candump.c

   1 /*
   2  *  $Id$
   3  */
   4
   5 /*
   6  * candump.c
   7  *
   8  * Copyright (c) 2002-2009 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 MAXIFNAMES 30 /* size of receive name index to omit ioctls */
  72 #define MAXCOL 6      /* number of different colors for colorized output */
  73 #define ANYDEV "any"  /* name of interface to receive from any CAN interface */
  74 #define ANL "\r\n"    /* newline in ASC mode */
  75
  76 #define SILENT_INI 42 /* detect user setting on commandline */
  77 #define SILENT_OFF 0  /* no silent mode */
  78 #define SILENT_ANI 1  /* silent mode with animation */
  79 #define SILENT_ON  2  /* silent mode (completely silent) */
  80
  81 #define BOLD    ATTBOLD
  82 #define RED     ATTBOLD FGRED
  83 #define GREEN   ATTBOLD FGGREEN
  84 #define YELLOW  ATTBOLD FGYELLOW
  85 #define BLUE    ATTBOLD FGBLUE
  86 #define MAGENTA ATTBOLD FGMAGENTA
  87 #define CYAN    ATTBOLD FGCYAN
  88
  89 const char col_on [MAXCOL][19] = {BLUE, RED, GREEN, BOLD, MAGENTA, CYAN};
  90 const char col_off [] = ATTRESET;
  91
  92 static char devname[MAXIFNAMES][IFNAMSIZ+1];
  93 static int  dindex[MAXIFNAMES];
  94 static int  max_devname_len; /* to prevent frazzled device name output */
  95
  96 #define MAXANI 4
  97 const char anichar[MAXANI] = {'|', '/', '-', '\\'};
  98
  99 extern int optind, opterr, optopt;
 100
 101 static volatile int running = 1;
 102
 103 void print_usage(char *prg)
 104 {
 105         fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
 106         fprintf(stderr, "  (use CTRL-C to terminate %s)\n\n", prg);
 107         fprintf(stderr, "Options: -t <type>   (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
 108         fprintf(stderr, "         -c          (increment color mode level)\n");
 109         fprintf(stderr, "         -i          (binary output - may exceed 80 chars/line)\n");
 110         fprintf(stderr, "         -a          (enable additional ASCII output)\n");
 111         fprintf(stderr, "         -S          (swap byte order in printed CAN data[] - marked with '%c' )\n", SWAP_DELIMITER);
 112         fprintf(stderr, "         -s <level>  (silent mode - %d: off (default) %d: animation %d: silent)\n", SILENT_OFF, SILENT_ANI, SILENT_ON);
 113         fprintf(stderr, "         -b <can>    (bridge mode - send received frames to <can>)\n");
 114         fprintf(stderr, "         -B <can>    (bridge mode - like '-b' with disabled loopback)\n");
 115         fprintf(stderr, "         -l          (log CAN-frames into file. Sets '-s %d' by default)\n", SILENT_ON);
 116         fprintf(stderr, "         -L          (use log file format on stdout)\n");
 117         fprintf(stderr, "         -n <count>  (terminate after receiption of <count> CAN frames)\n");
 118         fprintf(stderr, "         -r <size>   (set socket receive buffer to <size>)\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, "\nComma separated filters can be specified for each given CAN interface:\n");
 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 rcvbuf_size = 0;
 208         int opt, ret;
 209         int currmax, numfilter;
 210         char *ptr, *nptr;
 211         struct sockaddr_can addr;
 212         struct can_filter *rfilter;
 213         can_err_mask_t err_mask;
 214         struct can_frame frame;
 215         int nbytes, i;
 216         struct ifreq ifr;
 217         struct timeval tv, last_tv;
 218         FILE *logfile = NULL;
 219
 220         signal(SIGTERM, sigterm);
 221         signal(SIGHUP, sigterm);
 222         signal(SIGINT, sigterm);
 223
 224         last_tv.tv_sec  = 0;
 225         last_tv.tv_usec = 0;
 226
 227         while ((opt = getopt(argc, argv, "t:ciaSs:b:B:lLn:r:h?")) != -1) {
 228                 switch (opt) {
 229                 case 't':
 230                         timestamp = optarg[0];
 231                         if ((timestamp != 'a') && (timestamp != 'A') &&
 232                             (timestamp != 'd') && (timestamp != 'z')) {
 233                                 fprintf(stderr, "%s: unknown timestamp mode '%c' - ignored\n",
 234                                        basename(argv[0]), optarg[0]);
 235                                 timestamp = 0;
 236                         }
 237                         break;
 238
 239                 case 'c':
 240                         color++;
 241                         break;
 242
 243                 case 'i':
 244                         view |= CANLIB_VIEW_BINARY;
 245                         break;
 246
 247                 case 'a':
 248                         view |= CANLIB_VIEW_ASCII;
 249                         break;
 250
 251                 case 'S':
 252                         view |= CANLIB_VIEW_SWAP;
 253                         break;
 254
 255                 case 's':
 256                         silent = atoi(optarg);
 257                         if (silent > SILENT_ON) {
