8 * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
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20 * may be used to endorse or promote products derived from this software
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24 * software may be distributed under the terms of the GNU General
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28 * The provided data structures and external interfaces from this code
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58 #include <sys/types.h>
59 #include <sys/socket.h>
60 #include <sys/ioctl.h>
64 #include <linux/can.h>
65 #include <linux/can/raw.h>
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 */
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) */
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
90 const char col_on [MAXCOL][19] = {BLUE, RED, GREEN, BOLD, MAGENTA, CYAN};
91 const char col_off [] = ATTRESET;
93 static char devname[MAXIFNAMES][IFNAMSIZ+1];
94 static int dindex[MAXIFNAMES];
95 static int max_devname_len; /* to prevent frazzled device name output */
98 const char anichar[MAXANI] = {'|', '/', '-', '\\'};
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, " -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");
119 fprintf(stderr, "Up to %d CAN interfaces with optional filter sets can be specified\n", MAXSOCK);
120 fprintf(stderr, "on the commandline in the form: <ifname>[,filter]*\n");
121 fprintf(stderr, "\nUp to %d comma separated filters can be specified for each given CAN interface:\n", MAXFILTER);
122 fprintf(stderr, " <can_id>:<can_mask> (matches when <received_can_id> & mask == can_id & mask)\n");
123 fprintf(stderr, " <can_id>~<can_mask> (matches when <received_can_id> & mask != can_id & mask)\n");
124 fprintf(stderr, " #<error_mask> (set error frame filter, see include/linux/can/error.h)\n");
125 fprintf(stderr, "\nCAN IDs, masks and data content are given and expected in hexadecimal values.\n");
126 fprintf(stderr, "When can_id and can_mask are both 8 digits, they are assumed to be 29 bit EFF.\n");
127 fprintf(stderr, "Without any given filter all data frames are received ('0:0' default filter).\n");
128 fprintf(stderr, "\nUse interface name '%s' to receive from all CAN interfaces.\n", ANYDEV);
129 fprintf(stderr, "\nExamples:\n");
130 fprintf(stderr, "%s -c -c -ta can0,123:7FF,400:700,#000000FF can2,400~7F0 can3 can8\n", prg);
131 fprintf(stderr, "%s -l any,0~0,#FFFFFFFF (log only error frames but no(!) data frames)\n", prg);
132 fprintf(stderr, "%s -l any,0:0,#FFFFFFFF (log error frames and also all data frames)\n", prg);
133 fprintf(stderr, "%s vcan2,92345678:DFFFFFFF (match only for extended CAN ID 12345678)\n", prg);
134 fprintf(stderr, "%s vcan2,123:7FF (matches CAN ID 123 - including EFF and RTR frames)\n", prg);
135 fprintf(stderr, "%s vcan2,123:C00007FF (matches CAN ID 123 - only SFF and non-RTR frames)\n", prg);
136 fprintf(stderr, "\n");
139 void sigterm(int signo)
144 int idx2dindex(int ifidx, int socket) {
149 for (i=0; i < MAXIFNAMES; i++) {
150 if (dindex[i] == ifidx)
154 /* create new interface index cache entry */
156 /* remove index cache zombies first */
157 for (i=0; i < MAXIFNAMES; i++) {
159 ifr.ifr_ifindex = dindex[i];
160 if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
165 for (i=0; i < MAXIFNAMES; i++)
166 if (!dindex[i]) /* free entry */
169 if (i == MAXIFNAMES) {
170 fprintf(stderr, "Interface index cache only supports %d interfaces.\n",
177 ifr.ifr_ifindex = ifidx;
178 if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
179 perror("SIOCGIFNAME");
181 if (max_devname_len < strlen(ifr.ifr_name))
182 max_devname_len = strlen(ifr.ifr_name);
184 strcpy(devname[i], ifr.ifr_name);
187 printf("new index %d (%s)\n", i, devname[i]);
