candump.c

   1 /*
   2  *  $Id$
   3  */
   4
   5 /*
   6  * candump.c
   7  *
   8  * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
   9  * All rights reserved.
  10  *
  11  * Redistribution and use in source and binary forms, with or without
  12  * modification, are permitted provided that the following conditions
  13  * are met:
  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.
  22  *
  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.
  27  *
  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.
  30  *
  31  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  32  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  33  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
  34  * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
  35  * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
  36  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
  37  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
  38  * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
  39  * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
  40  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  41  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
  42  * DAMAGE.
  43  *
  44  * Send feedback to <socketcan-users@lists.berlios.de>
  45  *
  46  */
  47
  48 #include <stdio.h>
  49 #include <stdlib.h>
  50 #include <unistd.h>
  51 #include <string.h>
  52 #include <signal.h>
  53 #include <ctype.h>
  54 #include <libgen.h>
  55 #include <time.h>
  56
  57 #include <sys/time.h>
  58 #include <sys/types.h>
  59 #include <sys/socket.h>
  60 #include <sys/ioctl.h>
  61 #include <sys/uio.h>
  62 #include <net/if.h>
  63
  64 #include <linux/can.h>
  65 #include <linux/can/raw.h>
  66
  67 #include "terminal.h"
  68 #include "lib.h"
  69
  70 #define MAXSOCK 16    /* max. number of CAN interfaces given on the cmdline */
  71 #define MAXFILTER 30  /* max. number of possible filters for each socket */
  72 #define MAXIFNAMES 30 /* size of receive name index to omit ioctls */
  73 #define MAXCOL 6      /* number of different colors for colorized output */
  74 #define ANYDEV "any"  /* name of interface to receive from any CAN interface */
  75 #define ANL "\r\n"    /* newline in ASC mode */
  76
  77 #define BOLD    ATTBOLD
  78 #define RED     ATTBOLD FGRED
  79 #define GREEN   ATTBOLD FGGREEN
  80 #define YELLOW  ATTBOLD FGYELLOW
  81 #define BLUE    ATTBOLD FGBLUE
  82 #define MAGENTA ATTBOLD FGMAGENTA
  83 #define CYAN    ATTBOLD FGCYAN
  84
  85 const char col_on [MAXCOL][19] = {BLUE, RED, GREEN, BOLD, MAGENTA, CYAN};
  86 const char col_off [] = ATTRESET;
  87
  88 static char devname[MAXIFNAMES][IFNAMSIZ+1];
  89 static int  dindex[MAXIFNAMES];
  90 static int  max_devname_len; /* to prevent frazzled device name output */
  91
  92 #define MAXANI 4
  93 const char anichar[MAXANI] = {'|', '/', '-', '\\'};
  94
  95 extern int optind, opterr, optopt;
  96
  97 static volatile int running = 1;
  98
  99 void print_usage(char *prg)
 100 {
 101         fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
 102         fprintf(stderr, "  (use CTRL-C to terminate %s)\n\n", prg);
 103         fprintf(stderr, "Options: -t <type>   (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
 104         fprintf(stderr, "         -c          (increment color mode level)\n");
 105         fprintf(stderr, "         -i          (binary output - may exceed 80 chars/line)\n");
 106         fprintf(stderr, "         -a          (enable additional ASCII output)\n");
 107         fprintf(stderr, "         -s <level>  (silent mode - 1: animation 2: completely silent)\n");
 108         fprintf(stderr, "         -b <can>    (bridge mode - send received frames to <can>)\n");
 109         fprintf(stderr, "         -B <can>    (bridge mode - like '-b' with disabled loopback)\n");
 110         fprintf(stderr, "         -l          (log CAN-frames into file)\n");
 111         fprintf(stderr, "         -L          (use log file format on stdout)\n");
 112         fprintf(stderr, "\n");
 113         fprintf(stderr, "Up to %d CAN interfaces with optional filter sets can be specified\n", MAXSOCK);
 114         fprintf(stderr, "on the commandline in the form: <ifname>[,filter]*\n");
 115         fprintf(stderr, "\nUp to %d comma separated filters can be specified for each given CAN interface:\n", MAXFILTER);
 116         fprintf(stderr, " <can_id>:<can_mask> (matches when <received_can_id> & mask == can_id & mask)\n");
 117         fprintf(stderr, " <can_id>~<can_mask> (matches when <received_can_id> & mask != can_id & mask)\n");
 118         fprintf(stderr, " #<error_mask>       (set error frame filter, see include/linux/can/error.h)\n");
 119         fprintf(stderr, "\nCAN IDs, masks and data content are given and expected in hexadecimal values.\n");
 120         fprintf(stderr, "When can_id and can_mask are both 8 digits, they are assumed to be 29 bit EFF.\n");
 121         fprintf(stderr, "Without any given filter all data frames are received ('0:0' default filter).\n");
 122         fprintf(stderr, "\nUse interface name '%s' to receive from all CAN interfaces.\n", ANYDEV);
 123         fprintf(stderr, "\nExamples:\n");
 124         fprintf(stderr, "%s -c -c -ta can0,123:7FF,400:700,#000000FF can2,400~7F0 can3 can8\n", prg);
