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 SILENT_INI 42 /* detect user setting on commandline */
  78 #define SILENT_OFF 0  /* no silent mode */
  79 #define SILENT_ANI 1  /* silent mode with animation */
  80 #define SILENT_ON  2  /* silent mode (completely silent) */
  81
  82 #define BOLD    ATTBOLD
  83 #define RED     ATTBOLD FGRED
  84 #define GREEN   ATTBOLD FGGREEN
  85 #define YELLOW  ATTBOLD FGYELLOW
  86 #define BLUE    ATTBOLD FGBLUE
  87 #define MAGENTA ATTBOLD FGMAGENTA
  88 #define CYAN    ATTBOLD FGCYAN
  89
  90 const char col_on [MAXCOL][19] = {BLUE, RED, GREEN, BOLD, MAGENTA, CYAN};
  91 const char col_off [] = ATTRESET;
  92
  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
  97 #define MAXANI 4
  98 const char anichar[MAXANI] = {'|', '/', '-', '\\'};
  99
 100 extern int optind, opterr, optopt;
 101
 102 static volatile int running = 1;
 103
 104 void print_usage(char *prg)
 105 {
 106         fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
 107         fprintf(stderr, "  (use CTRL-C to terminate %s)\n\n", prg);
 108         fprintf(stderr, "Options: -t <type>   (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
 109         fprintf(stderr, "         -c          (increment color mode level)\n");
 110         fprintf(stderr, "         -i          (binary output - may exceed 80 chars/line)\n");
 111         fprintf(stderr, "         -a          (enable additional ASCII output)\n");
 112         fprintf(stderr, "         -S          (swap byte order in printed CAN data[] - marked with '%c' )\n", SWAP_DELIMITER);
 113         fprintf(stderr, "         -s <level>  (silent mode - %d: off (default) %d: animation %d: silent)\n", SILENT_OFF, SILENT_ANI, SILENT_ON);
 114         fprintf(stderr, "         -b <can>    (bridge mode - send received frames to <can>)\n");
 115         fprintf(stderr, "         -B <can>    (bridge mode - like '-b' with disabled loopback)\n");
 116         fprintf(stderr, "         -l          (log CAN-frames into file. Sets '-s %d' by default)\n", SILENT_ON);
 117         fprintf(stderr, "         -L          (use log file format on stdout)\n");
 118         fprintf(stderr, "         -n <count>  (terminate after receiption of <count> CAN frames)\n");
 119         fprintf(stderr, "\n");
 120         fprintf(stderr, "Up to %d CAN interfaces with optional filter sets can be specified\n", MAXSOCK);
 121         fprintf(stderr, "on the commandline in the form: <ifname>[,filter]*\n");
 122         fprintf(stderr, "\nUp to %d comma separated filters can be specified for each given CAN interface:\n", MAXFILTER);
 123         fprintf(stderr, " <can_id>:<can_mask> (matches when <received_can_id> & mask == can_id & mask)\n");
 124         fprintf(stderr, " <can_id>~<can_mask> (matches when <received_can_id> & mask != can_id & mask)\n");
 125         fprintf(stderr, " #<error_mask>       (set error frame filter, see include/linux/can/error.h)\n");
 126         fprintf(stderr, "\nCAN IDs, masks and data content are given and expected in hexadecimal values.\n");
 127         fprintf(stderr, "When can_id and can_mask are both 8 digits, they are assumed to be 29 bit EFF.\n");
 128         fprintf(stderr, "Without any given filter all data frames are received ('0:0' default filter).\n");
 129         fprintf(stderr, "\nUse interface name '%s' to receive from all CAN interfaces.\n", ANYDEV);
 130         fprintf(stderr, "\nExamples:\n");
 131         fprintf(stderr, "%s -c -c -ta can0,123:7FF,400:700,#000000FF can2,400~7F0 can3 can8\n", prg);
 132         fprintf(stderr, "%s -l any,0~0,#FFFFFFFF    (log only error frames but no(!) data frames)\n", prg);
 133         fprintf(stderr, "%s -l any,0:0,#FFFFFFFF    (log error frames and also all data frames)\n", prg);
 134         fprintf(stderr, "%s vcan2,92345678:DFFFFFFF (match only for extended CAN ID 12345678)\n", prg);
 135         fprintf(stderr, "%s vcan2,123:7FF (matches CAN ID 123 - including EFF and RTR frames)\n", prg);
 136         fprintf(stderr, "%s vcan2,123:C00007FF (matches CAN ID 123 - only SFF and non-RTR frames)\n", prg);
 137         fprintf(stderr, "\n");
 138 }
 139
 140 void sigterm(int signo)
 141 {
 142         running = 0;
 143 }
 144
 145 int idx2dindex(int ifidx, int socket) {
 146
 147         int i;
 148         struct ifreq ifr;
 149
 150         for (i=0; i < MAXIFNAMES; i++) {
 151                 if (dindex[i] == ifidx)
 152                         return i;
 153         }
 154
 155         /* create new interface index cache entry */
 156
 157         /* remove index cache zombies first */
 158         for (i=0; i < MAXIFNAMES; i++) {
 159                 if (dindex[i]) {
 160                         ifr.ifr_ifindex = dindex[i];
 161                         if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
 162                                 dindex[i] = 0;
 163                 }
 164         }
 165
 166         for (i=0; i < MAXIFNAMES; i++)
 167                 if (!dindex[i]) /* free entry */
 168                         break;
 169
 170         if (i == MAXIFNAMES) {
