8 * Test programm that implements a socket server which understands ASCII
9 * messages for simple broadcast manager frame send commands.
11 * < interface command ival_s ival_us can_id can_dlc [data]* >
15 * The commands are 'A'dd, 'U'pdate, 'D'elete and 'S'end.
18 * Send the CAN frame 123#1122334455667788 every second on vcan1
19 * < vcan1 A 1 0 123 8 11 22 33 44 55 66 77 88 >
21 * Send the CAN frame 123#1122334455667788 every 10 usecs on vcan1
22 * < vcan1 A 0 10 123 8 11 22 33 44 55 66 77 88 >
24 * Send the CAN frame 123#42424242 every 20 msecs on vcan1
25 * < vcan1 A 0 20000 123 4 42 42 42 42 >
27 * Update the CAN frame 123#42424242 with 123#112233 - no change of timers
28 * < vcan1 U 0 0 123 3 11 22 33 >
30 * Delete the cyclic send job from above
31 * < vcan1 D 0 0 123 0 >
33 * Send a single CAN frame without cyclic transmission
34 * < can0 S 0 0 123 0 >
36 * When the socket is closed the cyclic transmissions are terminated.
40 * The commands are 'R'eceive setup, 'F'ilter ID Setup and 'X' for delete.
43 * Receive CAN ID 0x123 from vcan1 and check for changes in the first byte
44 * < vcan1 R 0 0 123 1 FF >
46 * Receive CAN ID 0x123 from vcan1 and check for changes in given mask
47 * < vcan1 R 0 0 123 8 FF 00 F8 00 00 00 00 00 >
49 * As above but throttle receive update rate down to 1.5 seconds
50 * < vcan1 R 1 500000 123 8 FF 00 F8 00 00 00 00 00 >
52 * Filter for CAN ID 0x123 from vcan1 without content filtering
53 * < vcan1 F 0 0 123 0 >
55 * Delete receive filter ('R' or 'F') for CAN ID 0x123
56 * < vcan1 X 0 0 123 0 >
61 * Andre Naujoks (the socket server stuff)
62 * Oliver Hartkopp (the rest)
64 * Copyright (c) 2002-2009 Volkswagen Group Electronic Research
65 * All rights reserved.
67 * Redistribution and use in source and binary forms, with or without
68 * modification, are permitted provided that the following conditions
70 * 1. Redistributions of source code must retain the above copyright
71 * notice, this list of conditions and the following disclaimer.
72 * 2. Redistributions in binary form must reproduce the above copyright
73 * notice, this list of conditions and the following disclaimer in the
74 * documentation and/or other materials provided with the distribution.
75 * 3. Neither the name of Volkswagen nor the names of its contributors
76 * may be used to endorse or promote products derived from this software
77 * without specific prior written permission.
79 * Alternatively, provided that this notice is retained in full, this
80 * software may be distributed under the terms of the GNU General
81 * Public License ("GPL") version 2, in which case the provisions of the
82 * GPL apply INSTEAD OF those given above.
84 * The provided data structures and external interfaces from this code
85 * are not restricted to be used by modules with a GPL compatible license.
