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 <linux-can@vger.kernel.org>
  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 *cmdlinename[MAXSOCK];
  93 static __u32 dropcnt[MAXSOCK];
  94 static __u32 last_dropcnt[MAXSOCK];
  95 static char devname[MAXIFNAMES][IFNAMSIZ+1];
  96 static int  dindex[MAXIFNAMES];
  97 static int  max_devname_len; /* to prevent frazzled device name output */
  98 const int canfd_on = 1;
  99
 100 #define MAXANI 4
 101 const char anichar[MAXANI] = {'|', '/', '-', '\\'};
 102
 103 extern int optind, opterr, optopt;
 104
 105 static volatile int running = 1;
 106
 107 void print_usage(char *prg)
 108 {
 109         fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
 110         fprintf(stderr, "  (use CTRL-C to terminate %s)\n\n", prg);
 111         fprintf(stderr, "Options: -t <type>   (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
 112         fprintf(stderr, "         -c          (increment color mode level)\n");
 113         fprintf(stderr, "         -i          (binary output - may exceed 80 chars/line)\n");
 114         fprintf(stderr, "         -a          (enable additional ASCII output)\n");
 115         fprintf(stderr, "         -S          (swap byte order in printed CAN data[] - marked with '%c' )\n", SWAP_DELIMITER);
 116         fprintf(stderr, "         -s <level>  (silent mode - %d: off (default) %d: animation %d: silent)\n", SILENT_OFF, SILENT_ANI, SILENT_ON);
 117         fprintf(stderr, "         -b <can>    (bridge mode - send received frames to <can>)\n");
 118         fprintf(stderr, "         -B <can>    (bridge mode - like '-b' with disabled loopback)\n");
 119         fprintf(stderr, "         -u <usecs>  (delay bridge forwarding by <usecs> microseconds)\n");
 120         fprintf(stderr, "         -l          (log CAN-frames into file. Sets '-s %d' by default)\n", SILENT_ON);
 121         fprintf(stderr, "         -L          (use log file format on stdout)\n");
 122         fprintf(stderr, "         -n <count>  (terminate after receiption of <count> CAN frames)\n");
 123         fprintf(stderr, "         -r <size>   (set socket receive buffer to <size>)\n");
 124         fprintf(stderr, "         -d          (monitor dropped CAN frames)\n");
 125         fprintf(stderr, "         -e          (dump CAN error frames in human-readable format)\n");
 126         fprintf(stderr, "\n");
 127         fprintf(stderr, "Up to %d CAN interfaces with optional filter sets can be specified\n", MAXSOCK);
 128         fprintf(stderr, "on the commandline in the form: <ifname>[,filter]*\n");
 129         fprintf(stderr, "\nComma separated filters can be specified for each given CAN interface:\n");
 130         fprintf(stderr, " <can_id>:<can_mask> (matches when <received_can_id> & mask == can_id & mask)\n");
 131         fprintf(stderr, " <can_id>~<can_mask> (matches when <received_can_id> & mask != can_id & mask)\n");
 132         fprintf(stderr, " #<error_mask>       (set error frame filter, see include/linux/can/error.h)\n");
 133         fprintf(stderr, "\nCAN IDs, masks and data content are given and expected in hexadecimal values.\n");
 134         fprintf(stderr, "When can_id and can_mask are both 8 digits, they are assumed to be 29 bit EFF.\n");
 135         fprintf(stderr, "Without any given filter all data frames are received ('0:0' default filter).\n");
 136         fprintf(stderr, "\nUse interface name '%s' to receive from all CAN interfaces.\n", ANYDEV);
 137         fprintf(stderr, "\nExamples:\n");
 138         fprintf(stderr, "%s -c -c -ta can0,123:7FF,400:700,#000000FF can2,400~7F0 can3 can8\n", prg);
 139         fprintf(stderr, "%s -l any,0~0,#FFFFFFFF    (log only error frames but no(!) data frames)\n", prg);
 140         fprintf(stderr, "%s -l any,0:0,#FFFFFFFF    (log error frames and also all data frames)\n", prg);
 141         fprintf(stderr, "%s vcan2,92345678:DFFFFFFF (match only for extended CAN ID 12345678)\n", prg);
 142         fprintf(stderr, "%s vcan2,123:7FF (matches CAN ID 123 - including EFF and RTR frames)\n", prg);
 143         fprintf(stderr, "%s vcan2,123:C00007FF (matches CAN ID 123 - only SFF and non-RTR frames)\n", prg);
 144         fprintf(stderr, "\n");
 145 }
 146
 147 void sigterm(int signo)
 148 {
 149         running = 0;
 150 }
 151
 152 int idx2dindex(int ifidx, int socket) {
 153
 154         int i;
 155         struct ifreq ifr;
 156
 157         for (i=0; i < MAXIFNAMES; i++) {
 158                 if (dindex[i] == ifidx)
