4 * Copyright (c) 2002-2009 Volkswagen Group Electronic Research
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
10 * 1. Redistributions of source code must retain the above copyright
11 * notice, this list of conditions and the following disclaimer.
12 * 2. Redistributions in binary form must reproduce the above copyright
13 * notice, this list of conditions and the following disclaimer in the
14 * documentation and/or other materials provided with the distribution.
15 * 3. Neither the name of Volkswagen nor the names of its contributors
16 * may be used to endorse or promote products derived from this software
17 * without specific prior written permission.
19 * Alternatively, provided that this notice is retained in full, this
20 * software may be distributed under the terms of the GNU General
21 * Public License ("GPL") version 2, in which case the provisions of the
22 * GPL apply INSTEAD OF those given above.
24 * The provided data structures and external interfaces from this code
25 * are not restricted to be used by modules with a GPL compatible license.
27 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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33 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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40 * Send feedback to <linux-can@vger.kernel.org>
54 #include <sys/types.h>
55 #include <sys/socket.h>
56 #include <sys/ioctl.h>
60 #include <linux/can.h>
61 #include <linux/can/raw.h>
66 #define MAXSOCK 16 /* max. number of CAN interfaces given on the cmdline */
67 #define MAXIFNAMES 30 /* size of receive name index to omit ioctls */
68 #define MAXCOL 6 /* number of different colors for colorized output */
69 #define ANYDEV "any" /* name of interface to receive from any CAN interface */
70 #define ANL "\r\n" /* newline in ASC mode */
72 #define SILENT_INI 42 /* detect user setting on commandline */
73 #define SILENT_OFF 0 /* no silent mode */
74 #define SILENT_ANI 1 /* silent mode with animation */
75 #define SILENT_ON 2 /* silent mode (completely silent) */
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
85 const char col_on [MAXCOL][19] = {BLUE, RED, GREEN, BOLD, MAGENTA, CYAN};
86 const char col_off [] = ATTRESET;
88 static char *cmdlinename[MAXSOCK];
89 static __u32 dropcnt[MAXSOCK];
90 static __u32 last_dropcnt[MAXSOCK];
91 static char devname[MAXIFNAMES][IFNAMSIZ+1];
92 static int dindex[MAXIFNAMES];
93 static int max_devname_len; /* to prevent frazzled device name output */
94 const int canfd_on = 1;
97 const char anichar[MAXANI] = {'|', '/', '-', '\\'};
98 const char extra_m_info[4][4] = {"- -", "B -", "- E", "B E"};
100 extern int optind, opterr, optopt;
102 static volatile int running = 1;
104 void print_usage(char *prg)
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, " -u <usecs> (delay bridge forwarding by <usecs> microseconds)\n");
117 fprintf(stderr, " -l (log CAN-frames into file. Sets '-s %d' by default)\n", SILENT_ON);
118 fprintf(stderr, " -L (use log file format on stdout)\n");
119 fprintf(stderr, " -n <count> (terminate after receiption of <count> CAN frames)\n");
120 fprintf(stderr, " -r <size> (set socket receive buffer to <size>)\n");
121 fprintf(stderr, " -d (monitor dropped CAN frames)\n");
122 fprintf(stderr, " -e (dump CAN error frames in human-readable format)\n");
123 fprintf(stderr, " -x (print extra message infos, rx/tx brs esi)\n");