 258                                 print_usage(basename(argv[0]));
 259                                 exit(1);
 260                         }
 261                         break;
 262
 263                 case 'b':
 264                 case 'B':
 265                         if (strlen(optarg) >= IFNAMSIZ) {
 266                                 fprintf(stderr, "Name of CAN device '%s' is too long!\n\n", optarg);
 267                                 return 1;
 268                         } else {
 269                                 bridge = socket(PF_CAN, SOCK_RAW, CAN_RAW);
 270                                 if (bridge < 0) {
 271                                         perror("bridge socket");
 272                                         return 1;
 273                                 }
 274                                 addr.can_family = AF_CAN;
 275                                 strcpy(ifr.ifr_name, optarg);
 276                                 if (ioctl(bridge, SIOCGIFINDEX, &ifr) < 0)
 277                                         perror("SIOCGIFINDEX");
 278                                 addr.can_ifindex = ifr.ifr_ifindex;
 279
 280                                 if (!addr.can_ifindex) {
 281                                         perror("invalid bridge interface");
 282                                         return 1;
 283                                 }
 284
 285                                 /* disable default receive filter on this write-only RAW socket */
 286                                 setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
 287
 288                                 if (opt == 'B') {
 289                                         int loopback = 0;
 290
 291                                         setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
 292                                                    &loopback, sizeof(loopback));
 293                                 }
 294
 295                                 if (bind(bridge, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 296                                         perror("bridge bind");
 297                                         return 1;
 298                                 }
 299                         }
 300                         break;
 301
 302                 case 'l':
 303                         log = 1;
 304                         break;
 305
 306                 case 'L':
 307                         logfrmt = 1;
 308                         break;
 309
 310                 case 'n':
 311                         count = atoi(optarg);
 312                         if (count < 1) {
 313                                 print_usage(basename(argv[0]));
 314                                 exit(1);
 315                         }
 316                         break;
 317
 318                 case 'r':
 319                         rcvbuf_size = atoi(optarg);
 320                         if (rcvbuf_size < 1) {
 321                                 print_usage(basename(argv[0]));
 322                                 exit(1);
 323                         }
 324                         break;
 325
 326                 default:
 327                         print_usage(basename(argv[0]));
 328                         exit(1);
 329                         break;
 330                 }
 331         }
 332
 333         if (optind == argc) {
 334                 print_usage(basename(argv[0]));
 335                 exit(0);
 336         }
 337
 338         if (logfrmt && view) {
 339                 fprintf(stderr, "Log file format selected: Please disable ASCII/BINARY/SWAP options!\n");
 340                 exit(0);
 341         }
 342
 343         if (silent == SILENT_INI) {
 344                 if (log) {
 345                         fprintf(stderr, "\nDisabled standard output while logging.");
 346                         silent = SILENT_ON; /* disable output on stdout */
 347                 } else
 348                         silent = SILENT_OFF; /* default output */
 349         }
 350
 351         currmax = argc - optind; /* find real number of CAN devices */
 352
 353         if (currmax > MAXSOCK) {
 354                 fprintf(stderr, "More than %d CAN devices given on commandline!\n", MAXSOCK);
 355                 return 1;
 356         }
 357
 358         for (i=0; i < currmax; i++) {
 359
 360                 ptr = argv[optind+i];
 361                 nptr = strchr(ptr, ',');
 362
 363 #ifdef DEBUG
 364                 printf("open %d '%s'.\n", i, ptr);
 365 #endif
 366
 367                 s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW);
 368                 if (s[i] < 0) {
 369                         perror("socket");
 370                         return 1;
 371                 }
 372
 373                 if (nptr)
 374                         nbytes = nptr - ptr;  /* interface name is up the first ',' */
