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
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44 * Send feedback to <socketcan-users@lists.berlios.de>
58 #include <sys/types.h>
59 #include <sys/socket.h>
60 #include <sys/ioctl.h>
63 #include <netinet/in.h>
65 #include <linux/can.h>
66 #include <linux/can/raw.h>
73 #define MAXDEV 6 /* change sscanf()'s manually if changed here */
75 #define ANL "\r\n" /* newline in ASC mode */
79 static char devname[MAXDEV][IFNAMSIZ+1];
80 static int dindex[MAXDEV];
81 static int max_devname_len;
83 extern int optind, opterr, optopt;
85 static volatile int running = 1;
87 void print_usage(char *prg)
89 fprintf(stderr, "Usage: %s [can-interfaces]\n", prg);
90 fprintf(stderr, " (use CTRL-C to terminate %s)\n", prg);
91 fprintf(stderr, "Options: -m <mask> (default 0x00000000)\n");
92 fprintf(stderr, " -v <value> (default 0x00000000)\n");
93 fprintf(stderr, " -i <0|1> (inv_filter)\n");
94 fprintf(stderr, " -e <emask> (mask for error frames)\n");
95 fprintf(stderr, " -p <port> (Network port on which %s listens. Default: %d)\n", prg, DEFPORT);
96 fprintf(stderr, "\n");
97 fprintf(stderr, "When using more than one CAN interface the options\n");
98 fprintf(stderr, "m/v/i/e have comma seperated values e.g. '-m 0,7FF,0'\n");
99 fprintf(stderr, "Use interface name '%s' to receive from all can-interfaces\n", ANYDEV);
102 int idx2dindex(int ifidx, int socket)
107 for (i=0; i<MAXDEV; i++) {
108 if (dindex[i] == ifidx)
112 /* create new interface index cache entry */
114 /* remove index cache zombies first */
115 for (i=0; i < MAXDEV; i++) {
117 ifr.ifr_ifindex = dindex[i];
118 if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
123 for (i=0; i < MAXDEV; i++)
124 if (!dindex[i]) /* free entry */
128 printf("Interface index cache only supports %d interfaces.\n", MAXDEV);
134 ifr.ifr_ifindex = ifidx;
135 if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
136 perror("SIOCGIFNAME");
138 if (max_devname_len < strlen(ifr.ifr_name))
139 max_devname_len = strlen(ifr.ifr_name);
141 strcpy(devname[i], ifr.ifr_name);
144 printf("new index %d (%s)\n", i, devname[i]);
151 * This is a Signalhandler. When we get a signal, that a child
152 * terminated, we wait for it, so the zombie will disappear.
154 void childdied(int i)
160 * This is a Signalhandler for a cought SIGTERM
162 void shutdown_gra(int i)
168 int main(int argc, char **argv)
170 struct sigaction signalaction;
174 int socki, accsocket;
175 canid_t mask[MAXDEV] = {0};
176 canid_t value[MAXDEV] = {0};
177 int inv_filter[MAXDEV] = {0};
178 can_err_mask_t err_mask[MAXDEV] = {0};
180 int currmax = 1; /* we assume at least one can bus ;-) */
181 struct sockaddr_can addr;
182 struct can_filter rfilter;
183 struct can_frame frame;
186 struct timeval tv, last_tv;
188 struct sockaddr_in inaddr;
189 struct sockaddr_in clientaddr;
190 socklen_t sin_size = sizeof(clientaddr);
193 sigemptyset(&sigset);
194 signalaction.sa_handler = &childdied;
195 signalaction.sa_mask = sigset;
196 signalaction.sa_flags = 0;
197 sigaction(SIGCHLD, &signalaction, NULL); /* install signal for dying child */
198 signalaction.sa_handler = &shutdown_gra;
199 signalaction.sa_mask = sigset;
200 signalaction.sa_flags = 0;
201 sigaction(SIGTERM, &signalaction, NULL); /* install Signal for termination */
202 sigaction(SIGINT, &signalaction, NULL); /* install Signal for termination */
208 while ((opt = getopt(argc, argv, "m:v:i:e:p:")) != -1) {
212 i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
213 &mask[0], &mask[1], &mask[2],
214 &mask[3], &mask[4], &mask[5]);