 125         fprintf(stderr, "%s -l any,0~0,#FFFFFFFF    (log only error frames but no(!) data frames)\n", prg);
 126         fprintf(stderr, "%s -l any,0:0,#FFFFFFFF    (log error frames and also all data frames)\n", prg);
 127         fprintf(stderr, "%s vcan2,92345678:9FFFFFFF (match only for extended CAN ID 12345678)\n", prg);
 128         fprintf(stderr, "%s vcan2,12345678:1FFFFFFF (analog to above due to 8 digit value length)\n", prg);
 129         fprintf(stderr, "\n");
 130 }
 131
 132 void sigterm(int signo)
 133 {
 134         running = 0;
 135 }
 136
 137 int idx2dindex(int ifidx, int socket) {
 138
 139         int i;
 140         struct ifreq ifr;
 141
 142         for (i=0; i < MAXIFNAMES; i++) {
 143                 if (dindex[i] == ifidx)
 144                         return i;
 145         }
 146
 147         /* create new interface index cache entry */
 148
 149         /* remove index cache zombies first */
 150         for (i=0; i < MAXIFNAMES; i++) {
 151                 if (dindex[i]) {
 152                         ifr.ifr_ifindex = dindex[i];
 153                         if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
 154                                 dindex[i] = 0;
 155                 }
 156         }
 157
 158         for (i=0; i < MAXIFNAMES; i++)
 159                 if (!dindex[i]) /* free entry */
 160                         break;
 161
 162         if (i == MAXIFNAMES) {
 163                 printf("Interface index cache only supports %d interfaces.\n",
 164                        MAXIFNAMES);
 165                 exit(1);
 166         }
 167
 168         dindex[i] = ifidx;
 169
 170         ifr.ifr_ifindex = ifidx;
 171         if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
 172                 perror("SIOCGIFNAME");
 173
 174         if (max_devname_len < strlen(ifr.ifr_name))
 175                 max_devname_len = strlen(ifr.ifr_name);
 176
 177         strcpy(devname[i], ifr.ifr_name);
 178
 179 #ifdef DEBUG
 180         printf("new index %d (%s)\n", i, devname[i]);
 181 #endif
 182
 183         return i;
 184 }
 185
 186 canid_t checkeff(char *ptr, char *nptr)
 187 {
 188         int len;
 189
 190         if (nptr)
 191                 len = nptr - ptr;
 192         else
 193                 len = strlen(ptr);
 194
 195         if (len == 17 && (ptr[8] == ':' || ptr[8] == '~'))
 196                 return CAN_EFF_FLAG;
 197         else
 198                 return 0;
 199 }
 200
 201 int main(int argc, char **argv)
 202 {
 203         fd_set rdfs;
 204         int s[MAXSOCK];
 205         int bridge = 0;
 206         unsigned char timestamp = 0;
 207         unsigned char silent = 0;
 208         unsigned char silentani = 0;
 209         unsigned char color = 0;
 210         unsigned char view = 0;
 211         unsigned char log = 0;
 212         unsigned char logfrmt = 0;
 213         int opt, ret;
 214         int currmax, numfilter;
 215         char *ptr, *nptr;
 216         canid_t eff;
 217         struct sockaddr_can addr;
 218         struct can_filter rfilter[MAXFILTER];
 219         can_err_mask_t err_mask;
 220         struct can_frame frame;
 221         int nbytes, i;
 222         struct ifreq ifr;
 223         struct timeval tv, last_tv;
 224         FILE *logfile = NULL;
 225
 226         signal(SIGTERM, sigterm);
 227         signal(SIGHUP, sigterm);
 228         signal(SIGINT, sigterm);
 229
 230         last_tv.tv_sec  = 0;
 231         last_tv.tv_usec = 0;
 232
 233         while ((opt = getopt(argc, argv, "t:cias:b:B:lLh?")) != -1) {
 234                 switch (opt) {
 235                 case 't':
 236                         timestamp = optarg[0];
 237                         if ((timestamp != 'a') && (timestamp != 'A') &&
 238                             (timestamp != 'd') && (timestamp != 'z')) {
 239                                 printf("%s: unknown timestamp mode '%c' - ignored\n",
 240                                        basename(argv[0]), optarg[0]);
 241                                 timestamp = 0;
 242                         }
 243                         break;
 244
 245                 case 'c':
 246                         color++;
 247                         break;
 248
 249                 case 'i':
 250                         view |= CANLIB_VIEW_BINARY;
 251                         break;
 252
 253                 case 'a':
 254                         view |= CANLIB_VIEW_ASCII;
 255                         break;
 256
 257                 case 's':
 258                         silent = atoi(optarg);
 259                         break;
 260
 261                 case 'b':
 262                 case 'B':
 263                         if (strlen(optarg) >= IFNAMSIZ) {
 264                                 printf("Name of CAN device '%s' is too long!\n\n", optarg);
 265                                 return 1;
 266                         } else {
 267                                 bridge = socket(PF_CAN, SOCK_RAW, CAN_RAW);
 268                                 if (bridge < 0) {
 269                                         perror("bridge socket");
 270                                         return 1;
 271                                 }
