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 #include <linux/net_tstamp.h>
  65
  66 #include "terminal.h"
  67 #include "lib.h"
  68
  69 #ifndef SIOCSHWTSTAMP
  70 # define SIOCSHWTSTAMP 0x89b0
  71 #endif
  72
  73 #define MAXSOCK 16    /* max. number of CAN interfaces given on the cmdline */
  74 #define MAXIFNAMES 30 /* size of receive name index to omit ioctls */
  75 #define MAXCOL 6      /* number of different colors for colorized output */
  76 #define ANYDEV "any"  /* name of interface to receive from any CAN interface */
  77 #define ANL "\r\n"    /* newline in ASC mode */
  78
  79 #define SILENT_INI 42 /* detect user setting on commandline */
  80 #define SILENT_OFF 0  /* no silent mode */
  81 #define SILENT_ANI 1  /* silent mode with animation */
  82 #define SILENT_ON  2  /* silent mode (completely silent) */
  83
  84 #define BOLD    ATTBOLD
  85 #define RED     ATTBOLD FGRED
  86 #define GREEN   ATTBOLD FGGREEN
  87 #define YELLOW  ATTBOLD FGYELLOW
  88 #define BLUE    ATTBOLD FGBLUE
  89 #define MAGENTA ATTBOLD FGMAGENTA
  90 #define CYAN    ATTBOLD FGCYAN
  91
  92 const char col_on [MAXCOL][19] = {BLUE, RED, GREEN, BOLD, MAGENTA, CYAN};
  93 const char col_off [] = ATTRESET;
  94
  95 static char *cmdlinename[MAXSOCK];
  96 static __u32 dropcnt[MAXSOCK];
  97 static __u32 last_dropcnt[MAXSOCK];
  98 static char devname[MAXIFNAMES][IFNAMSIZ+1];
  99 static int  dindex[MAXIFNAMES];
 100 static int  max_devname_len; /* to prevent frazzled device name output */
 101 const int canfd_on = 1;
 102
 103 #define MAXANI 4
 104 const char anichar[MAXANI] = {'|', '/', '-', '\\'};
 105 const char extra_m_info[4][4] = {"- -", "B -", "- E", "B E"};
 106
 107 extern int optind, opterr, optopt;
 108
 109 static volatile int running = 1;
 110
 111 void print_usage(char *prg)
 112 {
 113         fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
 114         fprintf(stderr, "  (use CTRL-C to terminate %s)\n\n", prg);
 115         fprintf(stderr, "Options: -t <type>   (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
 116         fprintf(stderr, "         -H          (use hardware timestamping)\n");
 117         fprintf(stderr, "         -c          (increment color mode level)\n");
 118         fprintf(stderr, "         -i          (binary output - may exceed 80 chars/line)\n");
 119         fprintf(stderr, "         -a          (enable additional ASCII output)\n");
 120         fprintf(stderr, "         -S          (swap byte order in printed CAN data[] - marked with '%c' )\n", SWAP_DELIMITER);
 121         fprintf(stderr, "         -s <level>  (silent mode - %d: off (default) %d: animation %d: silent)\n", SILENT_OFF, SILENT_ANI, SILENT_ON);
 122         fprintf(stderr, "         -b <can>    (bridge mode - send received frames to <can>)\n");
 123         fprintf(stderr, "         -B <can>    (bridge mode - like '-b' with disabled loopback)\n");
 124         fprintf(stderr, "         -u <usecs>  (delay bridge forwarding by <usecs> microseconds)\n");
 125         fprintf(stderr, "         -l          (log CAN-frames into file. Sets '-s %d' by default)\n", SILENT_ON);
 126         fprintf(stderr, "         -L          (use log file format on stdout)\n");
 127         fprintf(stderr, "         -n <count>  (terminate after receiption of <count> CAN frames)\n");
 128         fprintf(stderr, "         -r <size>   (set socket receive buffer to <size>)\n");
 129         fprintf(stderr, "         -d          (monitor dropped CAN frames)\n");
 130         fprintf(stderr, "         -e          (dump CAN error frames in human-readable format)\n");
 131         fprintf(stderr, "         -x          (print extra message infos, rx/tx brs esi)\n");
 132         fprintf(stderr, "         -T <msecs>  (terminate after <msecs> without any reception)\n");
 133         fprintf(stderr, "\n");
 134         fprintf(stderr, "Up to %d CAN interfaces with optional filter sets can be specified\n", MAXSOCK);
 135         fprintf(stderr, "on the commandline in the form: <ifname>[,filter]*\n");
 136         fprintf(stderr, "\nComma separated filters can be specified for each given CAN interface:\n");
 137         fprintf(stderr, " <can_id>:<can_mask> (matches when <received_can_id> & mask == can_id & mask)\n");
 138         fprintf(stderr, " <can_id>~<can_mask> (matches when <received_can_id> & mask != can_id & mask)\n");
 139         fprintf(stderr, " #<error_mask>       (set error frame filter, see include/linux/can/error.h)\n");
 140         fprintf(stderr, " [j|J]               (join the given CAN filters - logical AND semantic)\n");
 141         fprintf(stderr, "\nCAN IDs, masks and data content are given and expected in hexadecimal values.\n");
 142         fprintf(stderr, "When can_id and can_mask are both 8 digits, they are assumed to be 29 bit EFF.\n");
