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