 272                                 addr.can_family = AF_CAN;
 273                                 strcpy(ifr.ifr_name, optarg);
 274                                 if (ioctl(bridge, SIOCGIFINDEX, &ifr) < 0)
 275                                         perror("SIOCGIFINDEX");
 276                                 addr.can_ifindex = ifr.ifr_ifindex;
 277
 278                                 if (!addr.can_ifindex) {
 279                                         perror("invalid bridge interface");
 280                                         return 1;
 281                                 }
 282
 283                                 if (opt == 'B') {
 284                                         int loopback = 0;
 285
 286                                         setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
 287                                                    &loopback, sizeof(loopback));
 288                                 }
 289
 290                                 if (bind(bridge, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 291                                         perror("bridge bind");
 292                                         return 1;
 293                                 }
 294                         }
 295                         break;
 296
 297                 case 'l':
 298                         log = 1;
 299                         break;
 300
 301                 case 'L':
 302                         logfrmt = 1;
 303                         break;
 304
 305                 default:
 306                         print_usage(basename(argv[0]));
 307                         exit(1);
 308                         break;
 309                 }
 310         }
 311
 312         if (optind == argc) {
 313                 print_usage(basename(argv[0]));
 314                 exit(0);
 315         }
 316
 317         currmax = argc - optind; /* find real number of CAN devices */
 318
 319         if (currmax > MAXSOCK) {
 320                 printf("More than %d CAN devices given on commandline!\n", MAXSOCK);
 321                 return 1;
 322         }
 323
 324         for (i=0; i < currmax; i++) {
 325
 326                 ptr = argv[optind+i];
 327                 nptr = strchr(ptr, ',');
 328
 329 #ifdef DEBUG
 330                 printf("open %d '%s'.\n", i, ptr);
 331 #endif
 332
 333                 s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW);
 334                 if (s[i] < 0) {
 335                         perror("socket");
 336                         return 1;
 337                 }
 338
 339                 if (nptr)
 340                         nbytes = nptr - ptr;  /* interface name is up the first ',' */
 341                 else
 342                         nbytes = strlen(ptr); /* no ',' found => no filter definitions */
 343
 344                 if (nbytes >= IFNAMSIZ) {
 345                         printf("name of CAN device '%s' is too long!\n", ptr);
 346                         return 1;
 347                 }
 348
 349                 if (nbytes > max_devname_len)
 350                         max_devname_len = nbytes; /* for nice printing */
 351
 352                 addr.can_family = AF_CAN;
 353
 354                 memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));
 355                 strncpy(ifr.ifr_name, ptr, nbytes);
 356
 357 #ifdef DEBUG
 358                 printf("using interface name '%s'.\n", ifr.ifr_name);
 359 #endif
 360
 361                 if (strcmp(ANYDEV, ifr.ifr_name)) {
 362                         if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
 363                                 perror("SIOCGIFINDEX");
 364                                 exit(1);
 365                         }
 366                         addr.can_ifindex = ifr.ifr_ifindex;
 367                 } else
 368                         addr.can_ifindex = 0; /* any can interface */
 369
 370                 if (nptr) {
 371
 372                         /* found a ',' after the interface name => check for filters */
 373
 374                         numfilter = 0;
 375                         err_mask = 0;
 376
 377                         while (nptr) {
 378
 379                                 ptr = nptr+1; /* hop behind the ',' */
 380                                 nptr = strchr(ptr, ','); /* update exit condition */
 381
 382                                 if (sscanf(ptr, "%lx:%lx",
 383                                            (long unsigned int *)
 384                                            &rfilter[numfilter].can_id,
 385                                            (long unsigned int *)
 386                                            &rfilter[numfilter].can_mask) == 2) {
 387                                         eff = checkeff(ptr, nptr);
 388                                         rfilter[numfilter].can_id |= eff;
 389                                         rfilter[numfilter].can_mask |= eff;
 390                                         rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
 391                                         numfilter++;
 392                                 } else if (sscanf(ptr, "%lx~%lx",
 393                                                   (long unsigned int *)