 143         fprintf(stderr, "Without any given filter all data frames are received ('0:0' default filter).\n");
 144         fprintf(stderr, "\nUse interface name '%s' to receive from all CAN interfaces.\n", ANYDEV);
 145         fprintf(stderr, "\nExamples:\n");
 146         fprintf(stderr, "%s -c -c -ta can0,123:7FF,400:700,#000000FF can2,400~7F0 can3 can8\n", prg);
 147         fprintf(stderr, "%s -l any,0~0,#FFFFFFFF    (log only error frames but no(!) data frames)\n", prg);
 148         fprintf(stderr, "%s -l any,0:0,#FFFFFFFF    (log error frames and also all data frames)\n", prg);
 149         fprintf(stderr, "%s vcan2,92345678:DFFFFFFF (match only for extended CAN ID 12345678)\n", prg);
 150         fprintf(stderr, "%s vcan2,123:7FF (matches CAN ID 123 - including EFF and RTR frames)\n", prg);
 151         fprintf(stderr, "%s vcan2,123:C00007FF (matches CAN ID 123 - only SFF and non-RTR frames)\n", prg);
 152         fprintf(stderr, "\n");
 153 }
 154
 155 void sigterm(int signo)
 156 {
 157         running = 0;
 158 }
 159
 160 int idx2dindex(int ifidx, int socket) {
 161
 162         int i;
 163         struct ifreq ifr;
 164
 165         for (i=0; i < MAXIFNAMES; i++) {
 166                 if (dindex[i] == ifidx)
 167                         return i;
 168         }
 169
 170         /* create new interface index cache entry */
 171
 172         /* remove index cache zombies first */
 173         for (i=0; i < MAXIFNAMES; i++) {
 174                 if (dindex[i]) {
 175                         ifr.ifr_ifindex = dindex[i];
 176                         if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
 177                                 dindex[i] = 0;
 178                 }
 179         }
 180
 181         for (i=0; i < MAXIFNAMES; i++)
 182                 if (!dindex[i]) /* free entry */
 183                         break;
 184
 185         if (i == MAXIFNAMES) {
 186                 fprintf(stderr, "Interface index cache only supports %d interfaces.\n",
 187                        MAXIFNAMES);
 188                 exit(1);
 189         }
 190
 191         dindex[i] = ifidx;
 192
 193         ifr.ifr_ifindex = ifidx;
 194         if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
 195                 perror("SIOCGIFNAME");
 196
 197         if (max_devname_len < strlen(ifr.ifr_name))
 198                 max_devname_len = strlen(ifr.ifr_name);
 199
 200         strcpy(devname[i], ifr.ifr_name);
 201
 202 #ifdef DEBUG
 203         printf("new index %d (%s)\n", i, devname[i]);
 204 #endif
 205
 206         return i;
 207 }
 208
 209 int main(int argc, char **argv)
 210 {
 211         fd_set rdfs;
 212         int s[MAXSOCK];
 213         int bridge = 0;
 214         useconds_t bridge_delay = 0;
 215         unsigned char timestamp = 0;
 216         int hw_timestamp = 0;
 217         unsigned char dropmonitor = 0;
 218         unsigned char extra_msg_info = 0;
 219         unsigned char silent = SILENT_INI;
 220         unsigned char silentani = 0;
 221         unsigned char color = 0;
 222         unsigned char view = 0;
 223         unsigned char log = 0;
 224         unsigned char logfrmt = 0;
 225         int count = 0;
 226         int rcvbuf_size = 0;
 227         int opt, ret;
 228         int currmax, numfilter;
 229         int join_filter;
 230         char *ptr, *nptr;
 231         struct sockaddr_can addr;
 232         char ctrlmsg[CMSG_SPACE(sizeof(struct timeval)) + CMSG_SPACE(sizeof(__u32))];
 233         struct iovec iov;
 234         struct msghdr msg;
 235         struct cmsghdr *cmsg;
 236         struct can_filter *rfilter;
 237         can_err_mask_t err_mask;
 238         struct canfd_frame frame;
 239         int nbytes, i, maxdlen;
 240         struct ifreq ifr;
 241         struct timeval tv, last_tv;
 242         struct timeval timeout, timeout_config = { 0, 0 }, *timeout_current = NULL;
 243         FILE *logfile = NULL;
 244
 245         signal(SIGTERM, sigterm);
 246         signal(SIGHUP, sigterm);
 247         signal(SIGINT, sigterm);
 248
 249         last_tv.tv_sec  = 0;
 250         last_tv.tv_usec = 0;
 251
 252         while ((opt = getopt(argc, argv, "t:ciaSs:b:B:u:ldxLn:r:heT:H?")) != -1) {
 253                 switch (opt) {
 254                 case 't':
 255                         timestamp = optarg[0];
 256                         if ((timestamp != 'a') && (timestamp != 'A') &&
 257                             (timestamp != 'd') && (timestamp != 'z')) {
 258                                 fprintf(stderr, "%s: unknown timestamp mode '%c' - ignored\n",
 259                                        basename(argv[0]), optarg[0]);
 260                                 timestamp = 0;
