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59 #include <sys/types.h>
60 #include <sys/socket.h>
61 #include <sys/ioctl.h>
65 #include <linux/can.h>
66 #include <linux/can/raw.h>
71 #define MAXDEV 6 /* change sscanf()'s manually if changed here */
73 #define ANL "\r\n" /* newline in ASC mode */
76 #define RED ATTBOLD FGRED
77 #define GREEN ATTBOLD FGGREEN
78 #define YELLOW ATTBOLD FGYELLOW
79 #define BLUE ATTBOLD FGBLUE
80 #define MAGENTA ATTBOLD FGMAGENTA
81 #define CYAN ATTBOLD FGCYAN
83 const char col_on [MAXDEV][19] = {BOLD, MAGENTA, GREEN, BLUE, CYAN, RED};
84 const char col_off [] = ATTRESET;
86 static char devname[MAXDEV][IFNAMSIZ+1];
87 static int dindex[MAXDEV];
88 static int max_devname_len;
91 const char anichar[MAXANI] = {'|', '/', '-', '\\', '|', '/', '-', '\\'};
93 extern int optind, opterr, optopt;
95 static volatile int running = 1;
97 void print_usage(char *prg)
99 fprintf(stderr, "Usage: %s [can-interfaces]\n", prg);
100 fprintf(stderr, "Options: -m <mask> (default 0x00000000)\n");
101 fprintf(stderr, " -v <value> (default 0x00000000)\n");
102 fprintf(stderr, " -i <0|1> (inv_filter)\n");
103 fprintf(stderr, " -e <emask> (mask for error frames)\n");
104 fprintf(stderr, " -t <type> (timestamp: Absolute/Delta/Zero)\n");
105 fprintf(stderr, " -c (color mode)\n");
106 fprintf(stderr, " -a (enable additional ASCII output)\n");
107 fprintf(stderr, " -s <level> (silent mode - 1: animation 2: nothing)\n");
108 fprintf(stderr, " -b <can> (bridge mode - send received frames to <can>)\n");
109 fprintf(stderr, " -l (log CAN-frames into file)\n");
110 fprintf(stderr, "\n");
111 fprintf(stderr, "When using more than one CAN interface the options\n");
112 fprintf(stderr, "m/v/i/e have comma seperated values e.g. '-m 0,7FF,0'\n");
113 fprintf(stderr, "Use interface name '%s' to receive from all can-interfaces\n", ANYDEV);
116 void sigterm(int signo)
121 int idx2dindex(int ifidx, int socket) {
126 for (i=0; i<MAXDEV; i++) {
127 if (dindex[i] == ifidx)
131 /* create new interface index cache entry */
133 for (i=0; i < MAXDEV; i++)
134 if (!dindex[i]) /* free entry */
138 printf("BUG in interface index cache! MAXDEV?\n");
144 ifr.ifr_ifindex = ifidx;
145 if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
146 perror("SIOCGIFNAME");
148 if (max_devname_len < strlen(ifr.ifr_name))
149 max_devname_len = strlen(ifr.ifr_name);
151 strcpy(devname[i], ifr.ifr_name);
154 printf("new index %d (%s)\n", i, devname[i]);
160 int main(int argc, char **argv)
165 canid_t mask[MAXDEV] = {0};
166 canid_t value[MAXDEV] = {0};
167 int inv_filter[MAXDEV] = {0};
168 can_err_mask_t err_mask[MAXDEV] = {0};
169 unsigned char timestamp = 0;
170 unsigned char silent = 0;
171 unsigned char silentani = 0;
172 unsigned char color = 0;
173 unsigned char ascii = 0;
174 unsigned char log = 0;
176 int currmax = 1; /* we assume at least one can bus ;-) */
177 struct sockaddr_can addr;
178 struct can_filter rfilter;
179 struct can_frame frame;
182 struct timeval tv, last_tv;
183 FILE *logfile = NULL;
185 signal(SIGTERM, sigterm);
186 signal(SIGHUP, sigterm);
187 signal(SIGINT, sigterm);
189 last_tv.tv_sec = 0; /* init */
191 while ((opt = getopt(argc, argv, "m:v:i:e:t:cas:b:l")) != -1) {
194 i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
195 &mask[0], &mask[1], &mask[2],
196 &mask[3], &mask[4], &mask[5]);
202 i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
203 &value[0], &value[1], &value[2],
204 &value[3], &value[4], &value[5]);
210 i = sscanf(optarg, "%d,%d,%d,%d,%d,%d",
211 &inv_filter[0], &inv_filter[1], &inv_filter[2],
212 &inv_filter[3], &inv_filter[4], &inv_filter[5]);
218 i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
219 &err_mask[0], &err_mask[1], &err_mask[2],
220 &err_mask[3], &err_mask[4], &err_mask[5]);
226 timestamp = optarg[0];
227 if ((timestamp != 'a') && (timestamp != 'A') &&
228 (timestamp != 'd') && (timestamp != 'z')) {
229 printf("%s: unknown timestamp mode '%c' - ignored\n",
230 basename(argv[0]), optarg[0]);
244 silent = atoi(optarg);
248 if (strlen(optarg) >= IFNAMSIZ) {
249 printf("Name of CAN device '%s' is too long!\n\n", optarg);
253 if ((bridge = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
254 perror("bridge socket");
257 addr.can_family = AF_CAN;
258 strcpy(ifr.ifr_name, optarg);
259 if (ioctl(bridge, SIOCGIFINDEX, &ifr) < 0)
260 perror("SIOCGIFINDEX");
261 addr.can_ifindex = ifr.ifr_ifindex;
263 if (!addr.can_ifindex) {
264 perror("invalid bridge interface");
