candump.c

   1 /*
   2  * candump.c
   3  *
   4  * Copyright (c) 2002-2009 Volkswagen Group Electronic Research
   5  * All rights reserved.
   6  *
   7  * Redistribution and use in source and binary forms, with or without
   8  * modification, are permitted provided that the following conditions
   9  * are met:
  10  * 1. Redistributions of source code must retain the above copyright
  11  *    notice, this list of conditions and the following disclaimer.
  12  * 2. Redistributions in binary form must reproduce the above copyright
  13  *    notice, this list of conditions and the following disclaimer in the
  14  *    documentation and/or other materials provided with the distribution.
  15  * 3. Neither the name of Volkswagen nor the names of its contributors
  16  *    may be used to endorse or promote products derived from this software
  17  *    without specific prior written permission.
  18  *
  19  * Alternatively, provided that this notice is retained in full, this
  20  * software may be distributed under the terms of the GNU General
  21  * Public License ("GPL") version 2, in which case the provisions of the
  22  * GPL apply INSTEAD OF those given above.
  23  *
  24  * The provided data structures and external interfaces from this code
  25  * are not restricted to be used by modules with a GPL compatible license.
  26  *
  27  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  28  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  29  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
  30  * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
  31  * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
  32  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
  33  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
  34  * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
  35  * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
  36  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  37  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
  38  * DAMAGE.
  39  *
  40  * Send feedback to <linux-can@vger.kernel.org>
  41  *
  42  */
  43
  44 #include <stdio.h>
  45 #include <stdlib.h>
  46 #include <stdint.h>
  47 #include <unistd.h>
  48 #include <string.h>
  49 #include <signal.h>
  50 #include <ctype.h>
  51 #include <libgen.h>
  52 #include <time.h>
  53 #include <errno.h>
  54
  55 #include <sys/time.h>
  56 #include <sys/types.h>
  57 #include <sys/socket.h>
  58 #include <sys/ioctl.h>
  59 #include <sys/uio.h>
  60 #include <net/if.h>
  61
  62 #include <linux/can.h>
  63 #include <linux/can/raw.h>
  64
  65 #include "terminal.h"
  66 #include "lib.h"
  67
  68 #define MAXSOCK 16    /* max. number of CAN interfaces given on the cmdline */
  69 #define MAXIFNAMES 30 /* size of receive name index to omit ioctls */
  70 #define MAXCOL 6      /* number of different colors for colorized output */
  71 #define ANYDEV "any"  /* name of interface to receive from any CAN interface */
  72 #define ANL "\r\n"    /* newline in ASC mode */
  73
  74 #define SILENT_INI 42 /* detect user setting on commandline */
  75 #define SILENT_OFF 0  /* no silent mode */
  76 #define SILENT_ANI 1  /* silent mode with animation */
  77 #define SILENT_ON  2  /* silent mode (completely silent) */
  78
  79 #define BOLD    ATTBOLD
  80 #define RED     ATTBOLD FGRED
  81 #define GREEN   ATTBOLD FGGREEN
  82 #define YELLOW  ATTBOLD FGYELLOW
  83 #define BLUE    ATTBOLD FGBLUE
  84 #define MAGENTA ATTBOLD FGMAGENTA
  85 #define CYAN    ATTBOLD FGCYAN
  86
  87 const char col_on [MAXCOL][19] = {BLUE, RED, GREEN, BOLD, MAGENTA, CYAN};
  88 const char col_off [] = ATTRESET;
  89
  90 static char *cmdlinename[MAXSOCK];
  91 static __u32 dropcnt[MAXSOCK];
  92 static __u32 last_dropcnt[MAXSOCK];
  93 static char devname[MAXIFNAMES][IFNAMSIZ+1];
  94 static int  dindex[MAXIFNAMES];
  95 static int  max_devname_len; /* to prevent frazzled device name output */
  96 const int canfd_on = 1;
  97
  98 #define MAXANI 4
  99 const char anichar[MAXANI] = {'|', '/', '-', '\\'};
 100 const char extra_m_info[4][4] = {"- -", "B -", "- E", "B E"};
 101
 102 extern int optind, opterr, optopt;
 103
 104 static volatile int running = 1;
 105
 106 void print_usage(char *prg)
 107 {
 108         fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
 109         fprintf(stderr, "  (use CTRL-C to terminate %s)\n\n", prg);
 110         fprintf(stderr, "Options: -t <type>   (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
 111         fprintf(stderr, "         -c          (increment color mode level)\n");
 112         fprintf(stderr, "         -i          (binary output - may exceed 80 chars/line)\n");
 113         fprintf(stderr, "         -a          (enable additional ASCII output)\n");
