--- /dev/null
+/*
+ * $Id$
+ */
+
+/*
+ * canplayer.c - replay a compact CAN frame logfile to CAN devices
+ *
+ * Copyright (c) 2002-2007 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, the following disclaimer and
+ * the referenced file 'COPYING'.
+ * 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 as distributed in the 'COPYING'
+ * file from the main directory of the linux kernel source.
+ *
+ * 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 <string.h>
+#include <time.h>
+#include <libgen.h>
+#include <stdlib.h>
+#include <unistd.h>
+
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <sys/time.h>
+#include <linux/can.h>
+#include <linux/can/raw.h>
+
+#include "lib.h"
+
+#define DEFAULT_GAP 1 /* ms */
+#define CHANNELS 20 /* anyone using more than 20 CAN interfaces at a time? */
+#define BUFSZ 100 /* for one line in the logfile */
+
+struct assignment {
+ char txif[IFNAMSIZ];
+ int txifidx;
+ char rxif[IFNAMSIZ];
+};
+static struct assignment asgn[CHANNELS];
+
+extern int optind, opterr, optopt;
+
+void print_usage(char *prg)
+{
+ fprintf(stderr, "\nUsage: %s <options> [interface assignment]*\n\n", prg);
+ fprintf(stderr, "Options: -I <infile> (default stdin)\n");
+ fprintf(stderr, " -t (ignore timestamps: "
+ "send frames immediately)\n");
+ fprintf(stderr, " -g <ms> (gap in milli "
+ "seconds - default: %d ms)\n", DEFAULT_GAP);
+ fprintf(stderr, " -v (verbose: print "
+ "sent CAN frames)\n\n");
+ fprintf(stderr, "Interface assignment: 0..n assignments like "
+ "<write-if>=<log-if>\n");
+ fprintf(stderr, "e.g. vcan2=can0 ( send frames received from can0 on "
+ "vcan2 )\n");
+ fprintf(stderr, "No assignments => send frames to the interface(s) they "
+ "had been received from.\n\n");
+}
+
+/* copied from /usr/src/linux/include/linux/time.h ...
+ * lhs < rhs: return <0
+ * lhs == rhs: return 0
+ * lhs > rhs: return >0
+ */
+static inline int timeval_compare(struct timeval *lhs, struct timeval *rhs)
+{
+ if (lhs->tv_sec < rhs->tv_sec)
+ return -1;
+ if (lhs->tv_sec > rhs->tv_sec)
+ return 1;
+ return lhs->tv_usec - rhs->tv_usec;
+}
+
+static inline int frames_to_send(struct timeval *today, struct timeval *diff,
+ struct timeval *log)
+{
+ /* return value <0 when log + diff < today */
+
+ struct timeval cmp;
+
+ cmp.tv_sec = log->tv_sec + diff->tv_sec;
+ cmp.tv_usec = log->tv_usec + diff->tv_usec;
+
+ if (cmp.tv_usec > 1000000) {
+ cmp.tv_usec -= 1000000;
+ cmp.tv_sec++;
+ }
+
+ return timeval_compare(&cmp, today);
+}
+
+int get_txidx(char *logif_name) {
+
+ int i;
+
+ for (i=0; i<CHANNELS; i++) {
+ if (asgn[i].rxif[0] == 0) /* end of table content */
+ break;
+ if (strcmp(asgn[i].rxif, logif_name) == 0) /* found device name */
+ break;
+ }
+
+ if ((i == CHANNELS) || (asgn[i].rxif[0] == 0))
+ return 0; /* not found */
+
+ return asgn[i].txifidx; /* return interface index */
+}
+
+char *get_txname(char *logif_name) {
+
+ int i;
+
+ for (i=0; i<CHANNELS; i++) {
