-/*
- * $Id$
- */
-
/*
* candump.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 <ctype.h>
#include <libgen.h>
#include <time.h>
+#include <errno.h>
#include <sys/time.h>
#include <sys/types.h>
static char devname[MAXIFNAMES][IFNAMSIZ+1];
static int dindex[MAXIFNAMES];
static int max_devname_len; /* to prevent frazzled device name output */
+const int canfd_on = 1;
#define MAXANI 4
const char anichar[MAXANI] = {'|', '/', '-', '\\'};
+const char extra_m_info[4][4] = {"- -", "B -", "- E", "B E"};
extern int optind, opterr, optopt;
fprintf(stderr, " -s <level> (silent mode - %d: off (default) %d: animation %d: silent)\n", SILENT_OFF, SILENT_ANI, SILENT_ON);
fprintf(stderr, " -b <can> (bridge mode - send received frames to <can>)\n");
fprintf(stderr, " -B <can> (bridge mode - like '-b' with disabled loopback)\n");
+ fprintf(stderr, " -u <usecs> (delay bridge forwarding by <usecs> microseconds)\n");
fprintf(stderr, " -l (log CAN-frames into file. Sets '-s %d' by default)\n", SILENT_ON);
fprintf(stderr, " -L (use log file format on stdout)\n");
fprintf(stderr, " -n <count> (terminate after receiption of <count> CAN frames)\n");
fprintf(stderr, " -r <size> (set socket receive buffer to <size>)\n");
fprintf(stderr, " -d (monitor dropped CAN frames)\n");
+ fprintf(stderr, " -e (dump CAN error frames in human-readable format)\n");
+ fprintf(stderr, " -x (print extra message infos, rx/tx brs esi)\n");
+ fprintf(stderr, " -T <msecs> (terminate after <msecs> without any reception)\n");
fprintf(stderr, "\n");
fprintf(stderr, "Up to %d CAN interfaces with optional filter sets can be specified\n", MAXSOCK);
fprintf(stderr, "on the commandline in the form: <ifname>[,filter]*\n");
fd_set rdfs;
int s[MAXSOCK];
int bridge = 0;
+ useconds_t bridge_delay = 0;
unsigned char timestamp = 0;
unsigned char dropmonitor = 0;
+ unsigned char extra_msg_info = 0;
unsigned char silent = SILENT_INI;
unsigned char silentani = 0;
unsigned char color = 0;
struct cmsghdr *cmsg;
struct can_filter *rfilter;
can_err_mask_t err_mask;
- struct can_frame frame;
- int nbytes, i;
+ struct canfd_frame frame;
+ int nbytes, i, maxdlen;
struct ifreq ifr;
struct timeval tv, last_tv;
+ struct timeval timeout, timeout_config = { 0, 0 }, *timeout_current = NULL;
FILE *logfile = NULL;
signal(SIGTERM, sigterm);
last_tv.tv_sec = 0;
last_tv.tv_usec = 0;
- while ((opt = getopt(argc, argv, "t:ciaSs:b:B:ldLn:r:h?")) != -1) {
+ while ((opt = getopt(argc, argv, "t:ciaSs:b:B:u:ldxLn:r:heT:?")) != -1) {
switch (opt) {
case 't':
timestamp = optarg[0];
view |= CANLIB_VIEW_SWAP;
break;
+ case 'e':
+ view |= CANLIB_VIEW_ERROR;
+ break;
+
case 's':
silent = atoi(optarg);
if (silent > SILENT_ON) {
}
break;
+ case 'u':
+ bridge_delay = (useconds_t)strtoul(optarg, (char **)NULL, 10);
+ break;
+
case 'l':
log = 1;
break;
dropmonitor = 1;
break;
+ case 'x':
+ extra_msg_info = 1;
+ break;
+
case 'L':
logfrmt = 1;
break;
}
break;
+ case 'T':
+ errno = 0;
+ timeout_config.tv_usec = strtol(optarg, NULL, 0);
+ if (errno != 0) {
+ print_usage(basename(argv[0]));
+ exit(1);
+ }
+ timeout_config.tv_sec = timeout_config.tv_usec / 1000;
+ timeout_config.tv_usec = (timeout_config.tv_usec % 1000) * 1000;
+ timeout_current = &timeout;
+ break;
default:
print_usage(basename(argv[0]));
exit(1);
ptr = nptr+1; /* hop behind the ',' */
nptr = strchr(ptr, ','); /* update exit condition */
- if (sscanf(ptr, "%lx:%lx",
- (long unsigned int *)
+ if (sscanf(ptr, "%x:%x",
&rfilter[numfilter].can_id,
- (long unsigned int *)
&rfilter[numfilter].can_mask) == 2) {
rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
numfilter++;
- } else if (sscanf(ptr, "%lx~%lx",
- (long unsigned int *)
+ } else if (sscanf(ptr, "%x~%x",
&rfilter[numfilter].can_id,
- (long unsigned int *)
&rfilter[numfilter].can_mask) == 2) {
rfilter[numfilter].can_id |= CAN_INV_FILTER;
rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
numfilter++;
- } else if (sscanf(ptr, "#%lx",
- (long unsigned int *)&err_mask) != 1) {
+ } else if (sscanf(ptr, "#%x", &err_mask) != 1) {
fprintf(stderr, "Error in filter option parsing: '%s'\n", ptr);
return 1;
}
} /* if (nptr) */
+ /* try to switch the socket into CAN FD mode */
+ setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on));
+
if (rcvbuf_size) {
int curr_rcvbuf_size;
for (i=0; i<currmax; i++)
FD_SET(s[i], &rdfs);
- if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, NULL)) < 0) {
+ if (timeout_current)
+ *timeout_current = timeout_config;
+
+ if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, timeout_current)) <= 0) {
//perror("select");
running = 0;
continue;
return 1;
}
- if (nbytes < sizeof(struct can_frame)) {
+ 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;
}
running = 0;
if (bridge) {
- nbytes = write(bridge, &frame, sizeof(struct can_frame));
+ if (bridge_delay)
+ usleep(bridge_delay);
+
+ nbytes = write(bridge, &frame, nbytes);
if (nbytes < 0) {
perror("bridge write");
return 1;
- } else if (nbytes < sizeof(struct can_frame)) {
+ } else if ((size_t)nbytes != CAN_MTU && (size_t)nbytes != CANFD_MTU) {
fprintf(stderr,"bridge write: incomplete CAN frame\n");
return 1;
}
idx = idx2dindex(addr.can_ifindex, s[i]);
+ /* once we detected a EFF frame indent SFF frames accordingly */
+ if (frame.can_id & CAN_EFF_FLAG)
+ view |= CANLIB_VIEW_INDENT_SFF;
+
if (log) {
/* log CAN frame with absolute timestamp & device */
- fprintf(logfile, "(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
+ fprintf(logfile, "(%010ld.%06ld) ", tv.tv_sec, tv.tv_usec);
fprintf(logfile, "%*s ", max_devname_len, devname[idx]);
/* without seperator as logfile use-case is parsing */
- fprint_canframe(logfile, &frame, "\n", 0);
+ fprint_canframe(logfile, &frame, "\n", 0, maxdlen);
}
if (logfrmt) {
/* print CAN frame in log file style to stdout */
- printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
+ printf("(%010ld.%06ld) ", tv.tv_sec, tv.tv_usec);
printf("%*s ", max_devname_len, devname[idx]);
- fprint_canframe(stdout, &frame, "\n", 0);
+ fprint_canframe(stdout, &frame, "\n", 0, maxdlen);
goto out_fflush; /* no other output to stdout */
}
switch (timestamp) {
case 'a': /* absolute with timestamp */
- printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
+ printf("(%010ld.%06ld) ", tv.tv_sec, tv.tv_usec);
break;
case 'A': /* absolute with date */
diff.tv_sec--, diff.tv_usec += 1000000;
if (diff.tv_sec < 0)
diff.tv_sec = diff.tv_usec = 0;
- printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
+ printf("(%03ld.%06ld) ", diff.tv_sec, diff.tv_usec);
if (timestamp == 'd')
last_tv = tv; /* update for delta calculation */
printf(" %s", (color && (color<3))?col_on[idx%MAXCOL]:"");
printf("%*s", max_devname_len, devname[idx]);
+
+ if (extra_msg_info) {
+
+ if (msg.msg_flags & MSG_DONTROUTE)
+ printf (" TX %s", extra_m_info[frame.flags & 3]);
+ else
+ printf (" RX %s", extra_m_info[frame.flags & 3]);
+ }
+
printf("%s ", (color==1)?col_off:"");
- fprint_long_canframe(stdout, &frame, NULL, view);
+ fprint_long_canframe(stdout, &frame, NULL, view, maxdlen);
printf("%s", (color>1)?col_off:"");
printf("\n");
projects / sojka / can-utils.git / blobdiff