &frame, NULL, view);
 601
 602                                 printf("%s", (color>1)?col_off:"");
 603                                 printf("\n");
 604                         }
 605
 606                 out_fflush:
 607                         fflush(stdout);
 608                 }
 609         }
 610
 611         for (i=0; i<currmax; i++)
 612                 close(s[i]);
 613
 614         if (bridge)
 615                 close(bridge);
 616
 617         if (log)
 618                 fclose(logfile);
 619
 620         return 0;
 621 }