-/*
- * $Id$
- */
-
/*
* canlogserver.c
*
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
* DAMAGE.
*
- * Send feedback to <socketcan-users@lists.berlios.de>
+ * Send feedback to <linux-can@vger.kernel.org>
*
*/
#include <time.h>
#include <sys/time.h>
+#include <sys/wait.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <linux/can.h>
#include <linux/can/raw.h>
#include <signal.h>
-#include <wait.h>
#include <errno.h>
#include "lib.h"
#define ANYDEV "any"
#define ANL "\r\n" /* newline in ASC mode */
+#define COMMENTSZ 200
+#define BUFSZ (sizeof("(1345212884.318850)") + IFNAMSIZ + 4 + CL_CFSZ + COMMENTSZ) /* for one line in the logfile */
+
#define DEFPORT 28700
static char devname[MAXDEV][IFNAMSIZ+1];
void print_usage(char *prg)
{
- fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
- fprintf(stderr, " (use CTRL-C to terminate %s)\n\n", prg);
- fprintf(stderr, "Options: -m <mask> (ID filter mask. Default 0x00000000) *\n");
- fprintf(stderr, " -v <value> (ID filter value. Default 0x00000000) *\n");
- fprintf(stderr, " -i <0|1> (invert the specified ID filter) *\n");
- fprintf(stderr, " -e <emask> (mask for error frames)\n");
- fprintf(stderr, " -p <port> (listen on port <port>. Default: %d)\n", DEFPORT);
- fprintf(stderr, "\n");
- fprintf(stderr, "* The CAN ID filter matches, when ...\n");
- fprintf(stderr, " <received_can_id> & mask == value & mask\n");
- fprintf(stderr, "\n");
- fprintf(stderr, "When using more than one CAN interface the options\n");
- fprintf(stderr, "m/v/i/e have comma seperated values e.g. '-m 0,7FF,0'\n");
- fprintf(stderr, "\nUse interface name '%s' to receive from all CAN interfaces.\n\n", ANYDEV);
+ fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
+ fprintf(stderr, " (use CTRL-C to terminate %s)\n\n", prg);
+ fprintf(stderr, "Options: -m <mask> (ID filter mask. Default 0x00000000) *\n");
+ fprintf(stderr, " -v <value> (ID filter value. Default 0x00000000) *\n");
+ fprintf(stderr, " -i <0|1> (invert the specified ID filter) *\n");
+ fprintf(stderr, " -e <emask> (mask for error frames)\n");
+
fprintf(stderr, " -p <port> (listen on port <port>. Default: %d)\n", DEFPORT);
+ fprintf(stderr, "\n");
+ fprintf(stderr, "* The CAN ID filter matches, when ...\n");
+ fprintf(stderr, " <received_can_id> & mask == value & mask\n");
+ fprintf(stderr, "\n");
+ fprintf(stderr, "When using more than one CAN interface the options\n");
+ fprintf(stderr, "m/v/i/e have comma seperated values e.g. '-m 0,7FF,0'\n");
+ fprintf(stderr, "\nUse interface name '%s' to receive from all CAN interfaces.\n\n", ANYDEV);
}
int idx2dindex(int ifidx, int socket)
{
- int i;
- struct ifreq ifr;
-
- for (i=0; i<MAXDEV; i++) {
- if (dindex[i] == ifidx)
- return i;
- }
-
- /* create new interface index cache entry */
-
- /* remove index cache zombies first */
- for (i=0; i < MAXDEV; i++) {
- if (dindex[i]) {
- ifr.ifr_ifindex = dindex[i];
- if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
- dindex[i] = 0;
+ int i;
+ struct ifreq ifr;
+
+ for (i=0; i<MAXDEV; i++) {
+ if (dindex[i] == ifidx)
+ return i;
}
- }
- for (i=0; i < MAXDEV; i++)
- if (!dindex[i]) /* free entry */
- break;
+ /* create new interface index cache entry */
- if (i == MAXDEV) {
- printf("Interface index cache only supports %d interfaces.\n", MAXDEV);