 375                 else
 376                         nbytes = strlen(ptr); /* no ',' found => no filter definitions */
 377
 378                 if (nbytes >= IFNAMSIZ) {
 379                         fprintf(stderr, "name of CAN device '%s' is too long!\n", ptr);
 380                         return 1;
 381                 }
 382
 383                 if (nbytes > max_devname_len)
 384                         max_devname_len = nbytes; /* for nice printing */
 385
 386                 addr.can_family = AF_CAN;
 387
 388                 memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));
 389                 strncpy(ifr.ifr_name, ptr, nbytes);
 390
 391 #ifdef DEBUG
 392                 printf("using interface name '%s'.\n", ifr.ifr_name);
 393 #endif
 394
 395                 if (strcmp(ANYDEV, ifr.ifr_name)) {
 396                         if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
 397                                 perror("SIOCGIFINDEX");
 398                                 exit(1);
 399                         }
 400                         addr.can_ifindex = ifr.ifr_ifindex;
 401                 } else
 402                         addr.can_ifindex = 0; /* any can interface */
 403
 404                 if (nptr) {
 405
 406                         /* found a ',' after the interface name => check for filters */
 407
 408                         /* determine number of filters to alloc the filter space */
 409                         numfilter = 0;
 410                         ptr = nptr;
 411                         while (ptr) {
 412                                 numfilter++;
 413                                 ptr++; /* hop behind the ',' */
 414                                 ptr = strchr(ptr, ','); /* exit condition */
 415                         }
 416
 417                         rfilter = malloc(sizeof(struct can_filter) * numfilter);
 418                         if (!rfilter) {
 419                                 fprintf(stderr, "Failed to create filter space!\n");
 420                                 return 1;
 421                         }
 422
 423                         numfilter = 0;
 424                         err_mask = 0;
 425
 426                         while (nptr) {
 427
 428                                 ptr = nptr+1; /* hop behind the ',' */
 429                                 nptr = strchr(ptr, ','); /* update exit condition */
 430
 431                                 if (sscanf(ptr, "%lx:%lx",
 432                                            (long unsigned int *)
 433                                            &rfilter[numfilter].can_id,
 434                                            (long unsigned int *)
 435                                            &rfilter[numfilter].can_mask) == 2) {
 436                                         rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
 437                                         numfilter++;
 438                                 } else if (sscanf(ptr, "%lx~%lx",
 439                                                   (long unsigned int *)
 440                                                   &rfilter[numfilter].can_id,
 441                                                   (long unsigned int *)
 442                                                   &rfilter[numfilter].can_mask) == 2) {
 443                                         rfilter[numfilter].can_id |= CAN_INV_FILTER;
 444                                         rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
 445                                         numfilter++;
 446                                 } else if (sscanf(ptr, "#%lx",
 447                                                   (long unsigned int *)&err_mask) != 1) {
 448                                         fprintf(stderr, "Error in filter option parsing: '%s'\n", ptr);
 449                                         exit(1);
 450                                 }
 451                         }
 452
 453                         if (err_mask)
 454                                 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
 455                                            &err_mask, sizeof(err_mask));
 456
 457                         if (numfilter)
 458                                 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
 459                                            rfilter, numfilter * sizeof(struct can_filter));
 460
 461                         free(rfilter);
 462
 463                 } /* if (nptr) */
 464
 465                 if (rcvbuf_size) {
 466
 467                         int curr_rcvbuf_size;
 468                         socklen_t curr_rcvbuf_size_len = sizeof(curr_rcvbuf_size);
 469
 470                         if (setsockopt(s[i], SOL_SOCKET, SO_RCVBUF,
 471                                        &rcvbuf_size, sizeof(rcvbuf_size)) < 0) {