 394                                                   &rfilter[numfilter].can_id,
 395                                                   (long unsigned int *)
 396                                                   &rfilter[numfilter].can_mask) == 2) {
 397                                         rfilter[numfilter].can_id |= CAN_INV_FILTER;
 398                                         eff = checkeff(ptr, nptr);
 399                                         rfilter[numfilter].can_id |= eff;
 400                                         rfilter[numfilter].can_mask |= eff;
 401                                         rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
 402                                         numfilter++;
 403                                 } else if (sscanf(ptr, "#%lx",
 404                                                   (long unsigned int *)&err_mask) != 1) {
 405                                         printf("Error in filter option parsing: '%s'\n", ptr);
 406                                         exit(1);
 407                                 }
 408
 409                                 if (numfilter > MAXFILTER) {
 410                                         printf("Too many filters specified for '%s'.\n",
 411                                                ifr.ifr_name);
 412                                         exit(1);
 413                                 }
 414                         }
 415
 416                         if (err_mask)
 417                                 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
 418                                            &err_mask, sizeof(err_mask));
 419
 420                         if (numfilter)
 421                                 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
 422                                            &rfilter, numfilter * sizeof(struct can_filter));
 423                 } /* if (nptr) */
 424
 425                 if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 426                         perror("bind");
 427                         return 1;
 428                 }
 429         }
 430
 431         if (log) {
 432                 time_t currtime;
 433                 struct tm now;
 434                 char fname[sizeof("candump-2006-11-20_202026.log")+1];
 435
 436                 if (time(&currtime) == (time_t)-1) {
 437                         perror("time");
 438                         return 1;
 439                 }
 440
 441                 localtime_r(&currtime, &now);
 442
 443                 sprintf(fname, "candump-%04d-%02d-%02d_%02d%02d%02d.log",
 444                         now.tm_year + 1900,
 445                         now.tm_mon + 1,
 446                         now.tm_mday,
 447                         now.tm_hour,
 448                         now.tm_min,
 449                         now.tm_sec);
 450
 451                 printf("\nEnabling Logfile '%s'\n\n", fname);
 452
 453                 logfile = fopen(fname, "w");
 454                 if (!logfile) {
 455                         perror("logfile");
 456                         return 1;
 457                 }
 458         }
 459
 460         while (running) {
 461
 462                 FD_ZERO(&rdfs);
 463                 for (i=0; i<currmax; i++)
 464                         FD_SET(s[i], &rdfs);
 465
 466                 if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, NULL)) < 0) {
 467                         //perror("select");
 468                         running = 0;
 469                         continue;
 470                 }
 471
 472                 for (i=0; i<currmax; i++) {  /* check all CAN RAW sockets */
 473
 474                         if (FD_ISSET(s[i], &rdfs)) {
 475
 476                                 socklen_t len = sizeof(addr);
 477                                 int idx;
 478
 479                                 nbytes = recvfrom(s[i], &frame, sizeof(struct can_frame), 0,
 480                                                   (struct sockaddr*)&addr, &len);
 481                                 if (nbytes < 0) {
 482                                         perror("read");
 483                                         return 1;
 484                                 }
 485
 486                                 if (nbytes < sizeof(struct can_frame)) {
 487                                         fprintf(stderr, "read: incomplete CAN frame\n");
 488                                         return 1;
 489                                 }
 490
 491                                 if (bridge) {
 492                                         nbytes = write(bridge, &frame, sizeof(struct can_frame));
 493                                         if (nbytes < 0) {
 494                                                 perror("bridge write");
 495                                                 return 1;
 496                                         } else if (nbytes < sizeof(struct can_frame)) {
 497                                                 fprintf(stderr,"bridge write: incomplete CAN frame\n");
 498                                                 return 1;
 499                                         }
 500                                 }