 159                         return i;
 160         }
 161
 162         /* create new interface index cache entry */
 163
 164         /* remove index cache zombies first */
 165         for (i=0; i < MAXIFNAMES; i++) {
 166                 if (dindex[i]) {
 167                         ifr.ifr_ifindex = dindex[i];
 168                         if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
 169                                 dindex[i] = 0;
 170                 }
 171         }
 172
 173         for (i=0; i < MAXIFNAMES; i++)
 174                 if (!dindex[i]) /* free entry */
 175                         break;
 176
 177         if (i == MAXIFNAMES) {
 178                 fprintf(stderr, "Interface index cache only supports %d interfaces.\n",
 179                        MAXIFNAMES);
 180                 exit(1);
 181         }
 182
 183         dindex[i] = ifidx;
 184
 185         ifr.ifr_ifindex = ifidx;
 186         if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
 187                 perror("SIOCGIFNAME");
 188
 189         if (max_devname_len < strlen(ifr.ifr_name))
 190                 max_devname_len = strlen(ifr.ifr_name);
 191
 192         strcpy(devname[i], ifr.ifr_name);
 193
 194 #ifdef DEBUG
 195         printf("new index %d (%s)\n", i, devname[i]);
 196 #endif
 197
 198         return i;
 199 }
 200
 201 int main(int argc, char **argv)
 202 {
 203         fd_set rdfs;
 204         int s[MAXSOCK];
 205         int bridge = 0;
 206         useconds_t bridge_delay = 0;
 207         unsigned char timestamp = 0;
 208         unsigned char dropmonitor = 0;
 209         unsigned char silent = SILENT_INI;
 210         unsigned char silentani = 0;
 211         unsigned char color = 0;
 212         unsigned char view = 0;
 213         unsigned char log = 0;
 214         unsigned char logfrmt = 0;
 215         int count = 0;
 216         int rcvbuf_size = 0;
 217         int opt, ret;
 218         int currmax, numfilter;
 219         char *ptr, *nptr;
 220         struct sockaddr_can addr;
 221         char ctrlmsg[CMSG_SPACE(sizeof(struct timeval)) + CMSG_SPACE(sizeof(__u32))];
 222         struct iovec iov;
 223         struct msghdr msg;
 224         struct cmsghdr *cmsg;
 225         struct can_filter *rfilter;
 226         can_err_mask_t err_mask;
 227         struct canfd_frame frame;
 228         int nbytes, i, maxdlen;
 229         struct ifreq ifr;
 230         struct timeval tv, last_tv;
 231         FILE *logfile = NULL;
 232
 233         signal(SIGTERM, sigterm);
 234         signal(SIGHUP, sigterm);
 235         signal(SIGINT, sigterm);
 236
 237         last_tv.tv_sec  = 0;
 238         last_tv.tv_usec = 0;
 239
 240         while ((opt = getopt(argc, argv, "t:ciaSs:b:B:u:ldLn:r:he?")) != -1) {
 241                 switch (opt) {
 242                 case 't':
 243                         timestamp = optarg[0];
 244                         if ((timestamp != 'a') && (timestamp != 'A') &&
 245                             (timestamp != 'd') && (timestamp != 'z')) {
 246                                 fprintf(stderr, "%s: unknown timestamp mode '%c' - ignored\n",
 247                                        basename(argv[0]), optarg[0]);
 248                                 timestamp = 0;
 249                         }
 250                         break;
 251
 252                 case 'c':
 253                         color++;
 254                         break;
 255
 256                 case 'i':
 257                         view |= CANLIB_VIEW_BINARY;
 258                         break;
 259
 260                 case 'a':
 261                         view |= CANLIB_VIEW_ASCII;
 262                         break;
 263
 264                 case 'S':
 265                         view |= CANLIB_VIEW_SWAP;
 266                         break;
 267
 268                 case 'e':
 269                         view |= CANLIB_VIEW_ERROR;
 270                         break;
 271
 272                 case 's':
 273                         silent = atoi(optarg);
 274                         if (silent > SILENT_ON) {
 275                                 print_usage(basename(argv[0]));
 276                                 exit(1);
 277                         }
 278                         break;
 279
 280                 case 'b':
 281                 case 'B':
 282                         if (strlen(optarg) >= IFNAMSIZ) {
 283                                 fprintf(stderr, "Name of CAN device '%s' is too long!\n\n", optarg);
