--- /dev/null
+/*
+ * $Id$
+ */
+
+/*
+ * canlogserver.c
+ *
+ * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of Volkswagen nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * Alternatively, provided that this notice is retained in full, this
+ * software may be distributed under the terms of the GNU General
+ * Public License ("GPL") version 2, in which case the provisions of the
+ * GPL apply INSTEAD OF those given above.
+ *
+ * The provided data structures and external interfaces from this code
+ * are not restricted to be used by modules with a GPL compatible license.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+ * DAMAGE.
+ *
+ * Send feedback to <socketcan-users@lists.berlios.de>
+ *
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <signal.h>
+#include <ctype.h>
+#include <libgen.h>
+#include <time.h>
+
+#include <sys/time.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+#include <sys/uio.h>
+#include <net/if.h>
+#include <netinet/in.h>
+
+#include <linux/can.h>
+#include <linux/can/raw.h>
+#include <signal.h>
+#include <wait.h>
+#include <errno.h>
+
+#include "lib.h"
+
+#define MAXDEV 6 /* change sscanf()'s manually if changed here */
+#define ANYDEV "any"
+#define ANL "\r\n" /* newline in ASC mode */
+
+#define DEFPORT 28700
+
+static char devname[MAXDEV][IFNAMSIZ+1];
+static int dindex[MAXDEV];
+static int max_devname_len;
+
+extern int optind, opterr, optopt;
+
+static volatile int running = 1;
+
+void print_usage(char *prg)
+{
+ fprintf(stderr, "Usage: %s [can-interfaces]\n", prg);
+ fprintf(stderr, " (use CTRL-C to terminate %s)\n", prg);
+ fprintf(stderr, "Options: -m <mask> (default 0x00000000)\n");
+ fprintf(stderr, " -v <value> (default 0x00000000)\n");
+ fprintf(stderr, " -i <0|1> (inv_filter)\n");
+ fprintf(stderr, " -e <emask> (mask for error frames)\n");
+ fprintf(stderr, " -p <port> (Network port on which %s listens. Default: %d)\n", prg, DEFPORT);
+ fprintf(stderr, "\n");
+ fprintf(stderr, "When using more than one CAN interface the options\n");
+ fprintf(stderr, "m/v/i/e have comma seperated values e.g. '-m 0,7FF,0'\n");
+ fprintf(stderr, "Use interface name '%s' to receive from all can-interfaces\n", ANYDEV);
+}
+
+int idx2dindex(int ifidx, int socket)
+{
+ int i;
+ struct ifreq ifr;
+
+ for (i=0; i<MAXDEV; i++) {
+ if (dindex[i] == ifidx)
+ return i;
+ }
+
+ /* create new interface index cache entry */
+
+ /* remove index cache zombies first */
+ for (i=0; i < MAXDEV; i++) {
+ if (dindex[i]) {
+ ifr.ifr_ifindex = dindex[i];
+ if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
+ dindex[i] = 0;
+ }
+ }
+
+ for (i=0; i < MAXDEV; i++)
+ if (!dindex[i]) /* free entry */
+ break;
+
+ if (i == MAXDEV) {
+ printf("Interface index cache only supports %d interfaces.\n", MAXDEV);
+ exit(1);
+ }
+
+ dindex[i] = ifidx;
+
+ ifr.ifr_ifindex = ifidx;
+ if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
+ perror("SIOCGIFNAME");
+
+ if (max_devname_len < strlen(ifr.ifr_name))
+ max_devname_len = strlen(ifr.ifr_name);
+
+ strcpy(devname[i], ifr.ifr_name);
+
+#ifdef DEBUG
+ printf("new index %d (%s)\n", i, devname[i]);
+#endif
+
+ return i;
+}
+
+/*
+ * This is a Signalhandler. When we get a signal, that a child
+ * terminated, we wait for it, so the zombie will disappear.