 261                         }
 262                         break;
 263
 264                 case 'H':
 265                         hw_timestamp = 1;
 266                         break;
 267
 268                 case 'c':
 269                         color++;
 270                         break;
 271
 272                 case 'i':
 273                         view |= CANLIB_VIEW_BINARY;
 274                         break;
 275
 276                 case 'a':
 277                         view |= CANLIB_VIEW_ASCII;
 278                         break;
 279
 280                 case 'S':
 281                         view |= CANLIB_VIEW_SWAP;
 282                         break;
 283
 284                 case 'e':
 285                         view |= CANLIB_VIEW_ERROR;
 286                         break;
 287
 288                 case 's':
 289                         silent = atoi(optarg);
 290                         if (silent > SILENT_ON) {
 291                                 print_usage(basename(argv[0]));
 292                                 exit(1);
 293                         }
 294                         break;
 295
 296                 case 'b':
 297                 case 'B':
 298                         if (strlen(optarg) >= IFNAMSIZ) {
 299                                 fprintf(stderr, "Name of CAN device '%s' is too long!\n\n", optarg);
 300                                 return 1;
 301                         } else {
 302                                 bridge = socket(PF_CAN, SOCK_RAW, CAN_RAW);
 303                                 if (bridge < 0) {
 304                                         perror("bridge socket");
 305                                         return 1;
 306                                 }
 307                                 addr.can_family = AF_CAN;
 308                                 strcpy(ifr.ifr_name, optarg);
 309                                 if (ioctl(bridge, SIOCGIFINDEX, &ifr) < 0)
 310                                         perror("SIOCGIFINDEX");
 311                                 addr.can_ifindex = ifr.ifr_ifindex;
 312
 313                                 if (!addr.can_ifindex) {
 314                                         perror("invalid bridge interface");
 315                                         return 1;
 316                                 }
 317
 318                                 /* disable default receive filter on this write-only RAW socket */
 319                                 setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
 320
 321                                 if (opt == 'B') {
 322                                         const int loopback = 0;
 323
 324                                         setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
 325                                                    &loopback, sizeof(loopback));
 326                                 }
 327
 328                                 if (bind(bridge, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 329                                         perror("bridge bind");
 330                                         return 1;
 331                                 }
 332                         }
 333                         break;
 334
 335                 case 'u':
 336                         bridge_delay = (useconds_t)strtoul(optarg, (char **)NULL, 10);
 337                         break;
 338
 339                 case 'l':
 340                         log = 1;
 341                         break;
 342
 343                 case 'd':
 344                         dropmonitor = 1;
 345                         break;
 346
 347                 case 'x':
 348                         extra_msg_info = 1;
 349                         break;
 350
 351                 case 'L':
 352                         logfrmt = 1;
 353                         break;
 354
 355                 case 'n':
 356                         count = atoi(optarg);
 357                         if (count < 1) {
 358                                 print_usage(basename(argv[0]));
 359                                 exit(1);
 360                         }
 361                         break;
 362
 363                 case 'r':
 364                         rcvbuf_size = atoi(optarg);
 365                         if (rcvbuf_size < 1) {
 366                                 print_usage(basename(argv[0]));
 367                                 exit(1);
 368                         }
 369                         break;
 370
 371                 case 'T':
 372                         errno = 0;
 373                         timeout_config.tv_usec = strtol(optarg, NULL, 0);
 374                         if (errno != 0) {
 375                                 print_usage(basename(argv[0]));
