8 * Copyright (c) 2002-2009 Volkswagen Group Electronic Research
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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
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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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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 MAXSOCK 16 /* max. number of CAN interfaces given on the cmdline */
71 #define MAXIFNAMES 30 /* size of receive name index to omit ioctls */
72 #define MAXCOL 6 /* number of different colors for colorized output */
73 #define ANYDEV "any" /* name of interface to receive from any CAN interface */
74 #define ANL "\r\n" /* newline in ASC mode */
76 #define SILENT_INI 42 /* detect user setting on commandline */
77 #define SILENT_OFF 0 /* no silent mode */
78 #define SILENT_ANI 1 /* silent mode with animation */
79 #define SILENT_ON 2 /* silent mode (completely silent) */
82 #define RED ATTBOLD FGRED
83 #define GREEN ATTBOLD FGGREEN
84 #define YELLOW ATTBOLD FGYELLOW
85 #define BLUE ATTBOLD FGBLUE
86 #define MAGENTA ATTBOLD FGMAGENTA
87 #define CYAN ATTBOLD FGCYAN
89 const char col_on [MAXCOL][19] = {BLUE, RED, GREEN, BOLD, MAGENTA, CYAN};
90 const char col_off [] = ATTRESET;
92 static char *cmdlinename[MAXSOCK];
93 static __u32 dropcnt[MAXSOCK];
94 static __u32 last_dropcnt[MAXSOCK];
95 static char devname[MAXIFNAMES][IFNAMSIZ+1];
96 static int dindex[MAXIFNAMES];
97 static int max_devname_len; /* to prevent frazzled device name output */
100 const char anichar[MAXANI] = {'|', '/', '-', '\\'};
102 extern int optind, opterr, optopt;
104 static volatile int running = 1;
106 void print_usage(char *prg)
108 fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
109 fprintf(stderr, " (use CTRL-C to terminate %s)\n\n", prg);
110 fprintf(stderr, "Options: -t <type> (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
111 fprintf(stderr, " -c (increment color mode level)\n");
112 fprintf(stderr, " -i (binary output - may exceed 80 chars/line)\n");
113 fprintf(stderr, " -a (enable additional ASCII output)\n");
114 fprintf(stderr, " -S (swap byte order in printed CAN data[] - marked with '%c' )\n", SWAP_DELIMITER);
115 fprintf(stderr, " -s <level> (silent mode - %d: off (default) %d: animation %d: silent)\n", SILENT_OFF, SILENT_ANI, SILENT_ON);
116 fprintf(stderr, " -b <can> (bridge mode - send received frames to <can>)\n");
117 fprintf(stderr, " -B <can> (bridge mode - like '-b' with disabled loopback)\n");
118 fprintf(stderr, " -l (log CAN-frames into file. Sets '-s %d' by default)\n", SILENT_ON);
119 fprintf(stderr, " -L (use log file format on stdout)\n");
120 fprintf(stderr, " -n <count> (terminate after receiption of <count> CAN frames)\n");
121 fprintf(stderr, " -r <size> (set socket receive buffer to <size>)\n");
122 fprintf(stderr, " -d (monitor dropped CAN frames)\n");
123 fprintf(stderr, "\n");
124 fprintf(stderr, "Up to %d CAN interfaces with optional filter sets can be specified\n", MAXSOCK);
125 fprintf(stderr, "on the commandline in the form: <ifname>[,filter]*\n");
126 fprintf(stderr, "\nComma separated filters can be specified for each given CAN interface:\n");
127 fprintf(stderr, " <can_id>:<can_mask> (matches when <received_can_id> & mask == can_id & mask)\n");
128 fprintf(stderr, " <can_id>~<can_mask> (matches when <received_can_id> & mask != can_id & mask)\n");
129 fprintf(stderr, " #<error_mask> (set error frame filter, see include/linux/can/error.h)\n");
130 fprintf(stderr, "\nCAN IDs, masks and data content are given and expected in hexadecimal values.\n");
131 fprintf(stderr, "When can_id and can_mask are both 8 digits, they are assumed to be 29 bit EFF.\n");
132 fprintf(stderr, "Without any given filter all data frames are received ('0:0' default filter).\n");
133 fprintf(stderr, "\nUse interface name '%s' to receive from all CAN interfaces.\n", ANYDEV);
134 fprintf(stderr, "\nExamples:\n");