 501
 502                                 if (timestamp || log || logfrmt)
 503                                         if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
 504                                                 perror("SIOCGSTAMP");
 505
 506
 507                                 idx = idx2dindex(addr.can_ifindex, s[i]);
 508
 509                                 if (log) {
 510                                         /* log CAN frame with absolute timestamp & device */
 511                                         fprintf(logfile, "(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 512                                         fprintf(logfile, "%*s ", max_devname_len, devname[idx]);
 513                                         /* without seperator as logfile use-case is parsing */
 514                                         fprint_canframe(logfile, &frame, "\n", 0);
 515                                 }
 516
 517                                 if (logfrmt) {
 518                                         /* print CAN frame in log file style to stdout */
 519                                         printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 520                                         printf("%*s ", max_devname_len, devname[idx]);
 521                                         fprint_canframe(stdout, &frame, "\n", 0);
 522                                         goto out_fflush; /* no other output to stdout */
 523                                 }
 524
 525                                 if (silent){
 526                                         if (silent == 1) {
 527                                                 printf("%c\b", anichar[silentani%=MAXANI]);
 528                                                 silentani++;
 529                                         }
 530                                         goto out_fflush; /* no other output to stdout */
 531                                 }
 532
 533                                 printf(" %s", (color>2)?col_on[idx%MAXCOL]:"");
 534
 535                                 switch (timestamp) {
 536
 537                                 case 'a': /* absolute with timestamp */
 538                                         printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 539                                         break;
 540
 541                                 case 'A': /* absolute with date */
 542                                 {
 543                                         struct tm tm;
 544                                         char timestring[25];
 545
 546                                         tm = *localtime(&tv.tv_sec);
 547                                         strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
 548                                         printf("(%s.%06ld) ", timestring, tv.tv_usec);
 549                                 }
 550                                 break;
 551
 552                                 case 'd': /* delta */
 553                                 case 'z': /* starting with zero */
 554                                 {
 555                                         struct timeval diff;
 556
 557                                         if (last_tv.tv_sec == 0)   /* first init */
 558                                                 last_tv = tv;
 559                                         diff.tv_sec  = tv.tv_sec  - last_tv.tv_sec;
 560                                         diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
 561                                         if (diff.tv_usec < 0)
 562                                                 diff.tv_sec--, diff.tv_usec += 1000000;
 563                                         if (diff.tv_sec < 0)
 564                                                 diff.tv_sec = diff.tv_usec = 0;
 565                                         printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
 566
 567                                         if (timestamp == 'd')
 568                                                 last_tv = tv; /* update for delta calculation */
 569                                 }
 570                                 break;
 571
 572                                 default: /* no timestamp output */
 573                                         break;
 574                                 }
 575
 576                                 printf(" %s", (color && (color<3))?col_on[idx%MAXCOL]:"");
 577                                 printf("%*s", max_devname_len, devname[idx]);
 578                                 printf("%s  ", (color==1)?col_off:"");
 579
 580                                 fprint_long_canframe(stdout, &frame, NULL, view);
 581
 582                                 printf("%s", (color>1)?col_off:"");
 583                                 printf("\n");
 584                         }
 585
 586                 out_fflush:
 587                         fflush(stdout);
 588                 }
 589         }
 590
 591         for (i=0; i<currmax; i++)
 592                 close(s[i]);
 593
 594         if (bridge)
 595                 close(bridge);
 596
 597         if (log)
 598                 fclose(logfile);
 599
 600         return 0;
 601 }