+ */
+void childdied(int i)
+{
+ wait(NULL);
+}
+
+/*
+ * This is a Signalhandler for a cought SIGTERM
+ */
+void shutdown_gra(int i)
+{
+ exit(0);
+}
+
+
+int main(int argc, char **argv)
+{
+ struct sigaction signalaction;
+ sigset_t sigset;
+ fd_set rdfs;
+ int s[MAXDEV];
+ int socki, accsocket;
+ canid_t mask[MAXDEV] = {0};
+ canid_t value[MAXDEV] = {0};
+ int inv_filter[MAXDEV] = {0};
+ can_err_mask_t err_mask[MAXDEV] = {0};
+ int opt, ret;
+ int currmax = 1; /* we assume at least one can bus ;-) */
+ struct sockaddr_can addr;
+ struct can_filter rfilter;
+ struct can_frame frame;
+ int nbytes, i, j;
+ struct ifreq ifr;
+ struct timeval tv, last_tv;
+ int port = DEFPORT;
+ struct sockaddr_in inaddr;
+ struct sockaddr_in clientaddr;
+ socklen_t sin_size = sizeof(clientaddr);
+ char temp[128];
+
+ sigemptyset(&sigset);
+ signalaction.sa_handler = &childdied;
+ signalaction.sa_mask = sigset;
+ signalaction.sa_flags = 0;
+ sigaction(SIGCHLD, &signalaction, NULL); /* install signal for dying child */
+ signalaction.sa_handler = &shutdown_gra;
+ signalaction.sa_mask = sigset;
+ signalaction.sa_flags = 0;
+ sigaction(SIGTERM, &signalaction, NULL); /* install Signal for termination */
+ sigaction(SIGINT, &signalaction, NULL); /* install Signal for termination */
+
+
+ last_tv.tv_sec = 0;
+ last_tv.tv_usec = 0;
+
+ while ((opt = getopt(argc, argv, "m:v:i:e:p:")) != -1) {
+
+ switch (opt) {
+ case 'm':
+ i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
+ &mask[0], &mask[1], &mask[2],
+ &mask[3], &mask[4], &mask[5]);
+ if (i > currmax)
+ currmax = i;
+ break;
+
+ case 'v':
+ i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
+ &value[0], &value[1], &value[2],
+ &value[3], &value[4], &value[5]);
+ if (i > currmax)
+ currmax = i;
+ break;
+
+ case 'i':
+ i = sscanf(optarg, "%d,%d,%d,%d,%d,%d",
+ &inv_filter[0], &inv_filter[1], &inv_filter[2],
+ &inv_filter[3], &inv_filter[4], &inv_filter[5]);
+ if (i > currmax)
+ currmax = i;
+ break;
+
+ case 'e':
+ i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
+ &err_mask[0], &err_mask[1], &err_mask[2],
+ &err_mask[3], &err_mask[4], &err_mask[5]);
+ if (i > currmax)
+ currmax = i;
+ break;
+ case 'p':
+ port = atoi(optarg);
+ break;
+ default:
+ fprintf(stderr, "Unknown option %c\n", opt);
+ print_usage(basename(argv[0]));
+ exit(1);
+ break;
+ }
+ }
+
+ if (optind == argc) {
+ print_usage(basename(argv[0]));
+ exit(0);
+ }
+
+ /* count in options higher than device count ? */
+ if (optind + currmax > argc) {
+ printf("low count of CAN devices!\n");
+ return 1;
+ }
+
+ currmax = argc - optind; /* find real number of CAN devices */
+
+ if (currmax > MAXDEV) {
+ printf("More than %d CAN devices!\n", MAXDEV);
+ return 1;
+ }
+
+
+ socki = socket(PF_INET, SOCK_STREAM, 0);
+ if (socki < 0) {
+ perror("socket");
+ exit(1);
+ }
+
+ inaddr.sin_family = AF_INET;
+ inaddr.sin_addr.s_addr = htonl(INADDR_ANY);
+ inaddr.sin_port = htons(port);
+
+ while(bind(socki, (struct sockaddr*)&inaddr, sizeof(inaddr)) < 0) {
+ printf(".");fflush(NULL);
+ usleep(100000);
+ }
+
+ if (listen(socki, 3) != 0) {
+ perror("listen");