 171                 fprintf(stderr, "Interface index cache only supports %d interfaces.\n",
 172                        MAXIFNAMES);
 173                 exit(1);
 174         }
 175
 176         dindex[i] = ifidx;
 177
 178         ifr.ifr_ifindex = ifidx;
 179         if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
 180                 perror("SIOCGIFNAME");
 181
 182         if (max_devname_len < strlen(ifr.ifr_name))
 183                 max_devname_len = strlen(ifr.ifr_name);
 184
 185         strcpy(devname[i], ifr.ifr_name);
 186
 187 #ifdef DEBUG
 188         printf("new index %d (%s)\n", i, devname[i]);
 189 #endif
 190
 191         return i;
 192 }
 193
 194 int main(int argc, char **argv)
 195 {
 196         fd_set rdfs;
 197         int s[MAXSOCK];
 198         int bridge = 0;
 199         unsigned char timestamp = 0;
 200         unsigned char silent = SILENT_INI;
 201         unsigned char silentani = 0;
 202         unsigned char color = 0;
 203         unsigned char view = 0;
 204         unsigned char log = 0;
 205         unsigned char logfrmt = 0;
 206         int count = 0;
 207         int opt, ret;
 208         int currmax, numfilter;
 209         char *ptr, *nptr;
 210         struct sockaddr_can addr;
 211         struct can_filter rfilter[MAXFILTER];
 212         can_err_mask_t err_mask;
 213         struct can_frame frame;
 214         int nbytes, i;
 215         struct ifreq ifr;
 216         struct timeval tv, last_tv;
 217         FILE *logfile = NULL;
 218
 219         signal(SIGTERM, sigterm);
 220         signal(SIGHUP, sigterm);
 221         signal(SIGINT, sigterm);
 222
 223         last_tv.tv_sec  = 0;
 224         last_tv.tv_usec = 0;
 225
 226         while ((opt = getopt(argc, argv, "t:ciaSs:b:B:lLn:h?")) != -1) {
 227                 switch (opt) {
 228                 case 't':
 229                         timestamp = optarg[0];
 230                         if ((timestamp != 'a') && (timestamp != 'A') &&
 231                             (timestamp != 'd') && (timestamp != 'z')) {
 232                                 fprintf(stderr, "%s: unknown timestamp mode '%c' - ignored\n",
 233                                        basename(argv[0]), optarg[0]);
 234                                 timestamp = 0;
 235                         }
 236                         break;
 237
 238                 case 'c':
 239                         color++;
 240                         break;
 241
 242                 case 'i':
 243                         view |= CANLIB_VIEW_BINARY;
 244                         break;
 245
 246                 case 'a':
 247                         view |= CANLIB_VIEW_ASCII;
 248                         break;
 249
 250                 case 'S':
 251                         view |= CANLIB_VIEW_SWAP;
 252                         break;
 253
 254                 case 's':
 255                         silent = atoi(optarg);
 256                         if (silent > SILENT_ON) {
 257                                 print_usage(basename(argv[0]));
 258                                 exit(1);
 259                         }
 260                         break;
 261
 262                 case 'b':
 263                 case 'B':
 264                         if (strlen(optarg) >= IFNAMSIZ) {
 265                                 fprintf(stderr, "Name of CAN device '%s' is too long!\n\n", optarg);
 266                                 return 1;
 267                         } else {
 268                                 bridge = socket(PF_CAN, SOCK_RAW, CAN_RAW);
 269                                 if (bridge < 0) {
 270                                         perror("bridge socket");
 271                                         return 1;
 272                                 }
 273                                 addr.can_family = AF_CAN;
 274                                 strcpy(ifr.ifr_name, optarg);
 275                                 if (ioctl(bridge, SIOCGIFINDEX, &ifr) < 0)
 276                                         perror("SIOCGIFINDEX");
 277                                 addr.can_ifindex = ifr.ifr_ifindex;
 278
 279                                 if (!addr.can_ifindex) {
 280                                         perror("invalid bridge interface");
 281                                         return 1;
 282                                 }
 283
 284                                 /* disable default receive filter on this write-only RAW socket */
 285                                 setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
 286
 287                                 if (opt == 'B') {
 288                                         int loopback = 0;
 289
 290                                         setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
 291                                                    &loopback, sizeof(loopback));
 292                                 }
 293
 294                                 if (bind(bridge, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 295                                         perror("bridge bind");
 296                                         return 1;