- exit(1);
- }
+ /* remove index cache zombies first */
+ for (i=0; i < MAXDEV; i++) {
+ if (dindex[i]) {
+ ifr.ifr_ifindex = dindex[i];
+ if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
+ dindex[i] = 0;
+ }
+ }
- dindex[i] = ifidx;
+ for (i=0; i < MAXDEV; i++)
+ if (!dindex[i]) /* free entry */
+ break;
- ifr.ifr_ifindex = ifidx;
- if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
- perror("SIOCGIFNAME");
+ if (i == MAXDEV) {
+ printf("Interface index cache only supports %d interfaces.\n", MAXDEV);
+ exit(1);
+ }
+
+ dindex[i] = ifidx;
- if (max_devname_len < strlen(ifr.ifr_name))
- max_devname_len = strlen(ifr.ifr_name);
+ ifr.ifr_ifindex = ifidx;
+ if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
+ perror("SIOCGIFNAME");
- strcpy(devname[i], ifr.ifr_name);
+ if (max_devname_len < strlen(ifr.ifr_name))
+ max_devname_len = strlen(ifr.ifr_name);
+
+ strcpy(devname[i], ifr.ifr_name);
#ifdef DEBUG
- printf("new index %d (%s)\n", i, devname[i]);
+ printf("new index %d (%s)\n", i, devname[i]);
#endif
- return i;
+ return i;
}
/*
*/
void childdied(int i)
{
- wait(NULL);
+ wait(NULL);
}
/*
*/
void shutdown_gra(int i)
{
- exit(0);
+ exit(0);
}
int main(int argc, char **argv)
{
- struct sigaction signalaction;
- sigset_t sigset;
- fd_set rdfs;
- int s[MAXDEV];
- int socki, accsocket;
- canid_t mask[MAXDEV] = {0};
- canid_t value[MAXDEV] = {0};
- int inv_filter[MAXDEV] = {0};
- can_err_mask_t err_mask[MAXDEV] = {0};
- int opt, ret;
- int currmax = 1; /* we assume at least one can bus ;-) */
- struct sockaddr_can addr;
- struct can_filter rfilter;
- struct can_frame frame;
- int nbytes, i, j;
- struct ifreq ifr;
- struct timeval tv, last_tv;
- int port = DEFPORT;
- struct sockaddr_in inaddr;
- struct sockaddr_in clientaddr;
- socklen_t sin_size = sizeof(clientaddr);
- char temp[128];
-
- sigemptyset(&sigset);
- signalaction.sa_handler = &childdied;
- signalaction.sa_mask = sigset;
- signalaction.sa_flags = 0;
- sigaction(SIGCHLD, &signalaction, NULL); /* install signal for dying child */
- signalaction.sa_handler = &shutdown_gra;
- signalaction.sa_mask = sigset;
- signalaction.sa_flags = 0;
- sigaction(SIGTERM, &signalaction, NULL); /* install Signal for termination */
- sigaction(SIGINT, &signalaction, NULL); /* install Signal for termination */
-
-
- last_tv.tv_sec = 0;
- last_tv.tv_usec = 0;
-
- while ((opt = getopt(argc, argv, "m:v:i:e:p:")) != -1) {
-
- switch (opt) {
- case 'm':
- i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
- &mask[0], &mask[1], &mask[2],
- &mask[3], &mask[4], &mask[5]);
- if (i > currmax)
- currmax = i;
- break;
-
- case 'v':
- i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
- &value[0], &value[1], &value[2],
- &value[3], &value[4], &value[5]);
- if (i > currmax)
- currmax = i;
- break;
-
- case 'i':
- i = sscanf(optarg, "%d,%d,%d,%d,%d,%d",
- &inv_filter[0], &inv_filter[1], &inv_filter[2],
- &inv_filter[3], &inv_filter[4], &inv_filter[5]);
- if (i > currmax)
- currmax = i;
- break;
-
- case 'e':
- i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
- &err_mask[0], &err_mask[1], &err_mask[2],
- &err_mask[3], &err_mask[4], &err_mask[5]);
- if (i > currmax)
- currmax = i;
- break;
- case 'p':
- port = atoi(optarg);
- break;
- default:
- fprintf(stderr, "Unknown option %c\n", opt);