 114         fprintf(stderr, "         -S          (swap byte order in printed CAN data[] - marked with '%c' )\n", SWAP_DELIMITER);
 115         fprintf(stderr, "         -s <level>  (silent mode - %d: off (default) %d: animation %d: silent)\n", SILENT_OFF, SILENT_ANI, SILENT_ON);
 116         fprintf(stderr, "         -b <can>    (bridge mode - send received frames to <can>)\n");
 117         fprintf(stderr, "         -B <can>    (bridge mode - like '-b' with disabled loopback)\n");
 118         fprintf(stderr, "         -u <usecs>  (delay bridge forwarding by <usecs> microseconds)\n");
 119         fprintf(stderr, "         -l          (log CAN-frames into file. Sets '-s %d' by default)\n", SILENT_ON);
 120         fprintf(stderr, "         -L          (use log file format on stdout)\n");
 121         fprintf(stderr, "         -n <count>  (terminate after receiption of <count> CAN frames)\n");
 122         fprintf(stderr, "         -r <size>   (set socket receive buffer to <size>)\n");
 123         fprintf(stderr, "         -d          (monitor dropped CAN frames)\n");
 124         fprintf(stderr, "         -e          (dump CAN error frames in human-readable format)\n");
 125         fprintf(stderr, "         -x          (print extra message infos, rx/tx brs esi)\n");
 126         fprintf(stderr, "         -T <msecs>  (terminate after <msecs> without any reception)\n");
 127         fprintf(stderr, "\n");
 128         fprintf(stderr, "Up to %d CAN interfaces with optional filter sets can be specified\n", MAXSOCK);
 129         fprintf(stderr, "on the commandline in the form: <ifname>[,filter]*\n");
 130         fprintf(stderr, "\nComma separated filters can be specified for each given CAN interface:\n");
 131         fprintf(stderr, " <can_id>:<can_mask> (matches when <received_can_id> & mask == can_id & mask)\n");
 132         fprintf(stderr, " <can_id>~<can_mask> (matches when <received_can_id> & mask != can_id & mask)\n");
 133         fprintf(stderr, " #<error_mask>       (set error frame filter, see include/linux/can/error.h)\n");
 134         fprintf(stderr, "\nCAN IDs, masks and data content are given and expected in hexadecimal values.\n");
 135         fprintf(stderr, "When can_id and can_mask are both 8 digits, they are assumed to be 29 bit EFF.\n");
 136         fprintf(stderr, "Without any given filter all data frames are received ('0:0' default filter).\n");
 137         fprintf(stderr, "\nUse interface name '%s' to receive from all CAN interfaces.\n", ANYDEV);
 138         fprintf(stderr, "\nExamples:\n");
 139         fprintf(stderr, "%s -c -c -ta can0,123:7FF,400:700,#000000FF can2,400~7F0 can3 can8\n", prg);
 140         fprintf(stderr, "%s -l any,0~0,#FFFFFFFF    (log only error frames but no(!) data frames)\n", prg);
 141         fprintf(stderr, "%s -l any,0:0,#FFFFFFFF    (log error frames and also all data frames)\n", prg);
 142         fprintf(stderr, "%s vcan2,92345678:DFFFFFFF (match only for extended CAN ID 12345678)\n", prg);
 143         fprintf(stderr, "%s vcan2,123:7FF (matches CAN ID 123 - including EFF and RTR frames)\n", prg);
 144         fprintf(stderr, "%s vcan2,123:C00007FF (matches CAN ID 123 - only SFF and non-RTR frames)\n", prg);
 145         fprintf(stderr, "\n");
 146 }
 147
 148 void sigterm(int signo)
 149 {
 150         running = 0;
 151 }
 152
 153 int idx2dindex(int ifidx, int socket) {
 154
 155         int i;
 156         struct ifreq ifr;
 157
 158         for (i=0; i < MAXIFNAMES; i++) {
 159                 if (dindex[i] == ifidx)
 160                         return i;
 161         }
 162
 163         /* create new interface index cache entry */
 164
 165         /* remove index cache zombies first */
 166         for (i=0; i < MAXIFNAMES; i++) {
 167                 if (dindex[i]) {
 168                         ifr.ifr_ifindex = dindex[i];
 169                         if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
 170                                 dindex[i] = 0;
 171                 }
 172         }
 173
 174         for (i=0; i < MAXIFNAMES; i++)
 175                 if (!dindex[i]) /* free entry */
 176                         break;
 177
 178         if (i == MAXIFNAMES) {
 179                 fprintf(stderr, "Interface index cache only supports %d interfaces.\n",
 180                        MAXIFNAMES);
 181                 exit(1);
 182         }
 183
 184         dindex[i] = ifidx;
 185
 186         ifr.ifr_ifindex = ifidx;
 187         if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
 188                 perror("SIOCGIFNAME");
 189
 190         if (max_devname_len < strlen(ifr.ifr_name))
 191                 max_devname_len = strlen(ifr.ifr_name);
 192
 193         strcpy(devname[i], ifr.ifr_name);
