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 BOLD    ATTBOLD
  78 #define RED     ATTBOLD FGRED
  79 #define GREEN   ATTBOLD FGGREEN
  80 #define YELLOW  ATTBOLD FGYELLOW
  81 #define BLUE    ATTBOLD FGBLUE
  82 #define MAGENTA ATTBOLD FGMAGENTA
  83 #define CYAN    ATTBOLD FGCYAN
  84
  85 const char col_on [MAXCOL][19] = {BLUE, RED, GREEN, BOLD, MAGENTA, CYAN};
  86 const char col_off [] = ATTRESET;
  87
  88 static char devname[MAXIFNAMES][IFNAMSIZ+1];
  89 static int  dindex[MAXIFNAMES];
  90 static int  max_devname_len; /* to prevent frazzled device name output */
  91
  92 #define MAXANI 4
  93 const char anichar[MAXANI] = {'|', '/', '-', '\\'};
  94
  95 extern int optind, opterr, optopt;
  96
  97 static volatile int running = 1;
  98
  99 void print_usage(char *prg)
 100 {
 101         fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
 102         fprintf(stderr, "  (use CTRL-C to terminate %s)\n\n", prg);
 103         fprintf(stderr, "Options: -t <type>   (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
 104         fprintf(stderr, "         -c          (increment color mode level)\n");
 105         fprintf(stderr, "         -i          (binary output - may exceed 80 chars/line)\n");
 106         fprintf(stderr, "         -a          (enable additional ASCII output)\n");
 107         fprintf(stderr, "         -s <level>  (silent mode - 1: animation 2: completely silent)\n");
 108         fprintf(stderr, "         -b <can>    (bridge mode - send received frames to <can>)\n");
 109         fprintf(stderr, "         -B <can>    (bridge mode - like '-b' with disabled loopback)\n");
 110         fprintf(stderr, "         -l          (log CAN-frames into file)\n");
 111         fprintf(stderr, "         -L          (use log file format on stdout)\n");
 112         fprintf(stderr, "\n");
 113         fprintf(stderr, "Up to %d CAN interfaces with optional filter sets can be specified\n", MAXSOCK);
 114         fprintf(stderr, "on the commandline in the form: <ifname>[,filter]*\n");
 115         fprintf(stderr, "\nUp to %d comma separated filters can be specified for each given CAN interface:\n", MAXFILTER);
 116         fprintf(stderr, " <can_id>:<can_mask> (matches when <received_can_id> & mask == can_id & mask)\n");
 117         fprintf(stderr, " <can_id>~<can_mask> (matches when <received_can_id> & mask != can_id & mask)\n");
 118         fprintf(stderr, " #<error_mask>       (set error frame filter, see include/linux/can/error.h)\n");
 119         fprintf(stderr, "\nUse interface name '%s' to receive from all CAN interfaces.\n", ANYDEV);
 120         fprintf(stderr, "CAN IDs, masks and data content are given and expected in hexadecimal values.\n");
 121         fprintf(stderr, "\nExamples:\n");
 122         fprintf(stderr, "%s -c -c -ta can0,123:7FF,400:700,#000000FF can2,400~7F0 can3 can8\n", prg);
 123         fprintf(stderr, "%s -l any,0~0,#FFFFFFFF    (log only error frames but no(!) data frames)\n", prg);
 124         fprintf(stderr, "%s vcan2,92345678:9FFFFFFF (match only for extended CAN ID 12345678)\n", prg);
 125         fprintf(stderr, "\n");
 126 }
 127
 128 void sigterm(int signo)
 129 {
 130         running = 0;
 131 }
 132
 133 int idx2dindex(int ifidx, int socket) {
 134
 135         int i;
 136         struct ifreq ifr;
 137
 138         for (i=0; i < MAXIFNAMES; i++) {
 139                 if (dindex[i] == ifidx)
 140                         return i;
 141         }
 142
 143         /* create new interface index cache entry */
 144
 145         /* remove index cache zombies first */
 146         for (i=0; i < MAXIFNAMES; i++) {
 147                 if (dindex[i]) {
 148                         ifr.ifr_ifindex = dindex[i];
 149                         if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
 150                                 dindex[i] = 0;
 151                 }
 152         }
 153
 154         for (i=0; i < MAXIFNAMES; i++)
 155                 if (!dindex[i]) /* free entry */
 156                         break;
 157
 158         if (i == MAXIFNAMES) {
 159                 printf("Interface index cache only supports %d interfaces.\n",
 160                        MAXIFNAMES);
 161                 exit(1);
 162         }
 163
 164         dindex[i] = ifidx;
 165
 166         ifr.ifr_ifindex = ifidx;
 167         if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
 168                 perror("SIOCGIFNAME");
 169
 170         if (max_devname_len < strlen(ifr.ifr_name))
 171                 max_devname_len = strlen(ifr.ifr_name);
 172
 173         strcpy(devname[i], ifr.ifr_name);
 174
 175 #ifdef DEBUG
 176         printf("new index %d (%s)\n", i, devname[i]);
 177 #endif
 178
 179         return i;
 180 }
 181
 182 int main(int argc, char **argv)
 183 {
 184         fd_set rdfs;
 185         int s[MAXSOCK];
 186         int bridge = 0;
 187         unsigned char timestamp = 0;
 188         unsigned char silent = 0;
 189         unsigned char silentani = 0;
 190         unsigned char color = 0;
 191         unsigned char view = 0;
 192         unsigned char log = 0;
 193         unsigned char logfrmt = 0;
 194         int opt, ret;
 195         int currmax, numfilter;
 196         char *ptr, *nptr;
 197         struct sockaddr_can addr;
 198         struct can_filter rfilter[MAXFILTER];
 199         can_err_mask_t err_mask;
 200         struct can_frame frame;
 201         int nbytes, i;
 202         struct ifreq ifr;
 203         struct timeval tv, last_tv;
 204         FILE *logfile = NULL;
 205
 206         signal(SIGTERM, sigterm);
 207         signal(SIGHUP, sigterm);