 472                                 perror("setsockopt SO_RCVBUF");
 473                                 exit(1);
 474                         }
 475
 476                         if (getsockopt(s[i], SOL_SOCKET, SO_RCVBUF,
 477                                        &curr_rcvbuf_size, &curr_rcvbuf_size_len) < 0) {
 478                                 perror("getsockopt SO_RCVBUF");
 479                                 exit(1);
 480                         }
 481
 482                         /* Only print a warning the first time we detect the adjustment */
 483                         /* n.b.: The wanted size is doubled in Linux in net/sore/sock.c */
 484                         if (!i && curr_rcvbuf_size < rcvbuf_size*2)
 485                                 fprintf(stderr, "The socket receive buffer size was "
 486                                         "adjusted due to /proc/sys/net/core/rmem_max.\n");
 487                 }
 488
 489                 if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 490                         perror("bind");
 491                         return 1;
 492                 }
 493         }
 494
 495         if (log) {
 496                 time_t currtime;
 497                 struct tm now;
 498                 char fname[sizeof("candump-2006-11-20_202026.log")+1];
 499
 500                 if (time(&currtime) == (time_t)-1) {
 501                         perror("time");
 502                         return 1;
 503                 }
 504
 505                 localtime_r(&currtime, &now);
 506
 507                 sprintf(fname, "candump-%04d-%02d-%02d_%02d%02d%02d.log",
 508                         now.tm_year + 1900,
 509                         now.tm_mon + 1,
 510                         now.tm_mday,
 511                         now.tm_hour,
 512                         now.tm_min,
 513                         now.tm_sec);
 514
 515                 if (silent != SILENT_ON)
 516                         printf("\nWarning: console output active while logging!");
 517
 518                 fprintf(stderr, "\nEnabling Logfile '%s'\n\n", fname);
 519
 520                 logfile = fopen(fname, "w");
 521                 if (!logfile) {
 522                         perror("logfile");
 523                         return 1;
 524                 }
 525         }
 526
 527         while (running) {
 528
 529                 FD_ZERO(&rdfs);
 530                 for (i=0; i<currmax; i++)
 531                         FD_SET(s[i], &rdfs);
 532
 533                 if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, NULL)) < 0) {
 534                         //perror("select");
 535                         running = 0;
 536                         continue;
 537                 }
 538
 539                 for (i=0; i<currmax; i++) {  /* check all CAN RAW sockets */
 540
 541                         if (FD_ISSET(s[i], &rdfs)) {
 542
 543                                 socklen_t len = sizeof(addr);
 544                                 int idx;
 545
 546                                 nbytes = recvfrom(s[i], &frame, sizeof(struct can_frame), 0,
 547                                                   (struct sockaddr*)&addr, &len);
 548                                 if (nbytes < 0) {
 549                                         perror("read");
 550                                         return 1;
 551                                 }
 552
 553                                 if (nbytes < sizeof(struct can_frame)) {
 554                                         fprintf(stderr, "read: incomplete CAN frame\n");
 555                                         return 1;
 556                                 }
 557
 558                                 if (count && (--count == 0))
 559                                         running = 0;
 560
 561                                 if (bridge) {
 562                                         nbytes = write(bridge, &frame, sizeof(struct can_frame));
 563                                         if (nbytes < 0) {
 564                                                 perror("bridge write");
 565                                                 return 1;
 566                                         } else if (nbytes < sizeof(struct can_frame)) {
 567                                                 fprintf(stderr,"bridge write: incomplete CAN frame\n");
 568                                                 return 1;
 569                                         }
 570                                 }
 571
 572                                 if (timestamp || log || logfrmt)
 573                                         if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
 574                                                 perror("SIOCGSTAMP");
 575
 576
 577                                 idx = idx2dindex(addr.can_ifindex, s[i]);
 578