 376                                 exit(1);
 377                         }
 378                         timeout_config.tv_sec = timeout_config.tv_usec / 1000;
 379                         timeout_config.tv_usec = (timeout_config.tv_usec % 1000) * 1000;
 380                         timeout_current = &timeout;
 381                         break;
 382                 default:
 383                         print_usage(basename(argv[0]));
 384                         exit(1);
 385                         break;
 386                 }
 387         }
 388
 389         if (optind == argc) {
 390                 print_usage(basename(argv[0]));
 391                 exit(0);
 392         }
 393
 394         if (logfrmt && view) {
 395                 fprintf(stderr, "Log file format selected: Please disable ASCII/BINARY/SWAP options!\n");
 396                 exit(0);
 397         }
 398
 399         if (silent == SILENT_INI) {
 400                 if (log) {
 401                         fprintf(stderr, "Disabled standard output while logging.\n");
 402                         silent = SILENT_ON; /* disable output on stdout */
 403                 } else
 404                         silent = SILENT_OFF; /* default output */
 405         }
 406
 407         currmax = argc - optind; /* find real number of CAN devices */
 408
 409         if (currmax > MAXSOCK) {
 410                 fprintf(stderr, "More than %d CAN devices given on commandline!\n", MAXSOCK);
 411                 return 1;
 412         }
 413
 414         for (i=0; i < currmax; i++) {
 415
 416                 ptr = argv[optind+i];
 417                 nptr = strchr(ptr, ',');
 418
 419 #ifdef DEBUG
 420                 printf("open %d '%s'.\n", i, ptr);
 421 #endif
 422
 423                 s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW);
 424                 if (s[i] < 0) {
 425                         perror("socket");
 426                         return 1;
 427                 }
 428
 429                 cmdlinename[i] = ptr; /* save pointer to cmdline name of this socket */
 430
 431                 if (nptr)
 432                         nbytes = nptr - ptr;  /* interface name is up the first ',' */
 433                 else
 434                         nbytes = strlen(ptr); /* no ',' found => no filter definitions */
 435
 436                 if (nbytes >= IFNAMSIZ) {
 437                         fprintf(stderr, "name of CAN device '%s' is too long!\n", ptr);
 438                         return 1;
 439                 }
 440
 441                 if (nbytes > max_devname_len)
 442                         max_devname_len = nbytes; /* for nice printing */
 443
 444                 addr.can_family = AF_CAN;
 445
 446                 memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));
 447                 strncpy(ifr.ifr_name, ptr, nbytes);
 448
 449 #ifdef DEBUG
 450                 printf("using interface name '%s'.\n", ifr.ifr_name);
 451 #endif
 452
 453                 if (strcmp(ANYDEV, ifr.ifr_name)) {
 454                         if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
 455                                 perror("SIOCGIFINDEX");
 456                                 exit(1);
 457                         }
 458                         addr.can_ifindex = ifr.ifr_ifindex;
 459                 } else
 460                         addr.can_ifindex = 0; /* any can interface */
 461
 462                 if (nptr) {
 463
 464                         /* found a ',' after the interface name => check for filters */
 465
 466                         /* determine number of filters to alloc the filter space */
 467                         numfilter = 0;
 468                         ptr = nptr;
 469                         while (ptr) {
 470                                 numfilter++;
 471                                 ptr++; /* hop behind the ',' */
 472                                 ptr = strchr(ptr, ','); /* exit condition */
 473                         }
 474
 475                         rfilter = malloc(sizeof(struct can_filter) * numfilter);
 476                         if (!rfilter) {
 477                                 fprintf(stderr, "Failed to create filter space!\n");
 478                                 return 1;
 479                         }
 480
 481                         numfilter = 0;
 482                         err_mask = 0;
 483                         join_filter = 0;
 484
 485                         while (nptr) {
 486
 487                                 ptr = nptr+1; /* hop behind the ',' */
 488                                 nptr = strchr(ptr, ','); /* update exit condition */
 489
 490                                 if (sscanf(ptr, "%x:%x",
 491                                            &rfilter[numfilter].can_id,