- print_usage(basename(argv[0]));
- exit(1);
- break;
+ struct sigaction signalaction;
+ sigset_t sigset;
+ fd_set rdfs;
+ int s[MAXDEV];
+ int socki, accsocket;
+ canid_t mask[MAXDEV] = {0};
+ canid_t value[MAXDEV] = {0};
+ int inv_filter[MAXDEV] = {0};
+ can_err_mask_t err_mask[MAXDEV] = {0};
+ int opt, ret;
+ int currmax = 1; /* we assume at least one can bus ;-) */
+ struct sockaddr_can addr;
+ struct can_filter rfilter;
+ struct canfd_frame frame;
+ const int canfd_on = 1;
+ int nbytes, i, j, maxdlen;
+ struct ifreq ifr;
+ struct timeval tv;
+ int port = DEFPORT;
+ struct sockaddr_in inaddr;
+ struct sockaddr_in clientaddr;
+ socklen_t sin_size = sizeof(clientaddr);
+ char temp[BUFSZ];
+
+ sigemptyset(&sigset);
+ signalaction.sa_handler = &childdied;
+ signalaction.sa_mask = sigset;
+ signalaction.sa_flags = 0;
+ sigaction(SIGCHLD, &signalaction, NULL); /* install signal for dying child */
+ signalaction.sa_handler = &shutdown_gra;
+ signalaction.sa_mask = sigset;
+ signalaction.sa_flags = 0;
+ sigaction(SIGTERM, &signalaction, NULL); /* install Signal for termination */
+ sigaction(SIGINT, &signalaction, NULL); /* install Signal for termination */
+
+ while ((opt = getopt(argc, argv, "m:v:i:e:p:?")) != -1) {
+
+ switch (opt) {
+ case 'm':
+ i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
+ &mask[0], &mask[1], &mask[2],
+ &mask[3], &mask[4], &mask[5]);
+ if (i > currmax)
+ currmax = i;
+ break;
+
+ case 'v':
+ i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
+ &value[0], &value[1], &value[2],
+ &value[3], &value[4], &value[5]);
+ if (i > currmax)
+ currmax = i;
+ break;
+
+ case 'i':
+ i = sscanf(optarg, "%d,%d,%d,%d,%d,%d",
+ &inv_filter[0], &inv_filter[1], &inv_filter[2],
+ &inv_filter[3], &inv_filter[4], &inv_filter[5]);
+ if (i > currmax)
+ currmax = i;
+ break;
+
+ case 'e':
+ i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
+ &err_mask[0], &err_mask[1], &err_mask[2],
+ &err_mask[3], &err_mask[4], &err_mask[5]);
+ if (i > currmax)
+ currmax = i;
+ break;
+ case 'p':
+ port = atoi(optarg);
+ break;
+ default:
+ print_usage(basename(argv[0]));
+ exit(1);
+ break;
+ }
}
- }
- if (optind == argc) {
- print_usage(basename(argv[0]));
- exit(0);
- }
-
- /* count in options higher than device count ? */
- if (optind + currmax > argc) {
- printf("low count of CAN devices!\n");
- return 1;
- }
-
- currmax = argc - optind; /* find real number of CAN devices */
-
- if (currmax > MAXDEV) {
- printf("More than %d CAN devices!\n", MAXDEV);
- return 1;
- }
-
-
- socki = socket(PF_INET, SOCK_STREAM, 0);
- if (socki < 0) {
- perror("socket");
- exit(1);
- }
-
- inaddr.sin_family = AF_INET;
- inaddr.sin_addr.s_addr = htonl(INADDR_ANY);
- inaddr.sin_port = htons(port);
-
- while(bind(socki, (struct sockaddr*)&inaddr, sizeof(inaddr)) < 0) {
- printf(".");fflush(NULL);
- usleep(100000);
- }
-
- if (listen(socki, 3) != 0) {
- perror("listen");
- exit(1);
- }
-
- while(1) {
- accsocket = accept(socki, (struct sockaddr*)&clientaddr, &sin_size);
- if (accsocket > 0) {
- //printf("accepted\n");
- if (!fork())
- break;
- else
- close(accsocket);
+ if (optind == argc) {
+ print_usage(basename(argv[0]));
+ exit(0);
}
- else if (errno != EINTR) {
- perror("accept");
- exit(1);
+
+ /* count in options higher than device count ? */
