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
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
44 * Send feedback to <socketcan-users@lists.berlios.de>
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 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 */
78 #define RED ATTBOLD FGRED
79 #define GREEN ATTBOLD FGGREEN
80 #define YELLOW ATTBOLD FGYELLOW
81 #define BLUE ATTBOLD FGBLUE
82 #define MAGENTA ATTBOLD FGMAGENTA
83 #define CYAN ATTBOLD FGCYAN
85 const char col_on [MAXCOL][19] = {BLUE, RED, GREEN, BOLD, MAGENTA, CYAN};
86 const char col_off [] = ATTRESET;
88 static char devname[MAXIFNAMES][IFNAMSIZ+1];
89 static int dindex[MAXIFNAMES];
90 static int max_devname_len; /* to prevent frazzled device name output */
93 const char anichar[MAXANI] = {'|', '/', '-', '\\'};
95 extern int optind, opterr, optopt;
97 static volatile int running = 1;
99 void print_usage(char *prg)
101 fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
102 fprintf(stderr, " (use CTRL-C to terminate %s)\n\n", prg);
103 fprintf(stderr, "Options: -t <type> (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
104 fprintf(stderr, " -c (increment color mode level)\n");
105 fprintf(stderr, " -i (binary output - may exceed 80 chars/line)\n");
106 fprintf(stderr, " -a (enable additional ASCII output)\n");
107 fprintf(stderr, " -s <level> (silent mode - 1: animation 2: completely silent)\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, "Up to %d CAN interfaces with optional filter sets can be specified\n", MAXSOCK);
114 fprintf(stderr, "on the commandline in the form: <ifname>[,filter]*\n");
115 fprintf(stderr, "\nUp to %d comma separated filters can be specified for each given CAN interface:\n", MAXFILTER);
116 fprintf(stderr, " <can_id>:<can_mask> (matches when <received_can_id> & mask == can_id & mask)\n");
117 fprintf(stderr, " <can_id>~<can_mask> (matches when <received_can_id> & mask != can_id & mask)\n");
118 fprintf(stderr, " #<error_mask> (set error frame filter, see include/linux/can/error.h)\n");
119 fprintf(stderr, "\nCAN IDs, masks and data content are given and expected in hexadecimal values.\n");
120 fprintf(stderr, "When can_id and can_mask are both 8 digits, they are assumed to be 29 bit EFF.\n");
121 fprintf(stderr, "Without any given filter all data frames are received ('0:0' default filter).\n");
122 fprintf(stderr, "\nUse interface name '%s' to receive from all CAN interfaces.\n", ANYDEV);
123 fprintf(stderr, "\nExamples:\n");
124 fprintf(stderr, "%s -c -c -ta can0,123:7FF,400:700,#000000FF can2,400~7F0 can3 can8\n", prg);
125 fprintf(stderr, "%s -l any,0~0,#FFFFFFFF (log only error frames but no(!) data frames)\n", prg);
126 fprintf(stderr, "%s -l any,0:0,#FFFFFFFF (log error frames and also all data frames)\n", prg);
127 fprintf(stderr, "%s vcan2,92345678:9FFFFFFF (match only for extended CAN ID 12345678)\n", prg);
128 fprintf(stderr, "%s vcan2,12345678:1FFFFFFF (analog to above due to 8 digit value length)\n", prg);
129 fprintf(stderr, "\n");
132 void sigterm(int signo)
137 int idx2dindex(int ifidx, int socket) {
142 for (i=0; i < MAXIFNAMES; i++) {
143 if (dindex[i] == ifidx)
147 /* create new interface index cache entry */
149 /* remove index cache zombies first */
150 for (i=0; i < MAXIFNAMES; i++) {
152 ifr.ifr_ifindex = dindex[i];
153 if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
158 for (i=0; i < MAXIFNAMES; i++)
159 if (!dindex[i]) /* free entry */
162 if (i == MAXIFNAMES) {
163 printf("Interface index cache only supports %d interfaces.\n",
170 ifr.ifr_ifindex = ifidx;
171 if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