 492                                            &rfilter[numfilter].can_mask) == 2) {
 493                                         rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
 494                                         numfilter++;
 495                                 } else if (sscanf(ptr, "%x~%x",
 496                                                   &rfilter[numfilter].can_id,
 497                                                   &rfilter[numfilter].can_mask) == 2) {
 498                                         rfilter[numfilter].can_id |= CAN_INV_FILTER;
 499                                         rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
 500                                         numfilter++;
 501                                 } else if (*ptr == 'j' || *ptr == 'J') {
 502                                         join_filter = 1;
 503                                 } else if (sscanf(ptr, "#%x", &err_mask) != 1) {
 504                                         fprintf(stderr, "Error in filter option parsing: '%s'\n", ptr);
 505                                         return 1;
 506                                 }
 507                         }
 508
 509                         if (err_mask)
 510                                 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
 511                                            &err_mask, sizeof(err_mask));
 512
 513                         if (join_filter && setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_JOIN_FILTERS,
 514                                                       &join_filter, sizeof(join_filter)) < 0) {
 515                                 perror("setsockopt CAN_RAW_JOIN_FILTERS not supported by your Linux Kernel");
 516                                 return 1;
 517                         }
 518
 519                         if (numfilter)
 520                                 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
 521                                            rfilter, numfilter * sizeof(struct can_filter));
 522
 523                         free(rfilter);
 524
 525                 } /* if (nptr) */
 526
 527                 /* try to switch the socket into CAN FD mode */
 528                 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on));
 529
 530                 if (rcvbuf_size) {
 531
 532                         int curr_rcvbuf_size;
 533                         socklen_t curr_rcvbuf_size_len = sizeof(curr_rcvbuf_size);
 534
 535                         /* try SO_RCVBUFFORCE first, if we run with CAP_NET_ADMIN */
 536                         if (setsockopt(s[i], SOL_SOCKET, SO_RCVBUFFORCE,
 537                                        &rcvbuf_size, sizeof(rcvbuf_size)) < 0) {
 538 #ifdef DEBUG
 539                                 printf("SO_RCVBUFFORCE failed so try SO_RCVBUF ...\n");
 540 #endif
 541                                 if (setsockopt(s[i], SOL_SOCKET, SO_RCVBUF,
 542                                                &rcvbuf_size, sizeof(rcvbuf_size)) < 0) {
 543                                         perror("setsockopt SO_RCVBUF");
 544                                         return 1;
 545                                 }
 546
 547                                 if (getsockopt(s[i], SOL_SOCKET, SO_RCVBUF,
 548                                                &curr_rcvbuf_size, &curr_rcvbuf_size_len) < 0) {
 549                                         perror("getsockopt SO_RCVBUF");
 550                                         return 1;
 551                                 }
 552
 553                                 /* Only print a warning the first time we detect the adjustment */
 554                                 /* n.b.: The wanted size is doubled in Linux in net/sore/sock.c */
 555                                 if (!i && curr_rcvbuf_size < rcvbuf_size*2)
 556                                         fprintf(stderr, "The socket receive buffer size was "
 557                                                 "adjusted due to /proc/sys/net/core/rmem_max.\n");
 558                         }
 559                 }
 560
 561                 if (timestamp || log || logfrmt) {
 562                         if (hw_timestamp == 0) {
 563                                 const int timestamp_on = 1;
 564
 565                                 if (setsockopt(s[i], SOL_SOCKET, SO_TIMESTAMP,
 566                                                &timestamp_on, sizeof(timestamp_on)) < 0) {
 567                                         perror("setsockopt SO_TIMESTAMP");
 568                                         return 1;
 569                                 }
 570                         } else {
 571                                 struct ifreq hwtstamp;