193 int main(int argc, char **argv)
198 unsigned char timestamp = 0;
199 unsigned char silent = SILENT_INI;
200 unsigned char silentani = 0;
201 unsigned char color = 0;
202 unsigned char view = 0;
203 unsigned char log = 0;
204 unsigned char logfrmt = 0;
206 int currmax, numfilter;
208 struct sockaddr_can addr;
209 struct can_filter rfilter[MAXFILTER];
210 can_err_mask_t err_mask;
211 struct can_frame frame;
214 struct timeval tv, last_tv;
215 FILE *logfile = NULL;
217 signal(SIGTERM, sigterm);
218 signal(SIGHUP, sigterm);
219 signal(SIGINT, sigterm);
224 while ((opt = getopt(argc, argv, "t:ciaSs:b:B:lLh?")) != -1) {
227 timestamp = optarg[0];
228 if ((timestamp != 'a') && (timestamp != 'A') &&
229 (timestamp != 'd') && (timestamp != 'z')) {
230 fprintf(stderr, "%s: unknown timestamp mode '%c' - ignored\n",
231 basename(argv[0]), optarg[0]);
241 view |= CANLIB_VIEW_BINARY;
245 view |= CANLIB_VIEW_ASCII;
249 view |= CANLIB_VIEW_SWAP;
253 silent = atoi(optarg);
254 if (silent > SILENT_ON) {
255 print_usage(basename(argv[0]));
262 if (strlen(optarg) >= IFNAMSIZ) {
263 fprintf(stderr, "Name of CAN device '%s' is too long!\n\n", optarg);
266 bridge = socket(PF_CAN, SOCK_RAW, CAN_RAW);
268 perror("bridge socket");
271 addr.can_family = AF_CAN;
272 strcpy(ifr.ifr_name, optarg);
273 if (ioctl(bridge, SIOCGIFINDEX, &ifr) < 0)
274 perror("SIOCGIFINDEX");
275 addr.can_ifindex = ifr.ifr_ifindex;
277 if (!addr.can_ifindex) {
278 perror("invalid bridge interface");
282 /* disable default receive filter on this write-only RAW socket */
283 setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
288 setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
289 &loopback, sizeof(loopback));
292 if (bind(bridge, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
293 perror("bridge bind");
308 print_usage(basename(argv[0]));
314 if (optind == argc) {
315 print_usage(basename(argv[0]));
319 if (logfrmt && view) {
320 fprintf(stderr, "Log file format selected: Please disable ASCII/BINARY/SWAP options!\n");
324 if (silent == SILENT_INI) {
326 fprintf(stderr, "\nDisabled standard output while logging.");
327 silent = SILENT_ON; /* disable output on stdout */
329 silent = SILENT_OFF; /* default output */
332 currmax = argc - optind; /* find real number of CAN devices */
334 if (currmax > MAXSOCK) {
335 fprintf(stderr, "More than %d CAN devices given on commandline!\n", MAXSOCK);
339 for (i=0; i < currmax; i++) {
341 ptr = argv[optind+i];
342 nptr = strchr(ptr, ',');
345 printf("open %d '%s'.\n", i, ptr);
348 s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW);
355 nbytes = nptr - ptr; /* interface name is up the first ',' */
357 nbytes = strlen(ptr); /* no ',' found => no filter definitions */
359 if (nbytes >= IFNAMSIZ) {
360 fprintf(stderr, "name of CAN device '%s' is too long!\n", ptr);
364 if (nbytes > max_devname_len)
365 max_devname_len = nbytes; /* for nice printing */
367 addr.can_family = AF_CAN;
369 memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));
370 strncpy(ifr.ifr_name, ptr, nbytes);
373 printf("using interface name '%s'.\n", ifr.ifr_name);
376 if (strcmp(ANYDEV, ifr.ifr_name)) {
377 if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
378 perror("SIOCGIFINDEX");
381 addr.can_ifindex = ifr.ifr_ifindex;
383 addr.can_ifindex = 0; /* any can interface */
387 /* found a ',' after the interface name => check for filters */
394 ptr = nptr+1; /* hop behind the ',' */
395 nptr = strchr(ptr, ','); /* update exit condition */
397 if (sscanf(ptr, "%lx:%lx",
398 (long unsigned int *)
399 &rfilter[numfilter].can_id,
400 (long unsigned int *)
401 &rfilter[numfilter].can_mask) == 2) {
402 rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
404 } else if (sscanf(ptr, "%lx~%lx",
405 (long unsigned int *)