 208         signal(SIGINT, sigterm);
 209
 210         last_tv.tv_sec  = 0;
 211         last_tv.tv_usec = 0;
 212
 213         while ((opt = getopt(argc, argv, "t:cias:b:B:lLh?")) != -1) {
 214                 switch (opt) {
 215                 case 't':
 216                         timestamp = optarg[0];
 217                         if ((timestamp != 'a') && (timestamp != 'A') &&
 218                             (timestamp != 'd') && (timestamp != 'z')) {
 219                                 printf("%s: unknown timestamp mode '%c' - ignored\n",
 220                                        basename(argv[0]), optarg[0]);
 221                                 timestamp = 0;
 222                         }
 223                         break;
 224
 225                 case 'c':
 226                         color++;
 227                         break;
 228
 229                 case 'i':
 230                         view |= CANLIB_VIEW_BINARY;
 231                         break;
 232
 233                 case 'a':
 234                         view |= CANLIB_VIEW_ASCII;
 235                         break;
 236
 237                 case 's':
 238                         silent = atoi(optarg);
 239                         break;
 240
 241                 case 'b':
 242                 case 'B':
 243                         if (strlen(optarg) >= IFNAMSIZ) {
 244                                 printf("Name of CAN device '%s' is too long!\n\n", optarg);
 245                                 return 1;
 246                         } else {
 247                                 bridge = socket(PF_CAN, SOCK_RAW, CAN_RAW);
 248                                 if (bridge < 0) {
 249                                         perror("bridge socket");
 250                                         return 1;
 251                                 }
 252                                 addr.can_family = AF_CAN;
 253                                 strcpy(ifr.ifr_name, optarg);
 254                                 if (ioctl(bridge, SIOCGIFINDEX, &ifr) < 0)
 255                                         perror("SIOCGIFINDEX");
 256                                 addr.can_ifindex = ifr.ifr_ifindex;
 257
 258                                 if (!addr.can_ifindex) {
 259                                         perror("invalid bridge interface");
 260                                         return 1;
 261                                 }
 262
 263                                 if (opt == 'B') {
 264                                         int loopback = 0;
 265
 266                                         setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
 267                                                    &loopback, sizeof(loopback));
 268                                 }
 269
 270                                 if (bind(bridge, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 271                                         perror("bridge bind");
 272                                         return 1;
 273                                 }
 274                         }
 275                         break;
 276
 277                 case 'l':
 278                         log = 1;
 279                         break;
 280
 281                 case 'L':
 282                         logfrmt = 1;
 283                         break;
 284
 285                 default:
 286                         print_usage(basename(argv[0]));
 287                         exit(1);
 288                         break;
 289                 }
 290         }
 291
 292         if (optind == argc) {
 293                 print_usage(basename(argv[0]));
 294                 exit(0);
 295         }
 296
 297         currmax = argc - optind; /* find real number of CAN devices */
 298
 299         if (currmax > MAXSOCK) {
 300                 printf("More than %d CAN devices given on commandline!\n", MAXSOCK);
 301                 return 1;
 302         }
 303
 304         for (i=0; i < currmax; i++) {
 305
 306                 ptr = argv[optind+i];
 307                 nptr = strchr(ptr, ',');
 308
 309 #ifdef DEBUG
 310                 printf("open %d '%s'.\n", i, ptr);
 311 #endif
 312
 313                 s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW);
 314                 if (s[i] < 0) {
 315                         perror("socket");
 316                         return 1;
 317                 }
 318
 319                 if (nptr)
 320                         nbytes = nptr - ptr;  /* interface name is up the first ',' */
 321                 else
 322                         nbytes = strlen(ptr); /* no ',' found => no filter definitions */
 323
 324                 if (nbytes >= IFNAMSIZ) {
 325                         printf("name of CAN device '%s' is too long!\n", ptr);
 326                         return 1;
 327                 }
 328
 329                 if (nbytes > max_devname_len)
 330                         max_devname_len = nbytes; /* for nice printing */
 331
 332                 addr.can_family = AF_CAN;
 333
 334                 memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));
 335                 strncpy(ifr.ifr_name, ptr, nbytes);
 336
 337 #ifdef DEBUG
 338                 printf("using interface name '%s'.\n", ifr.ifr_name);
 339 #endif
 340
 341                 if (strcmp(ANYDEV, ifr.ifr_name)) {
 342                         if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
 343                                 perror("SIOCGIFINDEX");
 344                                 exit(1);
 345                         }
 346                         addr.can_ifindex = ifr.ifr_ifindex;