220 i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
221 &value[0], &value[1], &value[2],
222 &value[3], &value[4], &value[5]);
228 i = sscanf(optarg, "%d,%d,%d,%d,%d,%d",
229 &inv_filter[0], &inv_filter[1], &inv_filter[2],
230 &inv_filter[3], &inv_filter[4], &inv_filter[5]);
236 i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
237 &err_mask[0], &err_mask[1], &err_mask[2],
238 &err_mask[3], &err_mask[4], &err_mask[5]);
246 fprintf(stderr, "Unknown option %c\n", opt);
247 print_usage(basename(argv[0]));
253 if (optind == argc) {
254 print_usage(basename(argv[0]));
258 /* count in options higher than device count ? */
259 if (optind + currmax > argc) {
260 printf("low count of CAN devices!\n");
264 currmax = argc - optind; /* find real number of CAN devices */
266 if (currmax > MAXDEV) {
267 printf("More than %d CAN devices!\n", MAXDEV);
272 socki = socket(PF_INET, SOCK_STREAM, 0);
278 inaddr.sin_family = AF_INET;
279 inaddr.sin_addr.s_addr = htonl(INADDR_ANY);
280 inaddr.sin_port = htons(port);
282 while(bind(socki, (struct sockaddr*)&inaddr, sizeof(inaddr)) < 0) {
283 printf(".");fflush(NULL);
287 if (listen(socki, 3) != 0) {
293 accsocket = accept(socki, (struct sockaddr*)&clientaddr, &sin_size);
295 //printf("accepted\n");
301 else if (errno != EINTR) {
307 for (i=0; i<currmax; i++) {
310 printf("open %d '%s' m%08X v%08X i%d e%d.\n",
311 i, argv[optind+i], mask[i], value[i],
312 inv_filter[i], err_mask[i]);
315 if ((s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
320 if (mask[i] || value[i]) {
322 printf("CAN ID filter[%d] for %s set to "
323 "mask = %08X, value = %08X %s\n",
324 i, argv[optind+i], mask[i], value[i],
325 (inv_filter[i]) ? "(inv_filter)" : "");
327 rfilter.can_id = value[i];
328 rfilter.can_mask = mask[i];
330 rfilter.can_id |= CAN_INV_FILTER;
332 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
333 &rfilter, sizeof(rfilter));
337 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
338 &err_mask[i], sizeof(err_mask[i]));
340 j = strlen(argv[optind+i]);
342 if (!(j < IFNAMSIZ)) {
343 printf("name of CAN device '%s' is too long!\n", argv[optind+i]);
347 if (j > max_devname_len)
348 max_devname_len = j; /* for nice printing */
350 addr.can_family = AF_CAN;
352 if (strcmp(ANYDEV, argv[optind+i])) {
353 strcpy(ifr.ifr_name, argv[optind+i]);
354 if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
355 perror("SIOCGIFINDEX");
358 addr.can_ifindex = ifr.ifr_ifindex;
361 addr.can_ifindex = 0; /* any can interface */
363 if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
372 for (i=0; i<currmax; i++)
375 if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, NULL)) < 0) {
381 for (i=0; i<currmax; i++) { /* check all CAN RAW sockets */
383 if (FD_ISSET(s[i], &rdfs)) {
385 socklen_t len = sizeof(addr);
388 if ((nbytes = recvfrom(s[i], &frame,
389 sizeof(struct can_frame), 0,
390 (struct sockaddr*)&addr, &len)) < 0) {
395 if (nbytes < sizeof(struct can_frame)) {
396 fprintf(stderr, "read: incomplete CAN frame\n");
400 if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
401 perror("SIOCGSTAMP");
404 idx = idx2dindex(addr.can_ifindex, s[i]);
406 sprintf(temp, "(%ld.%06ld) %*s ",
407 tv.tv_sec, tv.tv_usec, max_devname_len, devname[idx]);
408 sprint_canframe(temp+strlen(temp), &frame, 0);
411 if (write(accsocket, temp, strlen(temp)) < 0) {
412 perror("writeaccsock");
416 /* printf("%s\n",temp2); */
419 /* print CAN frame in log file style to stdout */
420 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
421 printf("%*s ", max_devname_len, devname[idx]);
422 fprint_canframe(stdout, &frame, "\n", 0);
429 for (i=0; i<currmax; i++)