172 perror("SIOCGIFNAME");
174 if (max_devname_len < strlen(ifr.ifr_name))
175 max_devname_len = strlen(ifr.ifr_name);
177 strcpy(devname[i], ifr.ifr_name);
180 printf("new index %d (%s)\n", i, devname[i]);
186 canid_t checkeff(char *ptr, char *nptr)
195 if (len == 17 && (ptr[8] == ':' || ptr[8] == '~'))
201 int main(int argc, char **argv)
206 unsigned char timestamp = 0;
207 unsigned char silent = 0;
208 unsigned char silentani = 0;
209 unsigned char color = 0;
210 unsigned char view = 0;
211 unsigned char log = 0;
212 unsigned char logfrmt = 0;
214 int currmax, numfilter;
217 struct sockaddr_can addr;
218 struct can_filter rfilter[MAXFILTER];
219 can_err_mask_t err_mask;
220 struct can_frame frame;
223 struct timeval tv, last_tv;
224 FILE *logfile = NULL;
226 signal(SIGTERM, sigterm);
227 signal(SIGHUP, sigterm);
228 signal(SIGINT, sigterm);
233 while ((opt = getopt(argc, argv, "t:cias:b:B:lLh?")) != -1) {
236 timestamp = optarg[0];
237 if ((timestamp != 'a') && (timestamp != 'A') &&
238 (timestamp != 'd') && (timestamp != 'z')) {
239 printf("%s: unknown timestamp mode '%c' - ignored\n",
240 basename(argv[0]), optarg[0]);
250 view |= CANLIB_VIEW_BINARY;
254 view |= CANLIB_VIEW_ASCII;
258 silent = atoi(optarg);
263 if (strlen(optarg) >= IFNAMSIZ) {
264 printf("Name of CAN device '%s' is too long!\n\n", optarg);
267 bridge = socket(PF_CAN, SOCK_RAW, CAN_RAW);
269 perror("bridge socket");
272 addr.can_family = AF_CAN;
273 strcpy(ifr.ifr_name, optarg);
274 if (ioctl(bridge, SIOCGIFINDEX, &ifr) < 0)
275 perror("SIOCGIFINDEX");
276 addr.can_ifindex = ifr.ifr_ifindex;
278 if (!addr.can_ifindex) {
279 perror("invalid bridge interface");
286 setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
287 &loopback, sizeof(loopback));
290 if (bind(bridge, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
291 perror("bridge bind");
306 print_usage(basename(argv[0]));
312 if (optind == argc) {
313 print_usage(basename(argv[0]));
317 currmax = argc - optind; /* find real number of CAN devices */
319 if (currmax > MAXSOCK) {
320 printf("More than %d CAN devices given on commandline!\n", MAXSOCK);
324 for (i=0; i < currmax; i++) {
326 ptr = argv[optind+i];
327 nptr = strchr(ptr, ',');
330 printf("open %d '%s'.\n", i, ptr);
333 s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW);
340 nbytes = nptr - ptr; /* interface name is up the first ',' */
342 nbytes = strlen(ptr); /* no ',' found => no filter definitions */
344 if (nbytes >= IFNAMSIZ) {
345 printf("name of CAN device '%s' is too long!\n", ptr);
349 if (nbytes > max_devname_len)
350 max_devname_len = nbytes; /* for nice printing */
352 addr.can_family = AF_CAN;
354 memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));
355 strncpy(ifr.ifr_name, ptr, nbytes);
358 printf("using interface name '%s'.\n", ifr.ifr_name);
361 if (strcmp(ANYDEV, ifr.ifr_name)) {
362 if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
363 perror("SIOCGIFINDEX");
366 addr.can_ifindex = ifr.ifr_ifindex;
368 addr.can_ifindex = 0; /* any can interface */
372 /* found a ',' after the interface name => check for filters */
379 ptr = nptr+1; /* hop behind the ',' */
380 nptr = strchr(ptr, ','); /* update exit condition */
382 if (sscanf(ptr, "%lx:%lx",
383 (long unsigned int *)
384 &rfilter[numfilter].can_id,
385 (long unsigned int *)
386 &rfilter[numfilter].can_mask) == 2) {
387 eff = checkeff(ptr, nptr);
388 rfilter[numfilter].can_id |= eff;
389 rfilter[numfilter].can_mask |= eff;
390 rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
392 } else if (sscanf(ptr, "%lx~%lx",
393 (long unsigned int *)
394 &rfilter[numfilter].can_id,