406 &rfilter[numfilter].can_id,
407 (long unsigned int *)
408 &rfilter[numfilter].can_mask) == 2) {
409 rfilter[numfilter].can_id |= CAN_INV_FILTER;
410 rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
412 } else if (sscanf(ptr, "#%lx",
413 (long unsigned int *)&err_mask) != 1) {
414 fprintf(stderr, "Error in filter option parsing: '%s'\n", ptr);
418 if (numfilter > MAXFILTER) {
419 fprintf(stderr, "Too many filters specified for '%s'.\n",
426 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
427 &err_mask, sizeof(err_mask));
430 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
431 &rfilter, numfilter * sizeof(struct can_filter));
434 if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
443 char fname[sizeof("candump-2006-11-20_202026.log")+1];
445 if (time(&currtime) == (time_t)-1) {
450 localtime_r(&currtime, &now);
452 sprintf(fname, "candump-%04d-%02d-%02d_%02d%02d%02d.log",
460 if (silent != SILENT_ON)
461 printf("\nWarning: console output active while logging!");
463 fprintf(stderr, "\nEnabling Logfile '%s'\n\n", fname);
465 logfile = fopen(fname, "w");
475 for (i=0; i<currmax; i++)
478 if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, NULL)) < 0) {
484 for (i=0; i<currmax; i++) { /* check all CAN RAW sockets */
486 if (FD_ISSET(s[i], &rdfs)) {
488 socklen_t len = sizeof(addr);
491 nbytes = recvfrom(s[i], &frame, sizeof(struct can_frame), 0,
492 (struct sockaddr*)&addr, &len);
498 if (nbytes < sizeof(struct can_frame)) {
499 fprintf(stderr, "read: incomplete CAN frame\n");
504 nbytes = write(bridge, &frame, sizeof(struct can_frame));
506 perror("bridge write");
508 } else if (nbytes < sizeof(struct can_frame)) {
509 fprintf(stderr,"bridge write: incomplete CAN frame\n");
514 if (timestamp || log || logfrmt)
515 if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
516 perror("SIOCGSTAMP");
519 idx = idx2dindex(addr.can_ifindex, s[i]);
522 /* log CAN frame with absolute timestamp & device */
523 fprintf(logfile, "(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
524 fprintf(logfile, "%*s ", max_devname_len, devname[idx]);
525 /* without seperator as logfile use-case is parsing */
526 fprint_canframe(logfile, &frame, "\n", 0);
530 /* print CAN frame in log file style to stdout */
531 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
532 printf("%*s ", max_devname_len, devname[idx]);
533 fprint_canframe(stdout, &frame, "\n", 0);
534 goto out_fflush; /* no other output to stdout */
537 if (silent != SILENT_OFF){
538 if (silent == SILENT_ANI) {
539 printf("%c\b", anichar[silentani%=MAXANI]);
542 goto out_fflush; /* no other output to stdout */
545 printf(" %s", (color>2)?col_on[idx%MAXCOL]:"");
549 case 'a': /* absolute with timestamp */
550 printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
553 case 'A': /* absolute with date */
558 tm = *localtime(&tv.tv_sec);
559 strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
560 printf("(%s.%06ld) ", timestring, tv.tv_usec);
564 case 'd': /* delta */
565 case 'z': /* starting with zero */
569 if (last_tv.tv_sec == 0) /* first init */
571 diff.tv_sec = tv.tv_sec - last_tv.tv_sec;
572 diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
573 if (diff.tv_usec < 0)
574 diff.tv_sec--, diff.tv_usec += 1000000;
576 diff.tv_sec = diff.tv_usec = 0;
577 printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
579 if (timestamp == 'd')
580 last_tv = tv; /* update for delta calculation */
584 default: /* no timestamp output */
588 printf(" %s", (color && (color<3))?col_on[idx%MAXCOL]:"");
589 printf("%*s", max_devname_len, devname[idx]);
590 printf("%s ", (color==1)?col_off:"");
592 fprint_long_canframe(stdout, &frame, NULL, view);
594 printf("%s", (color>1)?col_off:"");
603 for (i=0; i<currmax; i++)