 572                                 struct hwtstamp_config hwconfig;
 573
 574                                 memset(&hwtstamp, 0, sizeof(hwtstamp));
 575                                 strncpy(hwtstamp.ifr_name, ifr.ifr_name, sizeof(hwtstamp.ifr_name));
 576                                 hwtstamp.ifr_data = (void *)&hwconfig;
 577                                 memset(&hwconfig, 0, sizeof(hwconfig));
 578                                 hwconfig.tx_type = HWTSTAMP_TX_OFF;
 579                                 hwconfig.rx_filter = HWTSTAMP_FILTER_ALL;
 580
 581                                 if (ioctl(s[i], SIOCSHWTSTAMP, &hwtstamp) < 0) {
 582                                         perror("SIOCSHWTSTAMP");
 583                                         return 1;
 584                                 }
 585
 586                                 const int so_timestamping_flags = SOF_TIMESTAMPING_RAW_HARDWARE;
 587
 588                                 if (setsockopt(s[i], SOL_SOCKET, SO_TIMESTAMPING,
 589                                                &so_timestamping_flags,
 590                                                sizeof(so_timestamping_flags)) < 0)
 591                                         perror("setsockopt SO_TIMESTAMPING");
 592                         }
 593                 }
 594
 595                 if (dropmonitor) {
 596
 597                         const int dropmonitor_on = 1;
 598
 599                         if (setsockopt(s[i], SOL_SOCKET, SO_RXQ_OVFL,
 600                                        &dropmonitor_on, sizeof(dropmonitor_on)) < 0) {
 601                                 perror("setsockopt SO_RXQ_OVFL not supported by your Linux Kernel");
 602                                 return 1;
 603                         }
 604                 }
 605
 606                 if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 607                         perror("bind");
 608                         return 1;
 609                 }
 610         }
 611
 612         if (log) {
 613                 time_t currtime;
 614                 struct tm now;
 615                 char fname[sizeof("candump-2006-11-20_202026.log")+1];
 616
 617                 if (time(&currtime) == (time_t)-1) {
 618                         perror("time");
 619                         return 1;
 620                 }
 621
 622                 localtime_r(&currtime, &now);
 623
 624                 sprintf(fname, "candump-%04d-%02d-%02d_%02d%02d%02d.log",
 625                         now.tm_year + 1900,
 626                         now.tm_mon + 1,
 627                         now.tm_mday,
 628                         now.tm_hour,
 629                         now.tm_min,
 630                         now.tm_sec);
 631
 632                 if (silent != SILENT_ON)
 633                         printf("\nWarning: console output active while logging!");
 634
 635                 fprintf(stderr, "\nEnabling Logfile '%s'\n\n", fname);
 636
 637                 logfile = fopen(fname, "w");
 638                 if (!logfile) {
 639                         perror("logfile");
 640                         return 1;
 641                 }
 642         }
 643
 644         /* these settings are static and can be held out of the hot path */
 645         iov.iov_base = &frame;
 646         msg.msg_name = &addr;
 647         msg.msg_iov = &iov;
 648         msg.msg_iovlen = 1;
 649         msg.msg_control = &ctrlmsg;
 650
 651         while (running) {
 652
 653                 FD_ZERO(&rdfs);
 654                 for (i=0; i<currmax; i++)
 655                         FD_SET(s[i], &rdfs);
 656
 657                 if (timeout_current)
 658                         *timeout_current = timeout_config;
 659
 660                 if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, timeout_current)) <= 0) {
 661                         //perror("select");
 662                         running = 0;
 663                         continue;
 664                 }
 665
 666                 for (i=0; i<currmax; i++) {  /* check all CAN RAW sockets */
 667
 668                         if (FD_ISSET(s[i], &rdfs)) {
 669
 670                                 int idx;
 671
 672                                 /* these settings may be modified by recvmsg() */
 673                                 iov.iov_len = sizeof(frame);
 674                                 msg.msg_namelen = sizeof(addr);
 675                                 msg.msg_controllen = sizeof(ctrlmsg);
 676                                 msg.msg_flags = 0;
 677
 678                                 nbytes = recvmsg(s[i], &msg, 0);
 679                                 if (nbytes < 0) {
 680                                         perror("read");