+ if (optind + currmax > argc) {
+ printf("low count of CAN devices!\n");
+ return 1;
}
- }
-
- for (i=0; i<currmax; i++) {
-#ifdef DEBUG
- printf("open %d '%s' m%08X v%08X i%d e%d.\n",
- i, argv[optind+i], mask[i], value[i],
- inv_filter[i], err_mask[i]);
-#endif
+ currmax = argc - optind; /* find real number of CAN devices */
- if ((s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
- perror("socket");
- return 1;
+ if (currmax > MAXDEV) {
+ printf("More than %d CAN devices!\n", MAXDEV);
+ return 1;
}
- if (mask[i] || value[i]) {
- printf("CAN ID filter[%d] for %s set to "
- "mask = %08X, value = %08X %s\n",
- i, argv[optind+i], mask[i], value[i],
- (inv_filter[i]) ? "(inv_filter)" : "");
+ socki = socket(PF_INET, SOCK_STREAM, 0);
+ if (socki < 0) {
+ perror("socket");
+ exit(1);
+ }
- rfilter.can_id = value[i];
- rfilter.can_mask = mask[i];
- if (inv_filter[i])
- rfilter.can_id |= CAN_INV_FILTER;
+ inaddr.sin_family = AF_INET;
+ inaddr.sin_addr.s_addr = htonl(INADDR_ANY);
+ inaddr.sin_port = htons(port);
- setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
- &rfilter, sizeof(rfilter));
+ while(bind(socki, (struct sockaddr*)&inaddr, sizeof(inaddr)) < 0) {
+ printf(".");fflush(NULL);
+ usleep(100000);
}
- if (err_mask[i])
- setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
- &err_mask[i], sizeof(err_mask[i]));
-
- j = strlen(argv[optind+i]);
+ if (listen(socki, 3) != 0) {
+ perror("listen");
+ exit(1);
+ }
- if (!(j < IFNAMSIZ)) {
- printf("name of CAN device '%s' is too long!\n", argv[optind+i]);
- return 1;
+ while(1) {
+ accsocket = accept(socki, (struct sockaddr*)&clientaddr, &sin_size);
+ if (accsocket > 0) {
+ //printf("accepted\n");
+ if (!fork())
+ break;
+ else
+ close(accsocket);
+ }
+ else if (errno != EINTR) {
+ perror("accept");
+ exit(1);
+ }
}
+
+ for (i=0; i<currmax; i++) {
- if (j > max_devname_len)
- max_devname_len = j; /* for nice printing */
+#ifdef DEBUG
+ printf("open %d '%s' m%08X v%08X i%d e%d.\n",
+ i, argv[optind+i], mask[i], value[i],
+ inv_filter[i], err_mask[i]);
+#endif
- addr.can_family = AF_CAN;
+ if ((s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
+ perror("socket");
+ return 1;
+ }
- if (strcmp(ANYDEV, argv[optind+i])) {
- strcpy(ifr.ifr_name, argv[optind+i]);
- if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
- perror("SIOCGIFINDEX");
- exit(1);
- }
- addr.can_ifindex = ifr.ifr_ifindex;
- }
- else
- addr.can_ifindex = 0; /* any can interface */
+ if (mask[i] || value[i]) {
- if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
- perror("bindcan");
- return 1;
- }
- }
+ printf("CAN ID filter[%d] for %s set to "
+ "mask = %08X, value = %08X %s\n",
+ i, argv[optind+i], mask[i], value[i],
+ (inv_filter[i]) ? "(inv_filter)" : "");
- while (running) {
+ rfilter.can_id = value[i];
+ rfilter.can_mask = mask[i];
+ if (inv_filter[i])
+ rfilter.can_id |= CAN_INV_FILTER;
- FD_ZERO(&rdfs);
- for (i=0; i<currmax; i++)
- FD_SET(s[i], &rdfs);
+ setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
+ &rfilter, sizeof(rfilter));
+ }
- if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, NULL)) < 0) {
- //perror("select");
- running = 0;
- continue;
- }
+ if (err_mask[i])
+ setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