 194
 195 #ifdef DEBUG
 196         printf("new index %d (%s)\n", i, devname[i]);
 197 #endif
 198
 199         return i;
 200 }
 201
 202 int main(int argc, char **argv)
 203 {
 204         fd_set rdfs;
 205         int s[MAXSOCK];
 206         int bridge = 0;
 207         useconds_t bridge_delay = 0;
 208         unsigned char timestamp = 0;
 209         unsigned char dropmonitor = 0;
 210         unsigned char extra_msg_info = 0;
 211         unsigned char silent = SILENT_INI;
 212         unsigned char silentani = 0;
 213         unsigned char color = 0;
 214         unsigned char view = 0;
 215         unsigned char log = 0;
 216         unsigned char logfrmt = 0;
 217         int count = 0;
 218         int rcvbuf_size = 0;
 219         int opt, ret;
 220         int currmax, numfilter;
 221         char *ptr, *nptr;
 222         struct sockaddr_can addr;
 223         char ctrlmsg[CMSG_SPACE(sizeof(struct timeval)) + CMSG_SPACE(sizeof(__u32))];
 224         struct iovec iov;
 225         struct msghdr msg;
 226         struct cmsghdr *cmsg;
 227         struct can_filter *rfilter;
 228         can_err_mask_t err_mask;
 229         struct canfd_frame frame;
 230         int nbytes, i, maxdlen;
 231         struct ifreq ifr;
 232         struct timeval tv, last_tv;
 233         struct timeval timeout, timeout_config = { 0, 0 }, *timeout_current = NULL;
 234         FILE *logfile = NULL;
 235
 236         signal(SIGTERM, sigterm);
 237         signal(SIGHUP, sigterm);
 238         signal(SIGINT, sigterm);
 239
 240         last_tv.tv_sec  = 0;
 241         last_tv.tv_usec = 0;
 242
 243         while ((opt = getopt(argc, argv, "t:ciaSs:b:B:u:ldxLn:r:heT:?")) != -1) {
 244                 switch (opt) {
 245                 case 't':
 246                         timestamp = optarg[0];
 247                         if ((timestamp != 'a') && (timestamp != 'A') &&
 248                             (timestamp != 'd') && (timestamp != 'z')) {
 249                                 fprintf(stderr, "%s: unknown timestamp mode '%c' - ignored\n",
 250                                        basename(argv[0]), optarg[0]);
 251                                 timestamp = 0;
 252                         }
 253                         break;
 254
 255                 case 'c':
 256                         color++;
 257                         break;
 258
 259                 case 'i':
 260                         view |= CANLIB_VIEW_BINARY;
 261                         break;
 262
 263                 case 'a':
 264                         view |= CANLIB_VIEW_ASCII;
 265                         break;
 266
 267                 case 'S':
 268                         view |= CANLIB_VIEW_SWAP;
 269                         break;
 270
 271                 case 'e':
 272                         view |= CANLIB_VIEW_ERROR;
 273                         break;
 274
 275                 case 's':
 276                         silent = atoi(optarg);
 277                         if (silent > SILENT_ON) {
 278                                 print_usage(basename(argv[0]));
 279                                 exit(1);
 280                         }
 281                         break;
 282
 283                 case 'b':
 284                 case 'B':
 285                         if (strlen(optarg) >= IFNAMSIZ) {
 286                                 fprintf(stderr, "Name of CAN device '%s' is too long!\n\n", optarg);
 287                                 return 1;
 288                         } else {
 289                                 bridge = socket(PF_CAN, SOCK_RAW, CAN_RAW);
 290                                 if (bridge < 0) {
 291                                         perror("bridge socket");
 292                                         return 1;
 293                                 }
 294                                 addr.can_family = AF_CAN;
 295                                 strcpy(ifr.ifr_name, optarg);
 296                                 if (ioctl(bridge, SIOCGIFINDEX, &ifr) < 0)
 297                                         perror("SIOCGIFINDEX");
 298                                 addr.can_ifindex = ifr.ifr_ifindex;
 299
 300                                 if (!addr.can_ifindex) {
 301                                         perror("invalid bridge interface");
 302                                         return 1;
 303                                 }
 304
 305                                 /* disable default receive filter on this write-only RAW socket */
 306                                 setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
 307
 308                                 if (opt == 'B') {
 309                                         const int loopback = 0;