 681                                         return 1;
 682                                 }
 683
 684                                 if ((size_t)nbytes == CAN_MTU)
 685                                         maxdlen = CAN_MAX_DLEN;
 686                                 else if ((size_t)nbytes == CANFD_MTU)
 687                                         maxdlen = CANFD_MAX_DLEN;
 688                                 else {
 689                                         fprintf(stderr, "read: incomplete CAN frame\n");
 690                                         return 1;
 691                                 }
 692
 693                                 if (count && (--count == 0))
 694                                         running = 0;
 695
 696                                 if (bridge) {
 697                                         if (bridge_delay)
 698                                                 usleep(bridge_delay);
 699
 700                                         nbytes = write(bridge, &frame, nbytes);
 701                                         if (nbytes < 0) {
 702                                                 perror("bridge write");
 703                                                 return 1;
 704                                         } else if ((size_t)nbytes != CAN_MTU && (size_t)nbytes != CANFD_MTU) {
 705                                                 fprintf(stderr,"bridge write: incomplete CAN frame\n");
 706                                                 return 1;
 707                                         }
 708                                 }
 709
 710                                 for (cmsg = CMSG_FIRSTHDR(&msg);
 711                                      cmsg && (cmsg->cmsg_level == SOL_SOCKET);
 712                                      cmsg = CMSG_NXTHDR(&msg,cmsg)) {
 713                                         if (cmsg->cmsg_type == SO_TIMESTAMP)
 714                                                 tv = *(struct timeval *)CMSG_DATA(cmsg);
 715                                         else if (cmsg->cmsg_type == SO_RXQ_OVFL)
 716                                                 dropcnt[i] = *(__u32 *)CMSG_DATA(cmsg);
 717                                         else if (cmsg->cmsg_type == SO_TIMESTAMPING) {
 718                                                 struct timespec *ts = (struct timespec *) CMSG_DATA(cmsg);
 719                                                 tv.tv_sec = ts[2].tv_sec;
 720                                                 tv.tv_usec = ts[2].tv_nsec / 1000;
 721                                         }
 722
 723                                 }
 724
 725                                 /* check for (unlikely) dropped frames on this specific socket */
 726                                 if (dropcnt[i] != last_dropcnt[i]) {
 727
 728                                         __u32 frames = dropcnt[i] - last_dropcnt[i];
 729
 730                                         if (silent != SILENT_ON)
 731                                                 printf("DROPCOUNT: dropped %d CAN frame%s on '%s' socket (total drops %d)\n",
 732                                                        frames, (frames > 1)?"s":"", cmdlinename[i], dropcnt[i]);
 733
 734                                         if (log)
 735                                                 fprintf(logfile, "DROPCOUNT: dropped %d CAN frame%s on '%s' socket (total drops %d)\n",
 736                                                         frames, (frames > 1)?"s":"", cmdlinename[i], dropcnt[i]);
 737
 738                                         last_dropcnt[i] = dropcnt[i];
 739                                 }
 740
 741                                 idx = idx2dindex(addr.can_ifindex, s[i]);
 742
 743                                 /* once we detected a EFF frame indent SFF frames accordingly */
 744                                 if (frame.can_id & CAN_EFF_FLAG)
 745                                         view |= CANLIB_VIEW_INDENT_SFF;
 746
 747                                 if (log) {
 748                                         char buf[CL_CFSZ]; /* max length */
 749
 750                                         /* log CAN frame with absolute timestamp & device */
 751                                         sprint_canframe(buf, &frame, 0, maxdlen);
 752                                         fprintf(logfile, "(%010ld.%06ld) %*s %s\n",
 753                                                 tv.tv_sec, tv.tv_usec,
 754                                                 max_devname_len, devname[idx], buf);
 755                                 }
 756
 757                                 if (logfrmt) {
 758                                         char buf[CL_CFSZ]; /* max length */
 759