+ if (asgn[i].rxif[0] == 0) /* end of table content */
+ break;
+ if (strcmp(asgn[i].rxif, logif_name) == 0) /* found device name */
+ break;
+ }
+
+ if ((i == CHANNELS) || (asgn[i].rxif[0] == 0))
+ return 0; /* not found */
+
+ return asgn[i].txif; /* return interface name */
+}
+
+int add_assignment(char *mode, int socket, char *txname, char *rxname,
+ int verbose) {
+
+ struct ifreq ifr;
+ int i;
+
+ /* find free entry */
+ for (i=0; i<CHANNELS; i++) {
+ if (asgn[i].txif[0] == 0)
+ break;
+ }
+
+ if (i == CHANNELS) {
+ fprintf(stderr, "Assignment table exceeded!\n");
+ return 1;
+ }
+
+ if (strlen(txname) >= IFNAMSIZ) {
+ fprintf(stderr, "write-if interface name '%s' too long!", txname);
+ return 1;
+ }
+ strcpy(asgn[i].txif, txname);
+
+ if (strlen(rxname) >= IFNAMSIZ) {
+ fprintf(stderr, "log-if interface name '%s' too long!", rxname);
+ return 1;
+ }
+ strcpy(asgn[i].rxif, rxname);
+
+ strcpy(ifr.ifr_name, txname);
+ if (ioctl(socket, SIOCGIFINDEX, &ifr) < 0) {
+ perror("SIOCGIFINDEX");
+ fprintf(stderr, "write-if interface name '%s' is wrong!\n", txname);
+ return 1;
+ }
+ asgn[i].txifidx = ifr.ifr_ifindex;
+
+ if (verbose > 1) /* use -v -v to see this */
+ printf("added %s assignment: log-if=%s write-if=%s write-if-idx=%d\n",
+ mode, asgn[i].rxif, asgn[i].txif, asgn[i].txifidx);
+
+ return 0;
+}
+
+int main(int argc, char **argv)
+{
+ static char buf[BUFSZ], device[BUFSZ], ascframe[BUFSZ];
+ struct sockaddr_can addr;
+ static struct can_frame frame;
+ static struct timeval today_tv, log_tv, diff_tv;
+ struct timespec sleep_ts;
+ int s; /* CAN_RAW socket */
+ FILE *infile = stdin;
+ unsigned long gap = DEFAULT_GAP;
+ int use_timestamps = 1;
+ static int verbose, opt, loops;
+ int assignments; /* assignments defined on the commandline */
+ int txidx; /* sendto() interface index */
+ int nbytes, i, j;
+
+ while ((opt = getopt(argc, argv, "I:tg:v")) != -1) {
+ switch (opt) {
+ case 'I':
+ infile = fopen(optarg, "r");
+ if (!infile) {
+ perror("infile");
+ return 1;
+ }
+ break;
+
+ case 't':
+ use_timestamps = 0;
+ break;
+
+ case 'g':
+ gap = strtoul(optarg, NULL, 10);
+ break;
+
+ case 'v':
+ verbose++;
+ break;
+
+ default:
+ print_usage(basename(argv[0]));
+ return 1;
+ break;
+ }
+ }
+
+ assignments = argc - optind; /* find real number of user assignments */
+
+ sleep_ts.tv_sec = gap / 1000;
+ sleep_ts.tv_nsec = (gap % 1000) * 1000000;
+
+ /* open socket */
+ if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
+ perror("socket");
+ return 1;
+ }
+
+ addr.can_family = AF_CAN;
+ addr.can_ifindex = 0;
+
+ /* disable unneeded default receive filter on this RAW socket */
+ setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
+
+ if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+ perror("bind");
+ return 1;
+ }
+
+ if (assignments) {
+ /* add & check user assginments from commandline */
+ for (i=0; i<assignments; i++) {
+ if (strlen(argv[optind+i]) >= BUFSZ) {
+ fprintf(stderr, "Assignment too long!\n");