 310
 311                                         setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
 312                                                    &loopback, sizeof(loopback));
 313                                 }
 314
 315                                 if (bind(bridge, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 316                                         perror("bridge bind");
 317                                         return 1;
 318                                 }
 319                         }
 320                         break;
 321
 322                 case 'u':
 323                         bridge_delay = (useconds_t)strtoul(optarg, (char **)NULL, 10);
 324                         break;
 325
 326                 case 'l':
 327                         log = 1;
 328                         break;
 329
 330                 case 'd':
 331                         dropmonitor = 1;
 332                         break;
 333
 334                 case 'x':
 335                         extra_msg_info = 1;
 336                         break;
 337
 338                 case 'L':
 339                         logfrmt = 1;
 340                         break;
 341
 342                 case 'n':
 343                         count = atoi(optarg);
 344                         if (count < 1) {
 345                                 print_usage(basename(argv[0]));
 346                                 exit(1);
 347                         }
 348                         break;
 349
 350                 case 'r':
 351                         rcvbuf_size = atoi(optarg);
 352                         if (rcvbuf_size < 1) {
 353                                 print_usage(basename(argv[0]));
 354                                 exit(1);
 355                         }
 356                         break;
 357
 358                 case 'T':
 359                         errno = 0;
 360                         timeout_config.tv_usec = strtol(optarg, NULL, 0);
 361                         if (errno != 0) {
 362                                 print_usage(basename(argv[0]));
 363                                 exit(1);
 364                         }
 365                         timeout_config.tv_sec = timeout_config.tv_usec / 1000;
 366                         timeout_config.tv_usec = (timeout_config.tv_usec % 1000) * 1000;
 367                         timeout_current = &timeout;
 368                         break;
 369                 default:
 370                         print_usage(basename(argv[0]));
 371                         exit(1);
 372                         break;
 373                 }
 374         }
 375
 376         if (optind == argc) {
 377                 print_usage(basename(argv[0]));
 378                 exit(0);
 379         }
 380
 381         if (logfrmt && view) {
 382                 fprintf(stderr, "Log file format selected: Please disable ASCII/BINARY/SWAP options!\n");
 383                 exit(0);
 384         }
 385
 386         if (silent == SILENT_INI) {
 387                 if (log) {
 388                         fprintf(stderr, "Disabled standard output while logging.\n");
 389                         silent = SILENT_ON; /* disable output on stdout */
 390                 } else
 391                         silent = SILENT_OFF; /* default output */
 392         }
 393
 394         currmax = argc - optind; /* find real number of CAN devices */
 395
 396         if (currmax > MAXSOCK) {
 397                 fprintf(stderr, "More than %d CAN devices given on commandline!\n", MAXSOCK);
 398                 return 1;
 399         }
 400
 401         for (i=0; i < currmax; i++) {
 402
 403                 ptr = argv[optind+i];
 404                 nptr = strchr(ptr, ',');
 405
 406 #ifdef DEBUG
 407                 printf("open %d '%s'.\n", i, ptr);
 408 #endif
 409
 410                 s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW);
 411                 if (s[i] < 0) {
 412                         perror("socket");
 413                         return 1;
 414                 }
 415
 416                 cmdlinename[i] = ptr; /* save pointer to cmdline name of this socket */
 417
 418                 if (nptr)
 419                         nbytes = nptr - ptr;  /* interface name is up the first ',' */
 420                 else
 421                         nbytes = strlen(ptr); /* no ',' found => no filter definitions */
 422
 423                 if (nbytes >= IFNAMSIZ) {
 424                         fprintf(stderr, "name of CAN device '%s' is too long!\n", ptr);
 425                         return 1;
 426                 }
 427
 428                 if (nbytes > max_devname_len)
 429                         max_devname_len = nbytes; /* for nice printing */