135 fprintf(stderr, "%s -c -c -ta can0,123:7FF,400:700,#000000FF can2,400~7F0 can3 can8\n", prg);
136 fprintf(stderr, "%s -l any,0~0,#FFFFFFFF (log only error frames but no(!) data frames)\n", prg);
137 fprintf(stderr, "%s -l any,0:0,#FFFFFFFF (log error frames and also all data frames)\n", prg);
138 fprintf(stderr, "%s vcan2,92345678:DFFFFFFF (match only for extended CAN ID 12345678)\n", prg);
139 fprintf(stderr, "%s vcan2,123:7FF (matches CAN ID 123 - including EFF and RTR frames)\n", prg);
140 fprintf(stderr, "%s vcan2,123:C00007FF (matches CAN ID 123 - only SFF and non-RTR frames)\n", prg);
141 fprintf(stderr, "\n");
144 void sigterm(int signo)
149 int idx2dindex(int ifidx, int socket) {
154 for (i=0; i < MAXIFNAMES; i++) {
155 if (dindex[i] == ifidx)
159 /* create new interface index cache entry */
161 /* remove index cache zombies first */
162 for (i=0; i < MAXIFNAMES; i++) {
164 ifr.ifr_ifindex = dindex[i];
165 if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
170 for (i=0; i < MAXIFNAMES; i++)
171 if (!dindex[i]) /* free entry */
174 if (i == MAXIFNAMES) {
175 fprintf(stderr, "Interface index cache only supports %d interfaces.\n",
182 ifr.ifr_ifindex = ifidx;
183 if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
184 perror("SIOCGIFNAME");
186 if (max_devname_len < strlen(ifr.ifr_name))
187 max_devname_len = strlen(ifr.ifr_name);
189 strcpy(devname[i], ifr.ifr_name);
192 printf("new index %d (%s)\n", i, devname[i]);
198 int main(int argc, char **argv)
203 unsigned char timestamp = 0;
204 unsigned char dropmonitor = 0;
205 unsigned char silent = SILENT_INI;
206 unsigned char silentani = 0;
207 unsigned char color = 0;
208 unsigned char view = 0;
209 unsigned char log = 0;
210 unsigned char logfrmt = 0;
214 int currmax, numfilter;
216 struct sockaddr_can addr;
217 char ctrlmsg[CMSG_SPACE(sizeof(struct timeval)) + CMSG_SPACE(sizeof(__u32))];
220 struct cmsghdr *cmsg;
221 struct can_filter *rfilter;
222 can_err_mask_t err_mask;
223 struct can_frame frame;
226 struct timeval tv, last_tv;
227 FILE *logfile = NULL;
229 signal(SIGTERM, sigterm);
230 signal(SIGHUP, sigterm);
231 signal(SIGINT, sigterm);
236 while ((opt = getopt(argc, argv, "t:ciaSs:b:B:ldLn:r:h?")) != -1) {
239 timestamp = optarg[0];
240 if ((timestamp != 'a') && (timestamp != 'A') &&
241 (timestamp != 'd') && (timestamp != 'z')) {
242 fprintf(stderr, "%s: unknown timestamp mode '%c' - ignored\n",
243 basename(argv[0]), optarg[0]);
253 view |= CANLIB_VIEW_BINARY;
257 view |= CANLIB_VIEW_ASCII;
261 view |= CANLIB_VIEW_SWAP;
265 silent = atoi(optarg);
266 if (silent > SILENT_ON) {
267 print_usage(basename(argv[0]));
274 if (strlen(optarg) >= IFNAMSIZ) {
275 fprintf(stderr, "Name of CAN device '%s' is too long!\n\n", optarg);
278 bridge = socket(PF_CAN, SOCK_RAW, CAN_RAW);
280 perror("bridge socket");
283 addr.can_family = AF_CAN;
284 strcpy(ifr.ifr_name, optarg);
285 if (ioctl(bridge, SIOCGIFINDEX, &ifr) < 0)
286 perror("SIOCGIFINDEX");
287 addr.can_ifindex = ifr.ifr_ifindex;
289 if (!addr.can_ifindex) {
290 perror("invalid bridge interface");
294 /* disable default receive filter on this write-only RAW socket */
295 setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
298 const int loopback = 0;
300 setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
301 &loopback, sizeof(loopback));
304 if (bind(bridge, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
305 perror("bridge bind");
324 count = atoi(optarg);
326 print_usage(basename(argv[0]));
332 rcvbuf_size = atoi(optarg);
333 if (rcvbuf_size < 1) {
334 print_usage(basename(argv[0]));
340 print_usage(basename(argv[0]));
346 if (optind == argc) {
347 print_usage(basename(argv[0]));
351 if (logfrmt && view) {
352 fprintf(stderr, "Log file format selected: Please disable ASCII/BINARY/SWAP options!\n");
356 if (silent == SILENT_INI) {
358 fprintf(stderr, "Disabled standard output while logging.\n");
359 silent = SILENT_ON; /* disable output on stdout */