395 (long unsigned int *)
396 &rfilter[numfilter].can_mask) == 2) {
397 rfilter[numfilter].can_id |= CAN_INV_FILTER;
398 eff = checkeff(ptr, nptr);
399 rfilter[numfilter].can_id |= eff;
400 rfilter[numfilter].can_mask |= eff;
401 rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
403 } else if (sscanf(ptr, "#%lx",
404 (long unsigned int *)&err_mask) != 1) {
405 printf("Error in filter option parsing: '%s'\n", ptr);
409 if (numfilter > MAXFILTER) {
410 printf("Too many filters specified for '%s'.\n",
417 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
418 &err_mask, sizeof(err_mask));
421 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
422 &rfilter, numfilter * sizeof(struct can_filter));
425 if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
434 char fname[sizeof("candump-2006-11-20_202026.log")+1];
436 if (time(&currtime) == (time_t)-1) {
441 localtime_r(&currtime, &now);
443 sprintf(fname, "candump-%04d-%02d-%02d_%02d%02d%02d.log",
451 printf("\nEnabling Logfile '%s'\n\n", fname);
453 logfile = fopen(fname, "w");
463 for (i=0; i<currmax; i++)
466 if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, NULL)) < 0) {
472 for (i=0; i<currmax; i++) { /* check all CAN RAW sockets */
474 if (FD_ISSET(s[i], &rdfs)) {
476 socklen_t len = sizeof(addr);
479 nbytes = recvfrom(s[i], &frame, sizeof(struct can_frame), 0,
480 (struct sockaddr*)&addr, &len);
486 if (nbytes < sizeof(struct can_frame)) {
487 fprintf(stderr, "read: incomplete CAN frame\n");
492 nbytes = write(bridge, &frame, sizeof(struct can_frame));
494 perror("bridge write");
496 } else if (nbytes < sizeof(struct can_frame)) {
497 fprintf(stderr,"bridge write: incomplete CAN frame\n");
502 if (timestamp || log || logfrmt)
503 if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
504 perror("SIOCGSTAMP");
507 idx = idx2dindex(addr.can_ifindex, s[i]);
510 /* log CAN frame with absolute timestamp & device */
511 fprintf(logfile, "(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
512 fprintf(logfile, "%*s ", max_devname_len, devname[idx]);
513 /* without seperator as logfile use-case is parsing */
514 fprint_canframe(logfile, &frame, "\n", 0);
518 /* print CAN frame in log file style to stdout */
519 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
520 printf("%*s ", max_devname_len, devname[idx]);
521 fprint_canframe(stdout, &frame, "\n", 0);
522 goto out_fflush; /* no other output to stdout */
527 printf("%c\b", anichar[silentani%=MAXANI]);
530 goto out_fflush; /* no other output to stdout */
533 printf(" %s", (color>2)?col_on[idx%MAXCOL]:"");
537 case 'a': /* absolute with timestamp */
538 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
541 case 'A': /* absolute with date */
546 tm = *localtime(&tv.tv_sec);
547 strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
548 printf("(%s.%06ld) ", timestring, tv.tv_usec);
552 case 'd': /* delta */
553 case 'z': /* starting with zero */
557 if (last_tv.tv_sec == 0) /* first init */
559 diff.tv_sec = tv.tv_sec - last_tv.tv_sec;
560 diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
561 if (diff.tv_usec < 0)
562 diff.tv_sec--, diff.tv_usec += 1000000;
564 diff.tv_sec = diff.tv_usec = 0;
565 printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
567 if (timestamp == 'd')
568 last_tv = tv; /* update for delta calculation */
572 default: /* no timestamp output */
576 printf(" %s", (color && (color<3))?col_on[idx%MAXCOL]:"");
577 printf("%*s", max_devname_len, devname[idx]);
578 printf("%s ", (color==1)?col_off:"");
580 fprint_long_canframe(stdout, &frame, NULL, view);
582 printf("%s", (color>1)?col_off:"");
591 for (i=0; i<currmax; i++)