 430
 431                 addr.can_family = AF_CAN;
 432
 433                 memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));
 434                 strncpy(ifr.ifr_name, ptr, nbytes);
 435
 436 #ifdef DEBUG
 437                 printf("using interface name '%s'.\n", ifr.ifr_name);
 438 #endif
 439
 440                 if (strcmp(ANYDEV, ifr.ifr_name)) {
 441                         if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
 442                                 perror("SIOCGIFINDEX");
 443                                 exit(1);
 444                         }
 445                         addr.can_ifindex = ifr.ifr_ifindex;
 446                 } else
 447                         addr.can_ifindex = 0; /* any can interface */
 448
 449                 if (nptr) {
 450
 451                         /* found a ',' after the interface name => check for filters */
 452
 453                         /* determine number of filters to alloc the filter space */
 454                         numfilter = 0;
 455                         ptr = nptr;
 456                         while (ptr) {
 457                                 numfilter++;
 458                                 ptr++; /* hop behind the ',' */
 459                                 ptr = strchr(ptr, ','); /* exit condition */
 460                         }
 461
 462                         rfilter = malloc(sizeof(struct can_filter) * numfilter);
 463                         if (!rfilter) {
 464                                 fprintf(stderr, "Failed to create filter space!\n");
 465                                 return 1;
 466                         }
 467
 468                         numfilter = 0;
 469                         err_mask = 0;
 470
 471                         while (nptr) {
 472
 473                                 ptr = nptr+1; /* hop behind the ',' */
 474                                 nptr = strchr(ptr, ','); /* update exit condition */
 475
 476                                 if (sscanf(ptr, "%x:%x",
 477                                            &rfilter[numfilter].can_id,
 478                                            &rfilter[numfilter].can_mask) == 2) {
 479                                         rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
 480                                         numfilter++;
 481                                 } else if (sscanf(ptr, "%x~%x",
 482                                                   &rfilter[numfilter].can_id,
 483                                                   &rfilter[numfilter].can_mask) == 2) {
 484                                         rfilter[numfilter].can_id |= CAN_INV_FILTER;
 485                                         rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
 486                                         numfilter++;
 487                                 } else if (sscanf(ptr, "#%x", &err_mask) != 1) {
 488                                         fprintf(stderr, "Error in filter option parsing: '%s'\n", ptr);
 489                                         return 1;
 490                                 }
 491                         }
 492
 493                         if (err_mask)
 494                                 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
 495                                            &err_mask, sizeof(err_mask));
 496
 497                         if (numfilter)
 498                                 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
 499                                            rfilter, numfilter * sizeof(struct can_filter));
 500
 501                         free(rfilter);
 502
 503                 } /* if (nptr) */
 504
 505                 /* try to switch the socket into CAN FD mode */
 506                 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on));
 507
 508                 if (rcvbuf_size) {
 509
 510                         int curr_rcvbuf_size;
 511                         socklen_t curr_rcvbuf_size_len = sizeof(curr_rcvbuf_size);
 512
 513                         /* try SO_RCVBUFFORCE first, if we run with CAP_NET_ADMIN */
 514                         if (setsockopt(s[i], SOL_SOCKET, SO_RCVBUFFORCE,
 515                                        &rcvbuf_size, sizeof(rcvbuf_size)) < 0) {
 516 #ifdef DEBUG
 517                                 printf("SO_RCVBUFFORCE failed so try SO_RCVBUF ...\n");
 518 #endif
 519                                 if (setsockopt(s[i], SOL_SOCKET, SO_RCVBUF,
 520                                                &rcvbuf_size, sizeof(rcvbuf_size)) < 0) {
 521                                         perror("setsockopt SO_RCVBUF");
 522                                         return 1;