 297                                 }
 298                         }
 299                         break;
 300
 301                 case 'l':
 302                         log = 1;
 303                         break;
 304
 305                 case 'L':
 306                         logfrmt = 1;
 307                         break;
 308
 309                 case 'n':
 310                         count = atoi(optarg);
 311                         if (count < 1) {
 312                                 print_usage(basename(argv[0]));
 313                                 exit(1);
 314                         }
 315                         break;
 316
 317                 default:
 318                         print_usage(basename(argv[0]));
 319                         exit(1);
 320                         break;
 321                 }
 322         }
 323
 324         if (optind == argc) {
 325                 print_usage(basename(argv[0]));
 326                 exit(0);
 327         }
 328
 329         if (logfrmt && view) {
 330                 fprintf(stderr, "Log file format selected: Please disable ASCII/BINARY/SWAP options!\n");
 331                 exit(0);
 332         }
 333
 334         if (silent == SILENT_INI) {
 335                 if (log) {
 336                         fprintf(stderr, "\nDisabled standard output while logging.");
 337                         silent = SILENT_ON; /* disable output on stdout */
 338                 } else
 339                         silent = SILENT_OFF; /* default output */
 340         }
 341
 342         currmax = argc - optind; /* find real number of CAN devices */
 343
 344         if (currmax > MAXSOCK) {
 345                 fprintf(stderr, "More than %d CAN devices given on commandline!\n", MAXSOCK);
 346                 return 1;
 347         }
 348
 349         for (i=0; i < currmax; i++) {
 350
 351                 ptr = argv[optind+i];
 352                 nptr = strchr(ptr, ',');
 353
 354 #ifdef DEBUG
 355                 printf("open %d '%s'.\n", i, ptr);
 356 #endif
 357
 358                 s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW);
 359                 if (s[i] < 0) {
 360                         perror("socket");
 361                         return 1;
 362                 }
 363
 364                 if (nptr)
 365                         nbytes = nptr - ptr;  /* interface name is up the first ',' */
 366                 else
 367                         nbytes = strlen(ptr); /* no ',' found => no filter definitions */
 368
 369                 if (nbytes >= IFNAMSIZ) {
 370                         fprintf(stderr, "name of CAN device '%s' is too long!\n", ptr);
 371                         return 1;
 372                 }
 373
 374                 if (nbytes > max_devname_len)
 375                         max_devname_len = nbytes; /* for nice printing */
 376
 377                 addr.can_family = AF_CAN;
 378
 379                 memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));
 380                 strncpy(ifr.ifr_name, ptr, nbytes);
 381
 382 #ifdef DEBUG
 383                 printf("using interface name '%s'.\n", ifr.ifr_name);
 384 #endif
 385
 386                 if (strcmp(ANYDEV, ifr.ifr_name)) {
 387                         if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
 388                                 perror("SIOCGIFINDEX");
 389                                 exit(1);
 390                         }
 391                         addr.can_ifindex = ifr.ifr_ifindex;
 392                 } else
 393                         addr.can_ifindex = 0; /* any can interface */
 394
 395                 if (nptr) {
 396
 397                         /* found a ',' after the interface name => check for filters */
 398
 399                         numfilter = 0;
 400                         err_mask = 0;
 401
 402                         while (nptr) {
 403
 404                                 ptr = nptr+1; /* hop behind the ',' */
 405                                 nptr = strchr(ptr, ','); /* update exit condition */
 406
 407                                 if (sscanf(ptr, "%lx:%lx",
 408                                            (long unsigned int *)
 409                                            &rfilter[numfilter].can_id,
 410                                            (long unsigned int *)
 411                                            &rfilter[numfilter].can_mask) == 2) {
 412                                         rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
 413                                         numfilter++;
 414                                 } else if (sscanf(ptr, "%lx~%lx",
 415                                                   (long unsigned int *)
 416                                                   &rfilter[numfilter].can_id,
 417                                                   (long unsigned int *)
 418                                                   &rfilter[numfilter].can_mask) == 2) {
 419                                         rfilter[numfilter].can_id |= CAN_INV_FILTER;