361 silent = SILENT_OFF; /* default output */
364 currmax = argc - optind; /* find real number of CAN devices */
366 if (currmax > MAXSOCK) {
367 fprintf(stderr, "More than %d CAN devices given on commandline!\n", MAXSOCK);
371 for (i=0; i < currmax; i++) {
373 ptr = argv[optind+i];
374 nptr = strchr(ptr, ',');
377 printf("open %d '%s'.\n", i, ptr);
380 s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW);
386 cmdlinename[i] = ptr; /* save pointer to cmdline name of this socket */
389 nbytes = nptr - ptr; /* interface name is up the first ',' */
391 nbytes = strlen(ptr); /* no ',' found => no filter definitions */
393 if (nbytes >= IFNAMSIZ) {
394 fprintf(stderr, "name of CAN device '%s' is too long!\n", ptr);
398 if (nbytes > max_devname_len)
399 max_devname_len = nbytes; /* for nice printing */
401 addr.can_family = AF_CAN;
403 memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));
404 strncpy(ifr.ifr_name, ptr, nbytes);
407 printf("using interface name '%s'.\n", ifr.ifr_name);
410 if (strcmp(ANYDEV, ifr.ifr_name)) {
411 if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
412 perror("SIOCGIFINDEX");
415 addr.can_ifindex = ifr.ifr_ifindex;
417 addr.can_ifindex = 0; /* any can interface */
421 /* found a ',' after the interface name => check for filters */
423 /* determine number of filters to alloc the filter space */
428 ptr++; /* hop behind the ',' */
429 ptr = strchr(ptr, ','); /* exit condition */
432 rfilter = malloc(sizeof(struct can_filter) * numfilter);
434 fprintf(stderr, "Failed to create filter space!\n");
443 ptr = nptr+1; /* hop behind the ',' */
444 nptr = strchr(ptr, ','); /* update exit condition */
446 if (sscanf(ptr, "%lx:%lx",
447 (long unsigned int *)
448 &rfilter[numfilter].can_id,
449 (long unsigned int *)
450 &rfilter[numfilter].can_mask) == 2) {
451 rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
453 } else if (sscanf(ptr, "%lx~%lx",
454 (long unsigned int *)
455 &rfilter[numfilter].can_id,
456 (long unsigned int *)
457 &rfilter[numfilter].can_mask) == 2) {
458 rfilter[numfilter].can_id |= CAN_INV_FILTER;
459 rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
461 } else if (sscanf(ptr, "#%lx",
462 (long unsigned int *)&err_mask) != 1) {
463 fprintf(stderr, "Error in filter option parsing: '%s'\n", ptr);
469 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
470 &err_mask, sizeof(err_mask));
473 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
474 rfilter, numfilter * sizeof(struct can_filter));
482 int curr_rcvbuf_size;
483 socklen_t curr_rcvbuf_size_len = sizeof(curr_rcvbuf_size);
485 /* try SO_RCVBUFFORCE first, if we run with CAP_NET_ADMIN */
486 if (setsockopt(s[i], SOL_SOCKET, SO_RCVBUFFORCE,
487 &rcvbuf_size, sizeof(rcvbuf_size)) < 0) {
489 printf("SO_RCVBUFFORCE failed so try SO_RCVBUF ...\n");
491 if (setsockopt(s[i], SOL_SOCKET, SO_RCVBUF,
492 &rcvbuf_size, sizeof(rcvbuf_size)) < 0) {
493 perror("setsockopt SO_RCVBUF");
497 if (getsockopt(s[i], SOL_SOCKET, SO_RCVBUF,
498 &curr_rcvbuf_size, &curr_rcvbuf_size_len) < 0) {
499 perror("getsockopt SO_RCVBUF");
503 /* Only print a warning the first time we detect the adjustment */
504 /* n.b.: The wanted size is doubled in Linux in net/sore/sock.c */
505 if (!i && curr_rcvbuf_size < rcvbuf_size*2)
506 fprintf(stderr, "The socket receive buffer size was "
507 "adjusted due to /proc/sys/net/core/rmem_max.\n");
511 if (timestamp || log || logfrmt) {
513 const int timestamp_on = 1;
515 if (setsockopt(s[i], SOL_SOCKET, SO_TIMESTAMP,
516 ×tamp_on, sizeof(timestamp_on)) < 0) {
517 perror("setsockopt SO_TIMESTAMP");
524 const int dropmonitor_on = 1;
526 if (setsockopt(s[i], SOL_SOCKET, SO_RXQ_OVFL,
527 &dropmonitor_on, sizeof(dropmonitor_on)) < 0) {
528 perror("setsockopt SO_RXQ_OVFL not supported by your Linux Kernel");
533 if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
542 char fname[sizeof("candump-2006-11-20_202026.log")+1];
544 if (time(&currtime) == (time_t)-1) {
549 localtime_r(&currtime, &now);