+ exit(1);
+ }
+
+ while(1) {
+ accsocket = accept(socki, (struct sockaddr*)&clientaddr, &sin_size);
+ if (accsocket > 0) {
+ //printf("accepted\n");
+ if (!fork())
+ break;
+ else
+ close(accsocket);
+ }
+ else if (errno != EINTR) {
+ perror("accept");
+ exit(1);
+ }
+ }
+
+ for (i=0; i<currmax; i++) {
+
+#ifdef DEBUG
+ printf("open %d '%s' m%08X v%08X i%d e%d.\n",
+ i, argv[optind+i], mask[i], value[i],
+ inv_filter[i], err_mask[i]);
+#endif
+
+ if ((s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
+ perror("socket");
+ return 1;
+ }
+
+ if (mask[i] || value[i]) {
+
+ printf("CAN ID filter[%d] for %s set to "
+ "mask = %08X, value = %08X %s\n",
+ i, argv[optind+i], mask[i], value[i],
+ (inv_filter[i]) ? "(inv_filter)" : "");
+
+ rfilter.can_id = value[i];
+ rfilter.can_mask = mask[i];
+ if (inv_filter[i])
+ rfilter.can_id |= CAN_INV_FILTER;
+
+ setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
+ &rfilter, sizeof(rfilter));
+ }
+
+ if (err_mask[i])
+ setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
+ &err_mask[i], sizeof(err_mask[i]));
+
+ j = strlen(argv[optind+i]);
+
+ if (!(j < IFNAMSIZ)) {
+ printf("name of CAN device '%s' is too long!\n", argv[optind+i]);
+ return 1;
+ }
+
+ if (j > max_devname_len)
+ max_devname_len = j; /* for nice printing */
+
+ addr.can_family = AF_CAN;
+
+ if (strcmp(ANYDEV, argv[optind+i])) {
+ strcpy(ifr.ifr_name, argv[optind+i]);
+ if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
+ perror("SIOCGIFINDEX");
+ exit(1);
+ }
+ addr.can_ifindex = ifr.ifr_ifindex;
+ }
+ else
+ addr.can_ifindex = 0; /* any can interface */
+
+ if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+ perror("bindcan");
+ return 1;
+ }
+ }
+
+ while (running) {
+
+ FD_ZERO(&rdfs);
+ for (i=0; i<currmax; i++)
+ FD_SET(s[i], &rdfs);
+
+ if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, NULL)) < 0) {
+ //perror("select");
+ running = 0;
+ continue;
+ }
+
+ for (i=0; i<currmax; i++) { /* check all CAN RAW sockets */
+
+ if (FD_ISSET(s[i], &rdfs)) {
+
+ socklen_t len = sizeof(addr);
+ int idx;
+
+ if ((nbytes = recvfrom(s[i], &frame,
+ sizeof(struct can_frame), 0,
+ (struct sockaddr*)&addr, &len)) < 0) {
+ perror("read");
+ return 1;
+ }
+
+ if (nbytes < sizeof(struct can_frame)) {
+ fprintf(stderr, "read: incomplete CAN frame\n");
+ return 1;
+ }
+
+ if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
+ perror("SIOCGSTAMP");
+
+
+ idx = idx2dindex(addr.can_ifindex, s[i]);
+
+ sprintf(temp, "(%ld.%06ld) %*s ",
+ tv.tv_sec, tv.tv_usec, max_devname_len, devname[idx]);
+ sprint_canframe(temp+strlen(temp), &frame, 0);
+ strcat(temp, "\n");
+
+ if (write(accsocket, temp, strlen(temp)) < 0) {
+ perror("writeaccsock");
+ return 1;
+ }
+
+ /* printf("%s\n",temp2); */
+
+#if 0
+ /* print CAN frame in log file style to stdout */
+ printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
+ printf("%*s ", max_devname_len, devname[idx]);
+ fprint_canframe(stdout, &frame, "\n", 0);
+#endif
+ }
+
+ }
+ }
+
+ for (i=0; i<currmax; i++)
+ close(s[i]);
+
+ close(accsocket);
+ return 0;
+}
projects / socketcan-devel.git / commitdiff