268 if (bind(bridge, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
269 perror("bridge bind");
280 fprintf(stderr, "Unknown option %c\n", opt);
281 print_usage(basename(argv[0]));
287 if (optind == argc) {
288 print_usage(basename(argv[0]));
292 /* count in options higher than device count ? */
293 if (optind + currmax > argc) {
294 printf("low count of CAN devices!\n");
298 currmax = argc - optind; /* find real number of CAN devices */
300 if (currmax > MAXDEV) {
301 printf("More than %d CAN devices!\n", MAXDEV);
305 for (i=0; i<currmax; i++) {
308 printf("open %d '%s' m%08X v%08X i%d e%d.\n",
309 i, argv[optind+i], mask[i], value[i],
310 inv_filter[i], err_mask[i]);
313 if ((s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
318 if (mask[i] || value[i]) {
320 printf("CAN ID filter[%d] for %s set to "
321 "mask = %08X, value = %08X %s\n",
322 i, argv[optind+i], mask[i], value[i],
323 (inv_filter[i]) ? "(inv_filter)" : "");
325 rfilter.can_id = value[i];
326 rfilter.can_mask = mask[i];
328 rfilter.can_id |= CAN_INV_FILTER;
330 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
331 &rfilter, sizeof(rfilter));
335 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
336 &err_mask[i], sizeof(err_mask[i]));
338 j = strlen(argv[optind+i]);
340 if (!(j < IFNAMSIZ)) {
341 printf("name of CAN device '%s' is too long!\n", argv[optind+i]);
345 if (j > max_devname_len)
346 max_devname_len = j; /* for nice printing */
348 addr.can_family = AF_CAN;
350 if (strcmp(ANYDEV, argv[optind+i])) {
351 strcpy(ifr.ifr_name, argv[optind+i]);
352 if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
353 perror("SIOCGIFINDEX");
356 addr.can_ifindex = ifr.ifr_ifindex;
359 addr.can_ifindex = 0; /* any can interface */
361 if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
370 char fname[sizeof("candump-2006-11-20_202026.log")+1];
372 if (time(&currtime) == (time_t)-1) {
377 localtime_r(&currtime, &now);
379 sprintf(fname, "candump-%04d-%02d-%02d_%02d%02d%02d.log",
387 printf("\nEnabling Logfile '%s'\n\n", fname);
389 logfile = fopen(fname, "w");
400 for (i=0; i<currmax; i++)
403 if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, NULL)) < 0) {
409 if (FD_ISSET(0, &rdfs)) {
410 running = 0; /* stop with input from stdin */
414 for (i=0; i<currmax; i++) { /* check all CAN RAW sockets */
416 if (FD_ISSET(s[i], &rdfs)) {
418 socklen_t len = sizeof(addr);
421 if ((nbytes = recvfrom(s[i], &frame,
422 sizeof(struct can_frame), 0,
423 (struct sockaddr*)&addr, &len)) < 0) {
428 if (nbytes < sizeof(struct can_frame)) {
429 fprintf(stderr, "read: incomplete CAN frame\n");
434 if ((nbytes = write(bridge, &frame,
435 sizeof(struct can_frame))) < 0) {
436 perror("bridge write");
438 } else if (nbytes < sizeof(struct can_frame)) {
439 fprintf(stderr,"bridge write: incomplete CAN frame\n");
444 if (timestamp || log)
445 if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
446 perror("SIOCGSTAMP");
449 idx = idx2dindex(addr.can_ifindex, s[i]);
452 /* log CAN frame with absolute timestamp & device */
453 fprintf(logfile, "(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
454 fprintf(logfile, "%*s", max_devname_len, devname[idx]);
455 fprintf(logfile, " ");
456 /* without seperator as logfile use-case is parsing */
457 fprint_canframe(logfile, &frame, "\n", 0);
462 printf("%c\b", anichar[silentani%=MAXANI]);
468 printf(" %s", (color>2)?col_on[idx]:"");
472 case 'a': /* absolute with timestamp */
473 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
476 case 'A': /* absolute with date */
481 tm = *localtime(&tv.tv_sec);
482 strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
483 printf("(%s.%06ld) ", timestring, tv.tv_usec);
487 case 'd': /* delta */
488 case 'z': /* starting with zero */
492 if (last_tv.tv_sec == 0) /* first init */
494 diff.tv_sec = tv.tv_sec - last_tv.tv_sec;
495 diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
496 if (diff.tv_usec < 0)
497 diff.tv_sec--, diff.tv_usec += 1000000;
499 diff.tv_sec = diff.tv_usec = 0;
500 printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
502 if (timestamp == 'd')
503 last_tv = tv; /* update for delta calculation */
507 default: /* no timestamp output */
511 printf(" %s", (color && (color<3))?col_on[idx]:"");
512 printf("%*s", max_devname_len, devname[idx]);
513 printf("%s ", (color==1)?col_off:"");
515 fprint_long_canframe(stdout, &frame, NULL, ascii);
517 printf("%s", (color>1)?col_off:"");
524 for (i=0; i<currmax; i++)