 420                                         rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
 421                                         numfilter++;
 422                                 } else if (sscanf(ptr, "#%lx",
 423                                                   (long unsigned int *)&err_mask) != 1) {
 424                                         fprintf(stderr, "Error in filter option parsing: '%s'\n", ptr);
 425                                         exit(1);
 426                                 }
 427
 428                                 if (numfilter > MAXFILTER) {
 429                                         fprintf(stderr, "Too many filters specified for '%s'.\n",
 430                                                ifr.ifr_name);
 431                                         exit(1);
 432                                 }
 433                         }
 434
 435                         if (err_mask)
 436                                 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
 437                                            &err_mask, sizeof(err_mask));
 438
 439                         if (numfilter)
 440                                 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
 441                                            &rfilter, numfilter * sizeof(struct can_filter));
 442                 } /* if (nptr) */
 443
 444                 if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 445                         perror("bind");
 446                         return 1;
 447                 }
 448         }
 449
 450         if (log) {
 451                 time_t currtime;
 452                 struct tm now;
 453                 char fname[sizeof("candump-2006-11-20_202026.log")+1];
 454
 455                 if (time(&currtime) == (time_t)-1) {
 456                         perror("time");
 457                         return 1;
 458                 }
 459
 460                 localtime_r(&currtime, &now);
 461
 462                 sprintf(fname, "candump-%04d-%02d-%02d_%02d%02d%02d.log",
 463                         now.tm_year + 1900,
 464                         now.tm_mon + 1,
 465                         now.tm_mday,
 466                         now.tm_hour,
 467                         now.tm_min,
 468                         now.tm_sec);
 469
 470                 if (silent != SILENT_ON)
 471                         printf("\nWarning: console output active while logging!");
 472
 473                 fprintf(stderr, "\nEnabling Logfile '%s'\n\n", fname);
 474
 475                 logfile = fopen(fname, "w");
 476                 if (!logfile) {
 477                         perror("logfile");
 478                         return 1;
 479                 }
 480         }
 481
 482         while (running) {
 483
 484                 FD_ZERO(&rdfs);
 485                 for (i=0; i<currmax; i++)
 486                         FD_SET(s[i], &rdfs);
 487
 488                 if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, NULL)) < 0) {
 489                         //perror("select");
 490                         running = 0;
 491                         continue;
 492                 }
 493
 494                 for (i=0; i<currmax; i++) {  /* check all CAN RAW sockets */
 495
 496                         if (FD_ISSET(s[i], &rdfs)) {
 497
 498                                 socklen_t len = sizeof(addr);
 499                                 int idx;
 500
 501                                 nbytes = recvfrom(s[i], &frame, sizeof(struct can_frame), 0,
 502                                                   (struct sockaddr*)&addr, &len);
 503                                 if (nbytes < 0) {
 504                                         perror("read");
 505                                         return 1;
 506                                 }
 507
 508                                 if (nbytes < sizeof(struct can_frame)) {
 509                                         fprintf(stderr, "read: incomplete CAN frame\n");
 510                                         return 1;
 511                                 }
 512
 513                                 if (count && (--count == 0))
 514                                         running = 0;
 515
 516                                 if (bridge) {
 517                                         nbytes = write(bridge, &frame, sizeof(struct can_frame));
 518                                         if (nbytes < 0) {
 519                                                 perror("bridge write");
 520                                                 return 1;
 521                                         } else if (nbytes < sizeof(struct can_frame)) {
 522                                                 fprintf(stderr,"bridge write: incomplete CAN frame\n");
 523                                                 return 1;
 524                                         }
 525                                 }
 526
 527                                 if (timestamp || log || logfrmt)
 528                                         if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