 347                 } else
 348                         addr.can_ifindex = 0; /* any can interface */
 349
 350                 if (nptr) {
 351
 352                         /* found a ',' after the interface name => check for filters */
 353
 354                         numfilter = 0;
 355                         err_mask = 0;
 356
 357                         while (nptr) {
 358
 359                                 ptr = nptr+1; /* hop behind the ',' */
 360                                 nptr = strchr(ptr, ','); /* update exit condition */
 361
 362                                 if (sscanf(ptr, "%lx:%lx",
 363                                            (long unsigned int *)
 364                                            &rfilter[numfilter].can_id,
 365                                            (long unsigned int *)
 366                                            &rfilter[numfilter].can_mask) == 2) {
 367                                         numfilter++;
 368                                 } else if (sscanf(ptr, "%lx~%lx",
 369                                                   (long unsigned int *)
 370                                                   &rfilter[numfilter].can_id,
 371                                                   (long unsigned int *)
 372                                                   &rfilter[numfilter].can_mask) == 2) {
 373                                         rfilter[numfilter].can_id |= CAN_INV_FILTER;
 374                                         numfilter++;
 375                                 } else if (sscanf(ptr, "#%lx",
 376                                                   (long unsigned int *)&err_mask) != 1) {
 377                                         printf("Error in filter option parsing: '%s'\n", ptr);
 378                                         exit(1);
 379                                 }
 380
 381                                 if (numfilter > MAXFILTER) {
 382                                         printf("Too many filters specified for '%s'.\n",
 383                                                ifr.ifr_name);
 384                                         exit(1);
 385                                 }
 386                         }
 387
 388                         if (err_mask)
 389                                 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
 390                                            &err_mask, sizeof(err_mask));
 391
 392                         if (numfilter)
 393                                 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
 394                                            &rfilter, numfilter * sizeof(struct can_filter));
 395                 } /* if (nptr) */
 396
 397                 if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 398                         perror("bind");
 399                         return 1;
 400                 }
 401         }
 402
 403         if (log) {
 404                 time_t currtime;
 405                 struct tm now;
 406                 char fname[sizeof("candump-2006-11-20_202026.log")+1];
 407
 408                 if (time(&currtime) == (time_t)-1) {
 409                         perror("time");
 410                         return 1;
 411                 }
 412
 413                 localtime_r(&currtime, &now);
 414
 415                 sprintf(fname, "candump-%04d-%02d-%02d_%02d%02d%02d.log",
 416                         now.tm_year + 1900,
 417                         now.tm_mon + 1,
 418                         now.tm_mday,
 419                         now.tm_hour,
 420                         now.tm_min,
 421                         now.tm_sec);
 422
 423                 printf("\nEnabling Logfile '%s'\n\n", fname);
 424
 425                 logfile = fopen(fname, "w");
 426                 if (!logfile) {
 427                         perror("logfile");
 428                         return 1;
 429                 }
 430         }
 431
 432         while (running) {
 433
 434                 FD_ZERO(&rdfs);
 435                 for (i=0; i<currmax; i++)
 436                         FD_SET(s[i], &rdfs);
 437
 438                 if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, NULL)) < 0) {
 439                         //perror("select");
 440                         running = 0;
 441                         continue;
 442                 }
 443
 444                 for (i=0; i<currmax; i++) {  /* check all CAN RAW sockets */
 445
 446                         if (FD_ISSET(s[i], &rdfs)) {
 447
 448                                 socklen_t len = sizeof(addr);
 449                                 int idx;
 450
 451                                 nbytes = recvfrom(s[i], &frame, sizeof(struct can_frame), 0,
 452                                                   (struct sockaddr*)&addr, &len);
 453                                 if (nbytes < 0) {
 454                                         perror("read");
 455                                         return 1;
 456                                 }
 457
 458                                 if (nbytes < sizeof(struct can_frame)) {
 459                                         fprintf(stderr, "read: incomplete CAN frame\n");
 460                                         return 1;
 461                                 }
 462
 463                                 if (bridge) {
 464                                         nbytes = write(bridge, &frame, sizeof(struct can_frame));
 465                                         if (nbytes < 0) {
 466                                                 perror("bridge write");