+ &err_mask[i], sizeof(err_mask[i]));
+
+ /* try to switch the socket into CAN FD mode */
+ setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on));
+
+ j = strlen(argv[optind+i]);
+
+ if (!(j < IFNAMSIZ)) {
+ printf("name of CAN device '%s' is too long!\n", argv[optind+i]);
+ return 1;
+ }
- for (i=0; i<currmax; i++) { /* check all CAN RAW sockets */
+ if (j > max_devname_len)
+ max_devname_len = j; /* for nice printing */
- if (FD_ISSET(s[i], &rdfs)) {
+ addr.can_family = AF_CAN;
- socklen_t len = sizeof(addr);
- int idx;
+ if (strcmp(ANYDEV, argv[optind+i])) {
+ strcpy(ifr.ifr_name, argv[optind+i]);
+ if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
+ perror("SIOCGIFINDEX");
+ exit(1);
+ }
+ addr.can_ifindex = ifr.ifr_ifindex;
+ }
+ else
+ addr.can_ifindex = 0; /* any can interface */
- if ((nbytes = recvfrom(s[i], &frame,
- sizeof(struct can_frame), 0,
- (struct sockaddr*)&addr, &len)) < 0) {
- perror("read");
- return 1;
+ if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+ perror("bindcan");
+ return 1;
}
+ }
+
+ while (running) {
+
+ FD_ZERO(&rdfs);
+ for (i=0; i<currmax; i++)
+ FD_SET(s[i], &rdfs);
- if (nbytes < sizeof(struct can_frame)) {
- fprintf(stderr, "read: incomplete CAN frame\n");
- return 1;
+ if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, NULL)) < 0) {
+ //perror("select");
+ running = 0;
+ continue;
}
- if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
- perror("SIOCGSTAMP");
+ for (i=0; i<currmax; i++) { /* check all CAN RAW sockets */
+ if (FD_ISSET(s[i], &rdfs)) {
- idx = idx2dindex(addr.can_ifindex, s[i]);
+ socklen_t len = sizeof(addr);
+ int idx;
- sprintf(temp, "(%ld.%06ld) %*s ",
- tv.tv_sec, tv.tv_usec, max_devname_len, devname[idx]);
- sprint_canframe(temp+strlen(temp), &frame, 0);
- strcat(temp, "\n");
+ if ((nbytes = recvfrom(s[i], &frame, CANFD_MTU, 0,
+ (struct sockaddr*)&addr, &len)) < 0) {
+ perror("read");
+ return 1;
+ }
- if (write(accsocket, temp, strlen(temp)) < 0) {
- perror("writeaccsock");
- return 1;
- }
-
- /* printf("%s\n",temp2); */
+ if ((size_t)nbytes == CAN_MTU)
+ maxdlen = CAN_MAX_DLEN;
+ else if ((size_t)nbytes == CANFD_MTU)
+ maxdlen = CANFD_MAX_DLEN;
+ else {
+ fprintf(stderr, "read: incomplete CAN frame\n");
+ return 1;
+ }
+
+ if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
+ perror("SIOCGSTAMP");
+
+ idx = idx2dindex(addr.can_ifindex, s[i]);
+
+ sprintf(temp, "(%ld.%06ld) %*s ",
+ tv.tv_sec, tv.tv_usec, max_devname_len, devname[idx]);
+ sprint_canframe(temp+strlen(temp), &frame, 0, maxdlen);
+ strcat(temp, "\n");
+
+ if (write(accsocket, temp, strlen(temp)) < 0) {
+ perror("writeaccsock");
+ return 1;
+ }
+
#if 0
- /* print CAN frame in log file style to stdout */
- printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
- printf("%*s ", max_devname_len, devname[idx]);
- fprint_canframe(stdout, &frame, "\n", 0);
+ /* print CAN frame in log file style to stdout */
+ printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
+ printf("%*s ", max_devname_len, devname[idx]);
+ fprint_canframe(stdout, &frame, "\n", 0, maxdlen);
#endif
- }
+ }
+ }
}
- }
- for (i=0; i<currmax; i++)
- close(s[i]);
+ for (i=0; i<currmax; i++)
+ close(s[i]);
- close(accsocket);
- return 0;
+ close(accsocket);
+ return 0;
}
projects / sojka / can-utils.git / blobdiff