551 sprintf(fname, "candump-%04d-%02d-%02d_%02d%02d%02d.log",
559 if (silent != SILENT_ON)
560 printf("\nWarning: console output active while logging!");
562 fprintf(stderr, "\nEnabling Logfile '%s'\n\n", fname);
564 logfile = fopen(fname, "w");
571 /* these settings are static and can be held out of the hot path */
572 iov.iov_base = &frame;
573 msg.msg_name = &addr;
576 msg.msg_control = &ctrlmsg;
581 for (i=0; i<currmax; i++)
584 if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, NULL)) < 0) {
590 for (i=0; i<currmax; i++) { /* check all CAN RAW sockets */
592 if (FD_ISSET(s[i], &rdfs)) {
596 /* these settings may be modified by recvmsg() */
597 iov.iov_len = sizeof(frame);
598 msg.msg_namelen = sizeof(addr);
599 msg.msg_controllen = sizeof(ctrlmsg);
602 nbytes = recvmsg(s[i], &msg, 0);
608 if (nbytes < sizeof(struct can_frame)) {
609 fprintf(stderr, "read: incomplete CAN frame\n");
613 if (count && (--count == 0))
617 nbytes = write(bridge, &frame, sizeof(struct can_frame));
619 perror("bridge write");
621 } else if (nbytes < sizeof(struct can_frame)) {
622 fprintf(stderr,"bridge write: incomplete CAN frame\n");
627 for (cmsg = CMSG_FIRSTHDR(&msg);
628 cmsg && (cmsg->cmsg_level == SOL_SOCKET);
629 cmsg = CMSG_NXTHDR(&msg,cmsg)) {
630 if (cmsg->cmsg_type == SO_TIMESTAMP)
631 tv = *(struct timeval *)CMSG_DATA(cmsg);
632 else if (cmsg->cmsg_type == SO_RXQ_OVFL)
633 dropcnt[i] = *(__u32 *)CMSG_DATA(cmsg);
636 /* check for (unlikely) dropped frames on this specific socket */
637 if (dropcnt[i] != last_dropcnt[i]) {
641 if (dropcnt[i] > last_dropcnt[i])
642 frames = dropcnt[i] - last_dropcnt[i];
644 frames = 4294967295U - last_dropcnt[i] + dropcnt[i]; /* 4294967295U == UINT32_MAX */
646 if (silent != SILENT_ON)
647 printf("DROPCOUNT: dropped %d CAN frame%s on '%s' socket (total drops %d)\n",
648 frames, (frames > 1)?"s":"", cmdlinename[i], dropcnt[i]);
651 fprintf(logfile, "DROPCOUNT: dropped %d CAN frame%s on '%s' socket (total drops %d)\n",
652 frames, (frames > 1)?"s":"", cmdlinename[i], dropcnt[i]);
654 last_dropcnt[i] = dropcnt[i];
657 idx = idx2dindex(addr.can_ifindex, s[i]);
660 /* log CAN frame with absolute timestamp & device */
661 fprintf(logfile, "(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
662 fprintf(logfile, "%*s ", max_devname_len, devname[idx]);
663 /* without seperator as logfile use-case is parsing */
664 fprint_canframe(logfile, &frame, "\n", 0);
668 /* print CAN frame in log file style to stdout */
669 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
670 printf("%*s ", max_devname_len, devname[idx]);
671 fprint_canframe(stdout, &frame, "\n", 0);
672 goto out_fflush; /* no other output to stdout */
675 if (silent != SILENT_OFF){
676 if (silent == SILENT_ANI) {
677 printf("%c\b", anichar[silentani%=MAXANI]);
680 goto out_fflush; /* no other output to stdout */
683 printf(" %s", (color>2)?col_on[idx%MAXCOL]:"");
687 case 'a': /* absolute with timestamp */
688 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
691 case 'A': /* absolute with date */
696 tm = *localtime(&tv.tv_sec);
697 strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
698 printf("(%s.%06ld) ", timestring, tv.tv_usec);
702 case 'd': /* delta */
703 case 'z': /* starting with zero */
707 if (last_tv.tv_sec == 0) /* first init */
709 diff.tv_sec = tv.tv_sec - last_tv.tv_sec;
710 diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
711 if (diff.tv_usec < 0)
712 diff.tv_sec--, diff.tv_usec += 1000000;
714 diff.tv_sec = diff.tv_usec = 0;
715 printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
717 if (timestamp == 'd')
718 last_tv = tv; /* update for delta calculation */
722 default: /* no timestamp output */
726 printf(" %s", (color && (color<3))?col_on[idx%MAXCOL]:"");
727 printf("%*s", max_devname_len, devname[idx]);
728 printf("%s ", (color==1)?col_off:"");
730 fprint_long_canframe(stdout, &frame, NULL, view);
732 printf("%s", (color>1)?col_off:"");
741 for (i=0; i<currmax; i++)