 523                                 }
 524
 525                                 if (getsockopt(s[i], SOL_SOCKET, SO_RCVBUF,
 526                                                &curr_rcvbuf_size, &curr_rcvbuf_size_len) < 0) {
 527                                         perror("getsockopt SO_RCVBUF");
 528                                         return 1;
 529                                 }
 530
 531                                 /* Only print a warning the first time we detect the adjustment */
 532                                 /* n.b.: The wanted size is doubled in Linux in net/sore/sock.c */
 533                                 if (!i && curr_rcvbuf_size < rcvbuf_size*2)
 534                                         fprintf(stderr, "The socket receive buffer size was "
 535                                                 "adjusted due to /proc/sys/net/core/rmem_max.\n");
 536                         }
 537                 }
 538
 539                 if (timestamp || log || logfrmt) {
 540
 541                         const int timestamp_on = 1;
 542
 543                         if (setsockopt(s[i], SOL_SOCKET, SO_TIMESTAMP,
 544                                        &timestamp_on, sizeof(timestamp_on)) < 0) {
 545                                 perror("setsockopt SO_TIMESTAMP");
 546                                 return 1;
 547                         }
 548                 }
 549
 550                 if (dropmonitor) {
 551
 552                         const int dropmonitor_on = 1;
 553
 554                         if (setsockopt(s[i], SOL_SOCKET, SO_RXQ_OVFL,
 555                                        &dropmonitor_on, sizeof(dropmonitor_on)) < 0) {
 556                                 perror("setsockopt SO_RXQ_OVFL not supported by your Linux Kernel");
 557                                 return 1;
 558                         }
 559                 }
 560
 561                 if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 562                         perror("bind");
 563                         return 1;
 564                 }
 565         }
 566
 567         if (log) {
 568                 time_t currtime;
 569                 struct tm now;
 570                 char fname[sizeof("candump-2006-11-20_202026.log")+1];
 571
 572                 if (time(&currtime) == (time_t)-1) {
 573                         perror("time");
 574                         return 1;
 575                 }
 576
 577                 localtime_r(&currtime, &now);
 578
 579                 sprintf(fname, "candump-%04d-%02d-%02d_%02d%02d%02d.log",
 580                         now.tm_year + 1900,
 581                         now.tm_mon + 1,
 582                         now.tm_mday,
 583                         now.tm_hour,
 584                         now.tm_min,
 585                         now.tm_sec);
 586
 587                 if (silent != SILENT_ON)
 588                         printf("\nWarning: console output active while logging!");
 589
 590                 fprintf(stderr, "\nEnabling Logfile '%s'\n\n", fname);
 591
 592                 logfile = fopen(fname, "w");
 593                 if (!logfile) {
 594                         perror("logfile");
 595                         return 1;
 596                 }
 597         }
 598
 599         /* these settings are static and can be held out of the hot path */
 600         iov.iov_base = &frame;
 601         msg.msg_name = &addr;
 602         msg.msg_iov = &iov;
 603         msg.msg_iovlen = 1;
 604         msg.msg_control = &ctrlmsg;
 605
 606         while (running) {
 607
 608                 FD_ZERO(&rdfs);
 609                 for (i=0; i<currmax; i++)
 610                         FD_SET(s[i], &rdfs);
 611
 612                 if (timeout_current)
 613                         *timeout_current = timeout_config;
 614
 615                 if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, timeout_current)) <= 0) {
 616                         //perror("select");
 617                         running = 0;
 618                         continue;
 619                 }
 620
 621                 for (i=0; i<currmax; i++) {  /* check all CAN RAW sockets */
 622
 623                         if (FD_ISSET(s[i], &rdfs)) {
 624
 625                                 int idx;
 626
 627                                 /* these settings may be modified by recvmsg() */
 628                                 iov.iov_len = sizeof(frame);
 629                                 msg.msg_namelen = sizeof(addr);
 630                                 msg.msg_controllen = sizeof(ctrlmsg);
 631                                 msg.msg_flags = 0;
 632
 633                                 nbytes = recvmsg(s[i], &msg, 0);
 634                                 if (nbytes < 0) {