 467                                                 return 1;
 468                                         } else if (nbytes < sizeof(struct can_frame)) {
 469                                                 fprintf(stderr,"bridge write: incomplete CAN frame\n");
 470                                                 return 1;
 471                                         }
 472                                 }
 473
 474                                 if (timestamp || log || logfrmt)
 475                                         if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
 476                                                 perror("SIOCGSTAMP");
 477
 478
 479                                 idx = idx2dindex(addr.can_ifindex, s[i]);
 480
 481                                 if (log) {
 482                                         /* log CAN frame with absolute timestamp & device */
 483                                         fprintf(logfile, "(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 484                                         fprintf(logfile, "%*s ", max_devname_len, devname[idx]);
 485                                         /* without seperator as logfile use-case is parsing */
 486                                         fprint_canframe(logfile, &frame, "\n", 0);
 487                                 }
 488
 489                                 if (logfrmt) {
 490                                         /* print CAN frame in log file style to stdout */
 491                                         printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 492                                         printf("%*s ", max_devname_len, devname[idx]);
 493                                         fprint_canframe(stdout, &frame, "\n", 0);
 494                                         goto out_fflush; /* no other output to stdout */
 495                                 }
 496
 497                                 if (silent){
 498                                         if (silent == 1) {
 499                                                 printf("%c\b", anichar[silentani%=MAXANI]);
 500                                                 silentani++;
 501                                         }
 502                                         goto out_fflush; /* no other output to stdout */
 503                                 }
 504
 505                                 printf(" %s", (color>2)?col_on[idx%MAXCOL]:"");
 506
 507                                 switch (timestamp) {
 508
 509                                 case 'a': /* absolute with timestamp */
 510                                         printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 511                                         break;
 512
 513                                 case 'A': /* absolute with date */
 514                                 {
 515                                         struct tm tm;
 516                                         char timestring[25];
 517
 518                                         tm = *localtime(&tv.tv_sec);
 519                                         strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
 520                                         printf("(%s.%06ld) ", timestring, tv.tv_usec);
 521                                 }
 522                                 break;
 523
 524                                 case 'd': /* delta */
 525                                 case 'z': /* starting with zero */
 526                                 {
 527                                         struct timeval diff;
 528
 529                                         if (last_tv.tv_sec == 0)   /* first init */
 530                                                 last_tv = tv;
 531                                         diff.tv_sec  = tv.tv_sec  - last_tv.tv_sec;
 532                                         diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
 533                                         if (diff.tv_usec < 0)
 534                                                 diff.tv_sec--, diff.tv_usec += 1000000;
 535                                         if (diff.tv_sec < 0)
 536                                                 diff.tv_sec = diff.tv_usec = 0;
 537                                         printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
 538
 539                                         if (timestamp == 'd')
 540                                                 last_tv = tv; /* update for delta calculation */
 541                                 }
 542                                 break;
 543
 544                                 default: /* no timestamp output */
 545                                         break;
 546                                 }
 547
 548                                 printf(" %s", (color && (color<3))?col_on[idx%MAXCOL]:"");
 549                                 printf("%*s", max_devname_len, devname[idx]);
 550                                 printf("%s  ", (color==1)?col_off:"");
 551
 552                                 fprint_long_canframe(stdout, &frame, NULL, view);
 553
 554                                 printf("%s", (color>1)?col_off:"");
 555                                 printf("\n");
 556                         }
 557
 558                 out_fflush:
 559                         fflush(stdout);
 560                 }
 561         }
 562
 563         for (i=0; i<currmax; i++)
 564                 close(s[i]);
 565
 566         if (bridge)
 567                 close(bridge);
 568
 569         if (log)
 570                 fclose(logfile);
 571
 572         return 0;
 573 }