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58 #include <sys/types.h>
59 #include <sys/socket.h>
60 #include <sys/ioctl.h>
64 #include <linux/can.h>
65 #include <linux/can/raw.h>
70 #define MAXDEV 6 /* change sscanf()'s manually if changed here */
72 #define ANL "\r\n" /* newline in ASC mode */
75 #define RED ATTBOLD FGRED
76 #define GREEN ATTBOLD FGGREEN
77 #define YELLOW ATTBOLD FGYELLOW
78 #define BLUE ATTBOLD FGBLUE
79 #define MAGENTA ATTBOLD FGMAGENTA
80 #define CYAN ATTBOLD FGCYAN
82 const char col_on [MAXDEV][19] = {BLUE, RED, GREEN, BOLD, MAGENTA, CYAN};
83 const char col_off [] = ATTRESET;
85 static char devname[MAXDEV][IFNAMSIZ+1];
86 static int dindex[MAXDEV];
87 static int max_devname_len;
90 const char anichar[MAXANI] = {'|', '/', '-', '\\', '|', '/', '-', '\\'};
92 extern int optind, opterr, optopt;
94 static volatile int running = 1;
96 void print_usage(char *prg)
98 fprintf(stderr, "Usage: %s [can-interfaces]\n", prg);
99 fprintf(stderr, " (use CTRL-C to terminate %s)\n", prg);
100 fprintf(stderr, "Options: -m <mask> (default 0x00000000)\n");
101 fprintf(stderr, " -v <value> (default 0x00000000)\n");
102 fprintf(stderr, " -i <0|1> (inv_filter)\n");
103 fprintf(stderr, " -e <emask> (mask for error frames)\n");
104 fprintf(stderr, " -t <type> (timestamp: Absolute/Delta/Zero)\n");
105 fprintf(stderr, " -c (color mode)\n");
106 fprintf(stderr, " -a (enable additional ASCII output)\n");
107 fprintf(stderr, " -s <level> (silent mode - 1: animation 2: nothing)\n");
108 fprintf(stderr, " -b <can> (bridge mode - send received frames to <can>)\n");
109 fprintf(stderr, " -B <can> (bridge mode - like '-b' with disabled loopback)\n");
110 fprintf(stderr, " -l (log CAN-frames into file)\n");
111 fprintf(stderr, " -L (use log file format on stdout)\n");
112 fprintf(stderr, "\n");
113 fprintf(stderr, "When using more than one CAN interface the options\n");
114 fprintf(stderr, "m/v/i/e have comma seperated values e.g. '-m 0,7FF,0'\n");
115 fprintf(stderr, "Use interface name '%s' to receive from all can-interfaces\n", ANYDEV);
118 void sigterm(int signo)
123 int idx2dindex(int ifidx, int socket) {
128 for (i=0; i<MAXDEV; i++) {
129 if (dindex[i] == ifidx)
133 /* create new interface index cache entry */
135 /* remove index cache zombies first */
136 for (i=0; i < MAXDEV; i++) {
138 ifr.ifr_ifindex = dindex[i];
139 if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
144 for (i=0; i < MAXDEV; i++)
145 if (!dindex[i]) /* free entry */
149 printf("Interface index cache only supports %d interfaces.\n", MAXDEV);
155 ifr.ifr_ifindex = ifidx;
156 if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
157 perror("SIOCGIFNAME");
159 if (max_devname_len < strlen(ifr.ifr_name))
160 max_devname_len = strlen(ifr.ifr_name);
162 strcpy(devname[i], ifr.ifr_name);
165 printf("new index %d (%s)\n", i, devname[i]);
171 int main(int argc, char **argv)
176 canid_t mask[MAXDEV] = {0};
177 canid_t value[MAXDEV] = {0};
178 int inv_filter[MAXDEV] = {0};
179 can_err_mask_t err_mask[MAXDEV] = {0};
180 unsigned char timestamp = 0;
181 unsigned char silent = 0;
182 unsigned char silentani = 0;
183 unsigned char color = 0;
184 unsigned char ascii = 0;
185 unsigned char log = 0;
186 unsigned char logfrmt = 0;
188 int currmax = 1; /* we assume at least one can bus ;-) */
189 struct sockaddr_can addr;
190 struct can_filter rfilter;
191 struct can_frame frame;
194 struct timeval tv, last_tv;
195 FILE *logfile = NULL;
197 signal(SIGTERM, sigterm);
198 signal(SIGHUP, sigterm);
199 signal(SIGINT, sigterm);
204 while ((opt = getopt(argc, argv, "m:v:i:e:t:cas:b:B:lL")) != -1) {
207 i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
208 &mask[0], &mask[1], &mask[2],
209 &mask[3], &mask[4], &mask[5]);
215 i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
216 &value[0], &value[1], &value[2],
217 &value[3], &value[4], &value[5]);
223 i = sscanf(optarg, "%d,%d,%d,%d,%d,%d",
224 &inv_filter[0], &inv_filter[1], &inv_filter[2],
225 &inv_filter[3], &inv_filter[4], &inv_filter[5]);
231 i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
232 &err_mask[0], &err_mask[1], &err_mask[2],
233 &err_mask[3], &err_mask[4], &err_mask[5]);
239 timestamp = optarg[0];
240 if ((timestamp != 'a') && (timestamp != 'A') &&
241 (timestamp != 'd') && (timestamp != 'z')) {
242 printf("%s: unknown timestamp mode '%c' - ignored\n",
243 basename(argv[0]), optarg[0]);
257 silent = atoi(optarg);
262 if (strlen(optarg) >= IFNAMSIZ) {
263 printf("Name of CAN device '%s' is too long!\n\n", optarg);
267 if ((bridge = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
268 perror("bridge socket");
271 addr.can_family = AF_CAN;
272 strcpy(ifr.ifr_name, optarg);
273 if (ioctl(bridge, SIOCGIFINDEX, &ifr) < 0)
274 perror("SIOCGIFINDEX");
275 addr.can_ifindex = ifr.ifr_ifindex;
277 if (!addr.can_ifindex) {