124 fprintf(stderr, "\n");
125 fprintf(stderr, "Up to %d CAN interfaces with optional filter sets can be specified\n", MAXSOCK);
126 fprintf(stderr, "on the commandline in the form: <ifname>[,filter]*\n");
127 fprintf(stderr, "\nComma separated filters can be specified for each given CAN interface:\n");
128 fprintf(stderr, " <can_id>:<can_mask> (matches when <received_can_id> & mask == can_id & mask)\n");
129 fprintf(stderr, " <can_id>~<can_mask> (matches when <received_can_id> & mask != can_id & mask)\n");
130 fprintf(stderr, " #<error_mask> (set error frame filter, see include/linux/can/error.h)\n");
131 fprintf(stderr, "\nCAN IDs, masks and data content are given and expected in hexadecimal values.\n");
132 fprintf(stderr, "When can_id and can_mask are both 8 digits, they are assumed to be 29 bit EFF.\n");
133 fprintf(stderr, "Without any given filter all data frames are received ('0:0' default filter).\n");
134 fprintf(stderr, "\nUse interface name '%s' to receive from all CAN interfaces.\n", ANYDEV);
135 fprintf(stderr, "\nExamples:\n");
136 fprintf(stderr, "%s -c -c -ta can0,123:7FF,400:700,#000000FF can2,400~7F0 can3 can8\n", prg);
137 fprintf(stderr, "%s -l any,0~0,#FFFFFFFF (log only error frames but no(!) data frames)\n", prg);
138 fprintf(stderr, "%s -l any,0:0,#FFFFFFFF (log error frames and also all data frames)\n", prg);
139 fprintf(stderr, "%s vcan2,92345678:DFFFFFFF (match only for extended CAN ID 12345678)\n", prg);
140 fprintf(stderr, "%s vcan2,123:7FF (matches CAN ID 123 - including EFF and RTR frames)\n", prg);
141 fprintf(stderr, "%s vcan2,123:C00007FF (matches CAN ID 123 - only SFF and non-RTR frames)\n", prg);
142 fprintf(stderr, "\n");
145 void sigterm(int signo)
150 int idx2dindex(int ifidx, int socket) {
155 for (i=0; i < MAXIFNAMES; i++) {
156 if (dindex[i] == ifidx)
160 /* create new interface index cache entry */
162 /* remove index cache zombies first */
163 for (i=0; i < MAXIFNAMES; i++) {
165 ifr.ifr_ifindex = dindex[i];
166 if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
171 for (i=0; i < MAXIFNAMES; i++)
172 if (!dindex[i]) /* free entry */
175 if (i == MAXIFNAMES) {
176 fprintf(stderr, "Interface index cache only supports %d interfaces.\n",
183 ifr.ifr_ifindex = ifidx;
184 if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
185 perror("SIOCGIFNAME");
187 if (max_devname_len < strlen(ifr.ifr_name))
188 max_devname_len = strlen(ifr.ifr_name);
190 strcpy(devname[i], ifr.ifr_name);
193 printf("new index %d (%s)\n", i, devname[i]);
199 int main(int argc, char **argv)
204 useconds_t bridge_delay = 0;
205 unsigned char timestamp = 0;
206 unsigned char dropmonitor = 0;
207 unsigned char extra_msg_info = 0;
208 unsigned char silent = SILENT_INI;
209 unsigned char silentani = 0;
210 unsigned char color = 0;
211 unsigned char view = 0;
212 unsigned char log = 0;
213 unsigned char logfrmt = 0;
217 int currmax, numfilter;
219 struct sockaddr_can addr;
220 char ctrlmsg[CMSG_SPACE(sizeof(struct timeval)) + CMSG_SPACE(sizeof(__u32))];
223 struct cmsghdr *cmsg;
224 struct can_filter *rfilter;
225 can_err_mask_t err_mask;
226 struct canfd_frame frame;
227 int nbytes, i, maxdlen;
229 struct timeval tv, last_tv;
230 FILE *logfile = NULL;
232 signal(SIGTERM, sigterm);
233 signal(SIGHUP, sigterm);
234 signal(SIGINT, sigterm);
239 while ((opt = getopt(argc, argv, "t:ciaSs:b:B:u:ldxLn:r:he?")) != -1) {