 529                                                 perror("SIOCGSTAMP");
 530
 531
 532                                 idx = idx2dindex(addr.can_ifindex, s[i]);
 533
 534                                 if (log) {
 535                                         /* log CAN frame with absolute timestamp & device */
 536                                         fprintf(logfile, "(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 537                                         fprintf(logfile, "%*s ", max_devname_len, devname[idx]);
 538                                         /* without seperator as logfile use-case is parsing */
 539                                         fprint_canframe(logfile, &frame, "\n", 0);
 540                                 }
 541
 542                                 if (logfrmt) {
 543                                         /* print CAN frame in log file style to stdout */
 544                                         printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 545                                         printf("%*s ", max_devname_len, devname[idx]);
 546                                         fprint_canframe(stdout, &frame, "\n", 0);
 547                                         goto out_fflush; /* no other output to stdout */
 548                                 }
 549
 550                                 if (silent != SILENT_OFF){
 551                                         if (silent == SILENT_ANI) {
 552                                                 printf("%c\b", anichar[silentani%=MAXANI]);
 553                                                 silentani++;
 554                                         }
 555                                         goto out_fflush; /* no other output to stdout */
 556                                 }
 557
 558                                 printf(" %s", (color>2)?col_on[idx%MAXCOL]:"");
 559
 560                                 switch (timestamp) {
 561
 562                                 case 'a': /* absolute with timestamp */
 563                                         printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 564                                         break;
 565
 566                                 case 'A': /* absolute with date */
 567                                 {
 568                                         struct tm tm;
 569                                         char timestring[25];
 570
 571                                         tm = *localtime(&tv.tv_sec);
 572                                         strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
 573                                         printf("(%s.%06ld) ", timestring, tv.tv_usec);
 574                                 }
 575                                 break;
 576
 577                                 case 'd': /* delta */
 578                                 case 'z': /* starting with zero */
 579                                 {
 580                                         struct timeval diff;
 581
 582                                         if (last_tv.tv_sec == 0)   /* first init */
 583                                                 last_tv = tv;
 584                                         diff.tv_sec  = tv.tv_sec  - last_tv.tv_sec;
 585                                         diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
 586                                         if (diff.tv_usec < 0)
 587                                                 diff.tv_sec--, diff.tv_usec += 1000000;
 588                                         if (diff.tv_sec < 0)
 589                                                 diff.tv_sec = diff.tv_usec = 0;
 590                                         printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
 591
 592                                         if (timestamp == 'd')
 593                                                 last_tv = tv; /* update for delta calculation */
 594                                 }
 595                                 break;
 596
 597                                 default: /* no timestamp output */
 598                                         break;
 599                                 }
 600
 601                                 printf(" %s", (color && (color<3))?col_on[idx%MAXCOL]:"");
 602                                 printf("%*s", max_devname_len, devname[idx]);
 603                                 printf("%s  ", (color==1)?col_off:"");
 604
 605                                 fprint_long_canframe(stdout, &frame, NULL, view);
 606
 607                                 printf("%s", (color>1)?col_off:"");
 608                                 printf("\n");
 609                         }
 610
 611                 out_fflush:
 612                         fflush(stdout);
 613                 }
 614         }
 615
 616         for (i=0; i<currmax; i++)
 617                 close(s[i]);
 618
 619         if (bridge)
 620                 close(bridge);
 621
 622         if (log)
 623                 fclose(logfile);
 624
 625         return 0;
 626 }