+ print_usage(basename(argv[0]));
+ return 1;
+ }
+ strcpy(buf, argv[optind+i]);
+ for (j=0; j<BUFSZ; j++) { /* find '=' in assignment */
+ if (buf[j] == '=')
+ break;
+ }
+ if (buf[j] != '=') {
+ fprintf(stderr, "'=' missing in assignment!\n");
+ print_usage(basename(argv[0]));
+ return 1;
+ }
+ buf[j] = 0; /* cut string in two pieces */
+ if (add_assignment("user", s, &buf[0], &buf[j+1], verbose))
+ return 1;
+ }
+ }
+
+ if (!fgets(buf, BUFSZ-1, infile)) /* read first frame from logfile */
+ goto out; /* nothing to read */
+
+ if (sscanf(buf, "(%ld.%ld) %s %s", &log_tv.tv_sec, &log_tv.tv_usec,
+ device, ascframe) != 4)
+ return 1;
+
+ if (use_timestamps) { /* throttle sending due to logfile timestamps */
+
+ gettimeofday(&today_tv, NULL);
+
+ /* omit crazy comparations with negative diff_tv */
+ if (timeval_compare(&today_tv, &log_tv) < 1) {
+ fprintf(stderr, "logfile timestamps newer than time of day!\n");
+ return 1;
+ }
+
+ /* create diff_tv so that log_tv + diff_tv = today_tv */
+ diff_tv.tv_sec = today_tv.tv_sec - log_tv.tv_sec;
+ diff_tv.tv_usec = today_tv.tv_usec - log_tv.tv_usec;
+ if (diff_tv.tv_usec < 0)
+ diff_tv.tv_sec--, diff_tv.tv_usec += 1000000;
+ }
+
+ while (1) {
+
+ while ((!use_timestamps) ||
+ (frames_to_send(&today_tv, &diff_tv, &log_tv) < 0)) {
+
+ /* log_tv/device/ascframe are valid here */
+
+ if (strlen(device) >= IFNAMSIZ) {
+ fprintf(stderr, "log interface name '%s' too long!", device);
+ return 1;
+ }
+
+ txidx = get_txidx(device); /* get ifindex for sending the frame */
+
+ if ((!txidx) && (!assignments)) {
+ /* ifindex not found and no user assignments */
+ /* => assign this device automatically */
+ if (add_assignment("auto", s, device, device, verbose))
+ return 1;
+ txidx = get_txidx(device);
+ }
+
+ if (txidx) { /* only send to valid CAN devices */
+
+ if (parse_canframe(ascframe, &frame)) {
+ fprintf(stderr, "wrong CAN frame format: '%s'!", ascframe);
+ return 1;
+ }
+
+ addr.can_family = AF_CAN;
+ addr.can_ifindex = txidx; /* send via this interface */
+
+ nbytes = sendto(s, &frame, sizeof(struct can_frame), 0,
+ (struct sockaddr*)&addr, sizeof(addr));
+
+ if (nbytes != sizeof(struct can_frame)) {
+ perror("sendto");
+ return 1;
+ }
+
+ if (verbose) {
+ printf("%s (%s) ", get_txname(device), device);
+ fprint_long_canframe(stdout, &frame, "\n", 1);
+ }
+ }
+
+ /* read next frame from logfile */
+ if (!fgets(buf, BUFSZ-1, infile))
+ goto out; /* nothing to read */
+
+ if (sscanf(buf, "(%ld.%ld) %s %s", &log_tv.tv_sec, &log_tv.tv_usec,
+ device, ascframe) != 4)
+ return 1;
+
+ if (use_timestamps) /* save a syscall if possible */
+ gettimeofday(&today_tv, NULL);
+ }
+
+ if (nanosleep(&sleep_ts, NULL))
+ return 1;
+
+ loops++; /* private statistics */
+ gettimeofday(&today_tv, NULL);
+ }
+
+ out:
+
+ close(s);
+ fclose(infile);
+
+ if (verbose > 1) /* use -v -v to see this */
+ printf("%d loops\n", loops);
+
+ return 0;
+}
projects / can-utils.git / commitdiff