278 perror("invalid bridge interface");
285 setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_LOOPBACK, &loopback, sizeof(loopback));
288 if (bind(bridge, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
289 perror("bridge bind");
304 fprintf(stderr, "Unknown option %c\n", opt);
305 print_usage(basename(argv[0]));
311 if (optind == argc) {
312 print_usage(basename(argv[0]));
316 /* count in options higher than device count ? */
317 if (optind + currmax > argc) {
318 printf("low count of CAN devices!\n");
322 currmax = argc - optind; /* find real number of CAN devices */
324 if (currmax > MAXDEV) {
325 printf("More than %d CAN devices!\n", MAXDEV);
329 for (i=0; i<currmax; i++) {
332 printf("open %d '%s' m%08X v%08X i%d e%d.\n",
333 i, argv[optind+i], mask[i], value[i],
334 inv_filter[i], err_mask[i]);
337 if ((s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
342 if (mask[i] || value[i]) {
344 printf("CAN ID filter[%d] for %s set to "
345 "mask = %08X, value = %08X %s\n",
346 i, argv[optind+i], mask[i], value[i],
347 (inv_filter[i]) ? "(inv_filter)" : "");
349 rfilter.can_id = value[i];
350 rfilter.can_mask = mask[i];
352 rfilter.can_id |= CAN_INV_FILTER;
354 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
355 &rfilter, sizeof(rfilter));
359 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
360 &err_mask[i], sizeof(err_mask[i]));
362 j = strlen(argv[optind+i]);
364 if (!(j < IFNAMSIZ)) {
365 printf("name of CAN device '%s' is too long!\n", argv[optind+i]);
369 if (j > max_devname_len)
370 max_devname_len = j; /* for nice printing */
372 addr.can_family = AF_CAN;
374 if (strcmp(ANYDEV, argv[optind+i])) {
375 strcpy(ifr.ifr_name, argv[optind+i]);
376 if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
377 perror("SIOCGIFINDEX");
380 addr.can_ifindex = ifr.ifr_ifindex;
383 addr.can_ifindex = 0; /* any can interface */
385 if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
394 char fname[sizeof("candump-2006-11-20_202026.log")+1];
396 if (time(&currtime) == (time_t)-1) {
401 localtime_r(&currtime, &now);
403 sprintf(fname, "candump-%04d-%02d-%02d_%02d%02d%02d.log",
411 printf("\nEnabling Logfile '%s'\n\n", fname);
413 logfile = fopen(fname, "w");
423 for (i=0; i<currmax; i++)
426 if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, NULL)) < 0) {
432 for (i=0; i<currmax; i++) { /* check all CAN RAW sockets */
434 if (FD_ISSET(s[i], &rdfs)) {
436 socklen_t len = sizeof(addr);
439 if ((nbytes = recvfrom(s[i], &frame,
440 sizeof(struct can_frame), 0,
441 (struct sockaddr*)&addr, &len)) < 0) {
446 if (nbytes < sizeof(struct can_frame)) {
447 fprintf(stderr, "read: incomplete CAN frame\n");
452 if ((nbytes = write(bridge, &frame,
453 sizeof(struct can_frame))) < 0) {
454 perror("bridge write");
456 } else if (nbytes < sizeof(struct can_frame)) {
457 fprintf(stderr,"bridge write: incomplete CAN frame\n");
462 if (timestamp || log || logfrmt)
463 if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
464 perror("SIOCGSTAMP");
467 idx = idx2dindex(addr.can_ifindex, s[i]);
470 /* log CAN frame with absolute timestamp & device */
471 fprintf(logfile, "(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
472 fprintf(logfile, "%*s ", max_devname_len, devname[idx]);
473 /* without seperator as logfile use-case is parsing */
474 fprint_canframe(logfile, &frame, "\n", 0);
478 /* print CAN frame in log file style to stdout */
479 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
480 printf("%*s ", max_devname_len, devname[idx]);
481 fprint_canframe(stdout, &frame, "\n", 0);
482 goto out_fflush; /* no other output to stdout */
487 printf("%c\b", anichar[silentani%=MAXANI]);
490 goto out_fflush; /* no other output to stdout */
493 printf(" %s", (color>2)?col_on[idx]:"");
497 case 'a': /* absolute with timestamp */
498 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
501 case 'A': /* absolute with date */
506 tm = *localtime(&tv.tv_sec);
507 strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
508 printf("(%s.%06ld) ", timestring, tv.tv_usec);
512 case 'd': /* delta */
513 case 'z': /* starting with zero */
517 if (last_tv.tv_sec == 0) /* first init */
519 diff.tv_sec = tv.tv_sec - last_tv.tv_sec;
520 diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
521 if (diff.tv_usec < 0)
522 diff.tv_sec--, diff.tv_usec += 1000000;
524 diff.tv_sec = diff.tv_usec = 0;
525 printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
527 if (timestamp == 'd')
528 last_tv = tv; /* update for delta calculation */
532 default: /* no timestamp output */
536 printf(" %s", (color && (color<3))?col_on[idx]:"");
537 printf("%*s", max_devname_len, devname[idx]);
538 printf("%s ", (color==1)?col_off:"");
540 fprint_long_canframe(stdout, &frame, NULL, ascii);
542 printf("%s", (color>1)?col_off:"");
551 for (i=0; i<currmax; i++)