242 timestamp = optarg[0];
243 if ((timestamp != 'a') && (timestamp != 'A') &&
244 (timestamp != 'd') && (timestamp != 'z')) {
245 fprintf(stderr, "%s: unknown timestamp mode '%c' - ignored\n",
246 basename(argv[0]), optarg[0]);
256 view |= CANLIB_VIEW_BINARY;
260 view |= CANLIB_VIEW_ASCII;
264 view |= CANLIB_VIEW_SWAP;
268 view |= CANLIB_VIEW_ERROR;
272 silent = atoi(optarg);
273 if (silent > SILENT_ON) {
274 print_usage(basename(argv[0]));
281 if (strlen(optarg) >= IFNAMSIZ) {
282 fprintf(stderr, "Name of CAN device '%s' is too long!\n\n", optarg);
285 bridge = socket(PF_CAN, SOCK_RAW, CAN_RAW);
287 perror("bridge socket");
290 addr.can_family = AF_CAN;
291 strcpy(ifr.ifr_name, optarg);
292 if (ioctl(bridge, SIOCGIFINDEX, &ifr) < 0)
293 perror("SIOCGIFINDEX");
294 addr.can_ifindex = ifr.ifr_ifindex;
296 if (!addr.can_ifindex) {
297 perror("invalid bridge interface");
301 /* disable default receive filter on this write-only RAW socket */
302 setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
305 const int loopback = 0;
307 setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
308 &loopback, sizeof(loopback));
311 if (bind(bridge, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
312 perror("bridge bind");
319 bridge_delay = (useconds_t)strtoul(optarg, (char **)NULL, 10);
339 count = atoi(optarg);
341 print_usage(basename(argv[0]));
347 rcvbuf_size = atoi(optarg);
348 if (rcvbuf_size < 1) {
349 print_usage(basename(argv[0]));
355 print_usage(basename(argv[0]));
361 if (optind == argc) {
362 print_usage(basename(argv[0]));
366 if (logfrmt && view) {
367 fprintf(stderr, "Log file format selected: Please disable ASCII/BINARY/SWAP options!\n");
371 if (silent == SILENT_INI) {
373 fprintf(stderr, "Disabled standard output while logging.\n");
374 silent = SILENT_ON; /* disable output on stdout */
376 silent = SILENT_OFF; /* default output */
379 currmax = argc - optind; /* find real number of CAN devices */
381 if (currmax > MAXSOCK) {
382 fprintf(stderr, "More than %d CAN devices given on commandline!\n", MAXSOCK);
386 for (i=0; i < currmax; i++) {
388 ptr = argv[optind+i];
389 nptr = strchr(ptr, ',');
392 printf("open %d '%s'.\n", i, ptr);
395 s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW);
401 cmdlinename[i] = ptr; /* save pointer to cmdline name of this socket */
404 nbytes = nptr - ptr; /* interface name is up the first ',' */
406 nbytes = strlen(ptr); /* no ',' found => no filter definitions */
408 if (nbytes >= IFNAMSIZ) {
409 fprintf(stderr, "name of CAN device '%s' is too long!\n", ptr);
413 if (nbytes > max_devname_len)
414 max_devname_len = nbytes; /* for nice printing */
416 addr.can_family = AF_CAN;
418 memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));
419 strncpy(ifr.ifr_name, ptr, nbytes);
422 printf("using interface name '%s'.\n", ifr.ifr_name);
425 if (strcmp(ANYDEV, ifr.ifr_name)) {
426 if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
427 perror("SIOCGIFINDEX");
430 addr.can_ifindex = ifr.ifr_ifindex;
432 addr.can_ifindex = 0; /* any can interface */
436 /* found a ',' after the interface name => check for filters */
438 /* determine number of filters to alloc the filter space */
443 ptr++; /* hop behind the ',' */
444 ptr = strchr(ptr, ','); /* exit condition */
447 rfilter = malloc(sizeof(struct can_filter) * numfilter);
449 fprintf(stderr, "Failed to create filter space!\n");