 284                                 return 1;
 285                         } else {
 286                                 bridge = socket(PF_CAN, SOCK_RAW, CAN_RAW);
 287                                 if (bridge < 0) {
 288                                         perror("bridge socket");
 289                                         return 1;
 290                                 }
 291                                 addr.can_family = AF_CAN;
 292                                 strcpy(ifr.ifr_name, optarg);
 293                                 if (ioctl(bridge, SIOCGIFINDEX, &ifr) < 0)
 294                                         perror("SIOCGIFINDEX");
 295                                 addr.can_ifindex = ifr.ifr_ifindex;
 296
 297                                 if (!addr.can_ifindex) {
 298                                         perror("invalid bridge interface");
 299                                         return 1;
 300                                 }
 301
 302                                 /* disable default receive filter on this write-only RAW socket */
 303                                 setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
 304
 305                                 if (opt == 'B') {
 306                                         const int loopback = 0;
 307
 308                                         setsockopt(bridge, SOL_CAN_RAW, CAN_RAW_LOOPBACK,
 309                                                    &loopback, sizeof(loopback));
 310                                 }
 311
 312                                 if (bind(bridge, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 313                                         perror("bridge bind");
 314                                         return 1;
 315                                 }
 316                         }
 317                         break;
 318
 319                 case 'u':
 320                         bridge_delay = (useconds_t)strtoul(optarg, (char **)NULL, 10);
 321                         break;
 322
 323                 case 'l':
 324                         log = 1;
 325                         break;
 326
 327                 case 'd':
 328                         dropmonitor = 1;
 329                         break;
 330
 331                 case 'L':
 332                         logfrmt = 1;
 333                         break;
 334
 335                 case 'n':
 336                         count = atoi(optarg);
 337                         if (count < 1) {
 338                                 print_usage(basename(argv[0]));
 339                                 exit(1);
 340                         }
 341                         break;
 342
 343                 case 'r':
 344                         rcvbuf_size = atoi(optarg);
 345                         if (rcvbuf_size < 1) {
 346                                 print_usage(basename(argv[0]));
 347                                 exit(1);
 348                         }
 349                         break;
 350
 351                 default:
 352                         print_usage(basename(argv[0]));
 353                         exit(1);
 354                         break;
 355                 }
 356         }
 357
 358         if (optind == argc) {
 359                 print_usage(basename(argv[0]));
 360                 exit(0);
 361         }
 362
 363         if (logfrmt && view) {
 364                 fprintf(stderr, "Log file format selected: Please disable ASCII/BINARY/SWAP options!\n");
 365                 exit(0);
 366         }
 367
 368         if (silent == SILENT_INI) {
 369                 if (log) {
 370                         fprintf(stderr, "Disabled standard output while logging.\n");
 371                         silent = SILENT_ON; /* disable output on stdout */
 372                 } else
 373                         silent = SILENT_OFF; /* default output */
 374         }
 375
 376         currmax = argc - optind; /* find real number of CAN devices */
 377
 378         if (currmax > MAXSOCK) {
 379                 fprintf(stderr, "More than %d CAN devices given on commandline!\n", MAXSOCK);
 380                 return 1;
 381         }
 382
 383         for (i=0; i < currmax; i++) {
 384
 385                 ptr = argv[optind+i];
 386                 nptr = strchr(ptr, ',');
 387
 388 #ifdef DEBUG
 389                 printf("open %d '%s'.\n", i, ptr);
 390 #endif
 391
 392                 s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW);