 579                                 if (log) {
 580                                         /* log CAN frame with absolute timestamp & device */
 581                                         fprintf(logfile, "(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 582                                         fprintf(logfile, "%*s ", max_devname_len, devname[idx]);
 583                                         /* without seperator as logfile use-case is parsing */
 584                                         fprint_canframe(logfile, &frame, "\n", 0);
 585                                 }
 586
 587                                 if (logfrmt) {
 588                                         /* print CAN frame in log file style to stdout */
 589                                         printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 590                                         printf("%*s ", max_devname_len, devname[idx]);
 591                                         fprint_canframe(stdout, &frame, "\n", 0);
 592                                         goto out_fflush; /* no other output to stdout */
 593                                 }
 594
 595                                 if (silent != SILENT_OFF){
 596                                         if (silent == SILENT_ANI) {
 597                                                 printf("%c\b", anichar[silentani%=MAXANI]);
 598                                                 silentani++;
 599                                         }
 600                                         goto out_fflush; /* no other output to stdout */
 601                                 }
 602
 603                                 printf(" %s", (color>2)?col_on[idx%MAXCOL]:"");
 604
 605                                 switch (timestamp) {
 606
 607                                 case 'a': /* absolute with timestamp */
 608                                         printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 609                                         break;
 610
 611                                 case 'A': /* absolute with date */
 612                                 {
 613                                         struct tm tm;
 614                                         char timestring[25];
 615
 616                                         tm = *localtime(&tv.tv_sec);
 617                                         strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
 618                                         printf("(%s.%06ld) ", timestring, tv.tv_usec);
 619                                 }
 620                                 break;
 621
 622                                 case 'd': /* delta */
 623                                 case 'z': /* starting with zero */
 624                                 {
 625                                         struct timeval diff;
 626
 627                                         if (last_tv.tv_sec == 0)   /* first init */
 628                                                 last_tv = tv;
 629                                         diff.tv_sec  = tv.tv_sec  - last_tv.tv_sec;
 630                                         diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
 631                                         if (diff.tv_usec < 0)
 632                                                 diff.tv_sec--, diff.tv_usec += 1000000;
 633                                         if (diff.tv_sec < 0)
 634                                                 diff.tv_sec = diff.tv_usec = 0;
 635                                         printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
 636
 637                                         if (timestamp == 'd')
 638                                                 last_tv = tv; /* update for delta calculation */
 639                                 }
 640                                 break;
 641
 642                                 default: /* no timestamp output */
 643                                         break;
 644                                 }
 645
 646                                 printf(" %s", (color && (color<3))?col_on[idx%MAXCOL]:"");
 647                                 printf("%*s", max_devname_len, devname[idx]);
 648                                 printf("%s  ", (color==1)?col_off:"");
 649
 650                                 fprint_long_canframe(stdout, &frame, NULL, view);
 651
 652                                 printf("%s", (color>1)?col_off:"");
 653                                 printf("\n");
 654                         }
 655
 656                 out_fflush:
 657                         fflush(stdout);
 658                 }
 659         }
 660
 661         for (i=0; i<currmax; i++)
 662                 close(s[i]);
 663
 664         if (bridge)
 665                 close(bridge);
 666
 667         if (log)
 668                 fclose(logfile);
 669
 670         return 0;
 671 }