 760                                         /* print CAN frame in log file style to stdout */
 761                                         sprint_canframe(buf, &frame, 0, maxdlen);
 762                                         printf("(%010ld.%06ld) %*s %s\n",
 763                                                tv.tv_sec, tv.tv_usec,
 764                                                max_devname_len, devname[idx], buf);
 765                                         goto out_fflush; /* no other output to stdout */
 766                                 }
 767
 768                                 if (silent != SILENT_OFF){
 769                                         if (silent == SILENT_ANI) {
 770                                                 printf("%c\b", anichar[silentani%=MAXANI]);
 771                                                 silentani++;
 772                                         }
 773                                         goto out_fflush; /* no other output to stdout */
 774                                 }
 775
 776                                 printf(" %s", (color>2)?col_on[idx%MAXCOL]:"");
 777
 778                                 switch (timestamp) {
 779
 780                                 case 'a': /* absolute with timestamp */
 781                                         printf("(%010ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 782                                         break;
 783
 784                                 case 'A': /* absolute with date */
 785                                 {
 786                                         struct tm tm;
 787                                         char timestring[25];
 788
 789                                         tm = *localtime(&tv.tv_sec);
 790                                         strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
 791                                         printf("(%s.%06ld) ", timestring, tv.tv_usec);
 792                                 }
 793                                 break;
 794
 795                                 case 'd': /* delta */
 796                                 case 'z': /* starting with zero */
 797                                 {
 798                                         struct timeval diff;
 799
 800                                         if (last_tv.tv_sec == 0)   /* first init */
 801                                                 last_tv = tv;
 802                                         diff.tv_sec  = tv.tv_sec  - last_tv.tv_sec;
 803                                         diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
 804                                         if (diff.tv_usec < 0)
 805                                                 diff.tv_sec--, diff.tv_usec += 1000000;
 806                                         if (diff.tv_sec < 0)
 807                                                 diff.tv_sec = diff.tv_usec = 0;
 808                                         printf("(%03ld.%06ld) ", diff.tv_sec, diff.tv_usec);
 809
 810                                         if (timestamp == 'd')
 811                                                 last_tv = tv; /* update for delta calculation */
 812                                 }
 813                                 break;
 814
 815                                 default: /* no timestamp output */
 816                                         break;
 817                                 }
 818
 819                                 printf(" %s", (color && (color<3))?col_on[idx%MAXCOL]:"");
 820                                 printf("%*s", max_devname_len, devname[idx]);
 821
 822                                 if (extra_msg_info) {
 823
 824                                         if (msg.msg_flags & MSG_DONTROUTE)
 825                                                 printf ("  TX %s", extra_m_info[frame.flags & 3]);
 826                                         else
 827                                                 printf ("  RX %s", extra_m_info[frame.flags & 3]);
 828                                 }
 829
 830                                 printf("%s  ", (color==1)?col_off:"");
 831
 832                                 fprint_long_canframe(stdout, &frame, NULL, view, maxdlen);
 833
 834                                 printf("%s", (color>1)?col_off:"");
 835                                 printf("\n");
 836                         }
 837
 838                 out_fflush:
 839                         fflush(stdout);
 840                 }
 841         }
 842
 843         for (i=0; i<currmax; i++)
 844                 close(s[i]);
 845
 846         if (bridge)
 847                 close(bridge);
 848
 849         if (log)
 850                 fclose(logfile);
 851
 852         return 0;
 853 }