87 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
88 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
89 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
90 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
91 * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
92 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
93 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
94 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
95 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
96 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
97 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
100 * Send feedback to <socketcan-users@lists.berlios.de>
110 #include <sys/types.h>
111 #include <sys/socket.h>
112 #include <sys/ioctl.h>
115 #include <netinet/in.h>
117 #include <linux/can.h>
118 #include <linux/can/bcm.h>
123 int main(int argc, char **argv)
129 struct sockaddr_in saddr, clientaddr;
130 struct sockaddr_can caddr;
131 socklen_t caddrlen = sizeof(caddr);
134 socklen_t sin_size = sizeof(clientaddr);
140 struct bcm_msg_head msg_head;
141 struct can_frame frame;
144 if((sl = socket(PF_INET, SOCK_STREAM, 0)) < 0) {
145 perror("inetsocket");
149 saddr.sin_family = AF_INET;
150 saddr.sin_addr.s_addr = htonl(INADDR_ANY);
151 saddr.sin_port = htons(PORT);
153 while(bind(sl,(struct sockaddr*)&saddr, sizeof(saddr)) < 0) {
154 printf(".");fflush(NULL);
158 if (listen(sl,3) != 0) {
164 sa = accept(sl,(struct sockaddr *)&clientaddr, &sin_size);
173 if (errno != EINTR) {
175 * If the cause for the error was NOT the
176 * signal from a dying child => give an error
184 /* open BCM socket */
186 if ((sc = socket(PF_CAN, SOCK_DGRAM, CAN_BCM)) < 0) {
191 memset(&caddr, 0, sizeof(caddr));
192 caddr.can_family = PF_CAN;
193 /* can_ifindex is set to 0 (any device) => need for sendto() */
195 if (connect(sc, (struct sockaddr *)&caddr, sizeof(caddr)) < 0) {
203 FD_SET(sc, &readfds);
204 FD_SET(sa, &readfds);
206 ret = select((sc > sa)?sc+1:sa+1, &readfds, NULL, NULL, NULL);
208 if (FD_ISSET(sc, &readfds)) {
210 ret = recvfrom(sc, &msg, sizeof(msg), 0,
211 (struct sockaddr*)&caddr, &caddrlen);
213 ifr.ifr_ifindex = caddr.can_ifindex;
214 ioctl(sc, SIOCGIFNAME, &ifr);
216 sprintf(rxmsg, "< %s %03X %d ", ifr.ifr_name,
217 msg.msg_head.can_id, msg.frame.can_dlc);
219 for ( i = 0; i < msg.frame.can_dlc; i++)
220 sprintf(rxmsg + strlen(rxmsg), "%02X ",
223 /* delimiter '\0' for Adobe(TM) Flash(TM) XML sockets */
224 strcat(rxmsg, ">\0");
226 send(sa, rxmsg, strlen(rxmsg) + 1, 0);
230 if (FD_ISSET(sa, &readfds)) {
235 if (read(sa, buf+idx, 1) != 1)
245 if (idx > MAXLEN-2) {
250 if (buf[idx] != '>') {
258 //printf("read '%s'\n", buf);
260 /* prepare bcm message settings */
261 memset(&msg, 0, sizeof(msg));
262 msg.msg_head.nframes = 1;
264 items = sscanf(buf, "< %6s %c %lu %lu %x %hhu "
265 "%hhx %hhx %hhx %hhx %hhx %hhx "
269 &msg.msg_head.ival2.tv_sec,
270 &msg.msg_head.ival2.tv_usec,
271 &msg.msg_head.can_id,
284 if (msg.frame.can_dlc > 8)
286 if (items != 6 + msg.frame.can_dlc)
289 msg.frame.can_id = msg.msg_head.can_id;
293 msg.msg_head.opcode = TX_SEND;
296 msg.msg_head.opcode = TX_SETUP;
297 msg.msg_head.flags |= SETTIMER | STARTTIMER;
300 msg.msg_head.opcode = TX_SETUP;
301 msg.msg_head.flags = 0;
304 msg.msg_head.opcode = TX_DELETE;
308 msg.msg_head.opcode = RX_SETUP;
309 msg.msg_head.flags = SETTIMER;
312 msg.msg_head.opcode = RX_SETUP;
313 msg.msg_head.flags = RX_FILTER_ID | SETTIMER;
316 msg.msg_head.opcode = RX_DELETE;
319 printf("unknown command '%c'.\n", cmd);
323 if (!ioctl(sc, SIOCGIFINDEX, &ifr)) {
324 caddr.can_ifindex = ifr.ifr_ifindex;
325 sendto(sc, &msg, sizeof(msg), 0,
326 (struct sockaddr*)&caddr, sizeof(caddr));