458 ptr = nptr+1; /* hop behind the ',' */
459 nptr = strchr(ptr, ','); /* update exit condition */
461 if (sscanf(ptr, "%x:%x",
462 &rfilter[numfilter].can_id,
463 &rfilter[numfilter].can_mask) == 2) {
464 rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
466 } else if (sscanf(ptr, "%x~%x",
467 &rfilter[numfilter].can_id,
468 &rfilter[numfilter].can_mask) == 2) {
469 rfilter[numfilter].can_id |= CAN_INV_FILTER;
470 rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
472 } else if (sscanf(ptr, "#%x", &err_mask) != 1) {
473 fprintf(stderr, "Error in filter option parsing: '%s'\n", ptr);
479 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
480 &err_mask, sizeof(err_mask));
483 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
484 rfilter, numfilter * sizeof(struct can_filter));
490 /* try to switch the socket into CAN FD mode */
491 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on));
495 int curr_rcvbuf_size;
496 socklen_t curr_rcvbuf_size_len = sizeof(curr_rcvbuf_size);
498 /* try SO_RCVBUFFORCE first, if we run with CAP_NET_ADMIN */
499 if (setsockopt(s[i], SOL_SOCKET, SO_RCVBUFFORCE,
500 &rcvbuf_size, sizeof(rcvbuf_size)) < 0) {
502 printf("SO_RCVBUFFORCE failed so try SO_RCVBUF ...\n");
504 if (setsockopt(s[i], SOL_SOCKET, SO_RCVBUF,
505 &rcvbuf_size, sizeof(rcvbuf_size)) < 0) {
506 perror("setsockopt SO_RCVBUF");
510 if (getsockopt(s[i], SOL_SOCKET, SO_RCVBUF,
511 &curr_rcvbuf_size, &curr_rcvbuf_size_len) < 0) {
512 perror("getsockopt SO_RCVBUF");
516 /* Only print a warning the first time we detect the adjustment */
517 /* n.b.: The wanted size is doubled in Linux in net/sore/sock.c */
518 if (!i && curr_rcvbuf_size < rcvbuf_size*2)
519 fprintf(stderr, "The socket receive buffer size was "
520 "adjusted due to /proc/sys/net/core/rmem_max.\n");
524 if (timestamp || log || logfrmt) {
526 const int timestamp_on = 1;
528 if (setsockopt(s[i], SOL_SOCKET, SO_TIMESTAMP,
529 ×tamp_on, sizeof(timestamp_on)) < 0) {
530 perror("setsockopt SO_TIMESTAMP");
537 const int dropmonitor_on = 1;
539 if (setsockopt(s[i], SOL_SOCKET, SO_RXQ_OVFL,
540 &dropmonitor_on, sizeof(dropmonitor_on)) < 0) {
541 perror("setsockopt SO_RXQ_OVFL not supported by your Linux Kernel");
546 if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
555 char fname[sizeof("candump-2006-11-20_202026.log")+1];
557 if (time(&currtime) == (time_t)-1) {
562 localtime_r(&currtime, &now);
564 sprintf(fname, "candump-%04d-%02d-%02d_%02d%02d%02d.log",
572 if (silent != SILENT_ON)
573 printf("\nWarning: console output active while logging!");
575 fprintf(stderr, "\nEnabling Logfile '%s'\n\n", fname);
577 logfile = fopen(fname, "w");
584 /* these settings are static and can be held out of the hot path */
585 iov.iov_base = &frame;
586 msg.msg_name = &addr;
589 msg.msg_control = &ctrlmsg;
594 for (i=0; i<currmax; i++)
597 if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, NULL)) < 0) {
603 for (i=0; i<currmax; i++) { /* check all CAN RAW sockets */
605 if (FD_ISSET(s[i], &rdfs)) {
609 /* these settings may be modified by recvmsg() */
610 iov.iov_len = sizeof(frame);
611 msg.msg_namelen = sizeof(addr);
612 msg.msg_controllen = sizeof(ctrlmsg);
615 nbytes = recvmsg(s[i], &msg, 0);
621 if ((size_t)nbytes == CAN_MTU)
622 maxdlen = CAN_MAX_DLEN;
623 else if ((size_t)nbytes == CANFD_MTU)
624 maxdlen = CANFD_MAX_DLEN;
626 fprintf(stderr, "read: incomplete CAN frame\n");