 635                                         perror("read");
 636                                         return 1;
 637                                 }
 638
 639                                 if ((size_t)nbytes == CAN_MTU)
 640                                         maxdlen = CAN_MAX_DLEN;
 641                                 else if ((size_t)nbytes == CANFD_MTU)
 642                                         maxdlen = CANFD_MAX_DLEN;
 643                                 else {
 644                                         fprintf(stderr, "read: incomplete CAN frame\n");
 645                                         return 1;
 646                                 }
 647
 648                                 if (count && (--count == 0))
 649                                         running = 0;
 650
 651                                 if (bridge) {
 652                                         if (bridge_delay)
 653                                                 usleep(bridge_delay);
 654
 655                                         nbytes = write(bridge, &frame, nbytes);
 656                                         if (nbytes < 0) {
 657                                                 perror("bridge write");
 658                                                 return 1;
 659                                         } else if ((size_t)nbytes != CAN_MTU && (size_t)nbytes != CANFD_MTU) {
 660                                                 fprintf(stderr,"bridge write: incomplete CAN frame\n");
 661                                                 return 1;
 662                                         }
 663                                 }
 664
 665                                 for (cmsg = CMSG_FIRSTHDR(&msg);
 666                                      cmsg && (cmsg->cmsg_level == SOL_SOCKET);
 667                                      cmsg = CMSG_NXTHDR(&msg,cmsg)) {
 668                                         if (cmsg->cmsg_type == SO_TIMESTAMP)
 669                                                 tv = *(struct timeval *)CMSG_DATA(cmsg);
 670                                         else if (cmsg->cmsg_type == SO_RXQ_OVFL)
 671                                                 dropcnt[i] = *(__u32 *)CMSG_DATA(cmsg);
 672                                 }
 673
 674                                 /* check for (unlikely) dropped frames on this specific socket */
 675                                 if (dropcnt[i] != last_dropcnt[i]) {
 676
 677                                         __u32 frames;
 678
 679                                         if (dropcnt[i] > last_dropcnt[i])
 680                                                 frames = dropcnt[i] - last_dropcnt[i];
 681                                         else
 682                                                 frames = UINT32_MAX - last_dropcnt[i] + dropcnt[i];
 683
 684                                         if (silent != SILENT_ON)
 685                                                 printf("DROPCOUNT: dropped %d CAN frame%s on '%s' socket (total drops %d)\n",
 686                                                        frames, (frames > 1)?"s":"", cmdlinename[i], dropcnt[i]);
 687
 688                                         if (log)
 689                                                 fprintf(logfile, "DROPCOUNT: dropped %d CAN frame%s on '%s' socket (total drops %d)\n",
 690                                                         frames, (frames > 1)?"s":"", cmdlinename[i], dropcnt[i]);
 691
 692                                         last_dropcnt[i] = dropcnt[i];
 693                                 }
 694
 695                                 idx = idx2dindex(addr.can_ifindex, s[i]);
 696
 697                                 /* once we detected a EFF frame indent SFF frames accordingly */
 698                                 if (frame.can_id & CAN_EFF_FLAG)
 699                                         view |= CANLIB_VIEW_INDENT_SFF;
 700
 701                                 if (log) {
 702                                         char buf[CL_CFSZ]; /* max length */
 703
 704                                         /* log CAN frame with absolute timestamp & device */
 705                                         sprint_canframe(buf, &frame, 0, maxdlen);
 706                                         fprintf(logfile, "(%010ld.%06ld) %*s %s\n",
 707                                                 tv.tv_sec, tv.tv_usec,
 708                                                 max_devname_len, devname[idx], buf);
 709                                 }
 710
 711                                 if (logfrmt) {
 712                                         char buf[CL_CFSZ]; /* max length */
 713
 714                                         /* print CAN frame in log file style to stdout */
 715                                         sprint_canframe(buf, &frame, 0, maxdlen);
 716                                         printf("(%010ld.%06ld) %*s %s\n",
 717                                                tv.tv_sec, tv.tv_usec,
 718                                                max_devname_len, devname[idx], buf);
 719                                         goto out_fflush; /* no other output to stdout */
 720                                 }
 721
 722                                 if (silent != SILENT_OFF){
 723                                         if (silent == SILENT_ANI) {
 724                                                 printf("%c\b", anichar[silentani%=MAXANI]);
 725                                                 silentani++;
 726                                         }
 727                                         goto out_fflush; /* no other output to stdout */
 728                                 }
 729
 730                                 printf(" %s", (color>2)?col_on[idx%MAXCOL]:"");
 731
 732                                 switch (timestamp) {
 733
 734                                 case 'a': /* absolute with timestamp */
 735                                         printf("(%010ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 736                                         break;
 737
 738                                 case 'A': /* absolute with date */
 739                                 {
 740                                         struct tm tm;
 741                                         char timestring[25];
 742
 743                                         tm = *localtime(&tv.tv_sec);
 744                                         strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
 745                                         printf("(%s.%06ld) ", timestring, tv.tv_usec);
 746                                 }
 747                                 break;
 748
 749                                 case 'd': /* delta */
 750                                 case 'z': /* starting with zero */
 751                                 {
 752                                         struct timeval diff;
 753
 754                                         if (last_tv.tv_sec == 0)   /* first init */
 755                                                 last_tv = tv;
 756                                         diff.tv_sec  = tv.tv_sec  - last_tv.tv_sec;
 757                                         diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
 758                                         if (diff.tv_usec < 0)
 759                                                 diff.tv_sec--, diff.tv_usec += 1000000;
 760                                         if (diff.tv_sec < 0)
 761                                                 diff.tv_sec = diff.tv_usec = 0;
 762                                         printf("(%03ld.%06ld) ", diff.tv_sec, diff.tv_usec);
 763
 764                                         if (timestamp == 'd')
 765                                                 last_tv = tv; /* update for delta calculation */
 766                                 }
 767                                 break;
 768
 769                                 default: /* no timestamp output */
 770                                         break;
 771                                 }
 772
 773                                 printf(" %s", (color && (color<3))?col_on[idx%MAXCOL]:"");
 774                                 printf("%*s", max_devname_len, devname[idx]);
 775
 776                                 if (extra_msg_info) {
 777
 778                                         if (msg.msg_flags & MSG_DONTROUTE)
 779                                                 printf ("  TX %s", extra_m_info[frame.flags & 3]);
 780                                         else
 781                                                 printf ("  RX %s", extra_m_info[frame.flags & 3]);
 782                                 }
 783
 784                                 printf("%s  ", (color==1)?col_off:"");
 785
 786                                 fprint_long_canframe(stdout, &frame, NULL, view, maxdlen);
 787
 788                                 printf("%s", (color>1)?col_off:"");
 789                                 printf("\n");
 790                         }
 791
 792                 out_fflush:
 793                         fflush(stdout);
 794                 }
 795         }
 796
 797         for (i=0; i<currmax; i++)
 798                 close(s[i]);
 799
 800         if (bridge)
 801                 close(bridge);
 802
 803         if (log)
 804                 fclose(logfile);
 805
 806         return 0;
 807 }