630 if (count && (--count == 0))
635 usleep(bridge_delay);
637 nbytes = write(bridge, &frame, nbytes);
639 perror("bridge write");
641 } else if ((size_t)nbytes != CAN_MTU && (size_t)nbytes != CANFD_MTU) {
642 fprintf(stderr,"bridge write: incomplete CAN frame\n");
647 for (cmsg = CMSG_FIRSTHDR(&msg);
648 cmsg && (cmsg->cmsg_level == SOL_SOCKET);
649 cmsg = CMSG_NXTHDR(&msg,cmsg)) {
650 if (cmsg->cmsg_type == SO_TIMESTAMP)
651 tv = *(struct timeval *)CMSG_DATA(cmsg);
652 else if (cmsg->cmsg_type == SO_RXQ_OVFL)
653 dropcnt[i] = *(__u32 *)CMSG_DATA(cmsg);
656 /* check for (unlikely) dropped frames on this specific socket */
657 if (dropcnt[i] != last_dropcnt[i]) {
661 if (dropcnt[i] > last_dropcnt[i])
662 frames = dropcnt[i] - last_dropcnt[i];
664 frames = 4294967295U - last_dropcnt[i] + dropcnt[i]; /* 4294967295U == UINT32_MAX */
666 if (silent != SILENT_ON)
667 printf("DROPCOUNT: dropped %d CAN frame%s on '%s' socket (total drops %d)\n",
668 frames, (frames > 1)?"s":"", cmdlinename[i], dropcnt[i]);
671 fprintf(logfile, "DROPCOUNT: dropped %d CAN frame%s on '%s' socket (total drops %d)\n",
672 frames, (frames > 1)?"s":"", cmdlinename[i], dropcnt[i]);
674 last_dropcnt[i] = dropcnt[i];
677 idx = idx2dindex(addr.can_ifindex, s[i]);
679 /* once we detected a EFF frame indent SFF frames accordingly */
680 if (frame.can_id & CAN_EFF_FLAG)
681 view |= CANLIB_VIEW_INDENT_SFF;
684 /* log CAN frame with absolute timestamp & device */
685 fprintf(logfile, "(%010ld.%06ld) ", tv.tv_sec, tv.tv_usec);
686 fprintf(logfile, "%*s ", max_devname_len, devname[idx]);
687 /* without seperator as logfile use-case is parsing */
688 fprint_canframe(logfile, &frame, "\n", 0, maxdlen);
692 /* print CAN frame in log file style to stdout */
693 printf("(%010ld.%06ld) ", tv.tv_sec, tv.tv_usec);
694 printf("%*s ", max_devname_len, devname[idx]);
695 fprint_canframe(stdout, &frame, "\n", 0, maxdlen);
696 goto out_fflush; /* no other output to stdout */
699 if (silent != SILENT_OFF){
700 if (silent == SILENT_ANI) {
701 printf("%c\b", anichar[silentani%=MAXANI]);
704 goto out_fflush; /* no other output to stdout */
707 printf(" %s", (color>2)?col_on[idx%MAXCOL]:"");
711 case 'a': /* absolute with timestamp */
712 printf("(%010ld.%06ld) ", tv.tv_sec, tv.tv_usec);
715 case 'A': /* absolute with date */
720 tm = *localtime(&tv.tv_sec);
721 strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
722 printf("(%s.%06ld) ", timestring, tv.tv_usec);
726 case 'd': /* delta */
727 case 'z': /* starting with zero */
731 if (last_tv.tv_sec == 0) /* first init */
733 diff.tv_sec = tv.tv_sec - last_tv.tv_sec;
734 diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
735 if (diff.tv_usec < 0)
736 diff.tv_sec--, diff.tv_usec += 1000000;
738 diff.tv_sec = diff.tv_usec = 0;
739 printf("(%03ld.%06ld) ", diff.tv_sec, diff.tv_usec);
741 if (timestamp == 'd')
742 last_tv = tv; /* update for delta calculation */
746 default: /* no timestamp output */
750 printf(" %s", (color && (color<3))?col_on[idx%MAXCOL]:"");
751 printf("%*s", max_devname_len, devname[idx]);
753 if (extra_msg_info) {
755 if (msg.msg_flags & MSG_DONTROUTE)
756 printf (" TX %s", extra_m_info[frame.flags & 3]);
758 printf (" RX %s", extra_m_info[frame.flags & 3]);
761 printf("%s ", (color==1)?col_off:"");
763 fprint_long_canframe(stdout, &frame, NULL, view, maxdlen);
765 printf("%s", (color>1)?col_off:"");
774 for (i=0; i<currmax; i++)