 393                 if (s[i] < 0) {
 394                         perror("socket");
 395                         return 1;
 396                 }
 397
 398                 cmdlinename[i] = ptr; /* save pointer to cmdline name of this socket */
 399
 400                 if (nptr)
 401                         nbytes = nptr - ptr;  /* interface name is up the first ',' */
 402                 else
 403                         nbytes = strlen(ptr); /* no ',' found => no filter definitions */
 404
 405                 if (nbytes >= IFNAMSIZ) {
 406                         fprintf(stderr, "name of CAN device '%s' is too long!\n", ptr);
 407                         return 1;
 408                 }
 409
 410                 if (nbytes > max_devname_len)
 411                         max_devname_len = nbytes; /* for nice printing */
 412
 413                 addr.can_family = AF_CAN;
 414
 415                 memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));
 416                 strncpy(ifr.ifr_name, ptr, nbytes);
 417
 418 #ifdef DEBUG
 419                 printf("using interface name '%s'.\n", ifr.ifr_name);
 420 #endif
 421
 422                 if (strcmp(ANYDEV, ifr.ifr_name)) {
 423                         if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
 424                                 perror("SIOCGIFINDEX");
 425                                 exit(1);
 426                         }
 427                         addr.can_ifindex = ifr.ifr_ifindex;
 428                 } else
 429                         addr.can_ifindex = 0; /* any can interface */
 430
 431                 if (nptr) {
 432
 433                         /* found a ',' after the interface name => check for filters */
 434
 435                         /* determine number of filters to alloc the filter space */
 436                         numfilter = 0;
 437                         ptr = nptr;
 438                         while (ptr) {
 439                                 numfilter++;
 440                                 ptr++; /* hop behind the ',' */
 441                                 ptr = strchr(ptr, ','); /* exit condition */
 442                         }
 443
 444                         rfilter = malloc(sizeof(struct can_filter) * numfilter);
 445                         if (!rfilter) {
 446                                 fprintf(stderr, "Failed to create filter space!\n");
 447                                 return 1;
 448                         }
 449
 450                         numfilter = 0;
 451                         err_mask = 0;
 452
 453                         while (nptr) {
 454
 455                                 ptr = nptr+1; /* hop behind the ',' */
 456                                 nptr = strchr(ptr, ','); /* update exit condition */
 457
 458                                 if (sscanf(ptr, "%x:%x",
 459                                            &rfilter[numfilter].can_id,
 460                                            &rfilter[numfilter].can_mask) == 2) {
 461                                         rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
 462                                         numfilter++;
 463                                 } else if (sscanf(ptr, "%x~%x",
 464                                                   &rfilter[numfilter].can_id,
 465                                                   &rfilter[numfilter].can_mask) == 2) {
 466                                         rfilter[numfilter].can_id |= CAN_INV_FILTER;
 467                                         rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
 468                                         numfilter++;
 469                                 } else if (sscanf(ptr, "#%x", &err_mask) != 1) {
 470                                         fprintf(stderr, "Error in filter option parsing: '%s'\n", ptr);
 471                                         return 1;
 472                                 }
 473                         }
 474
 475                         if (err_mask)
 476                                 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
 477                                            &err_mask, sizeof(err_mask));
 478
 479                         if (numfilter)
 480                                 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
 481                                            rfilter, numfilter * sizeof(struct can_filter));
 482
 483                         free(rfilter);
 484
 485                 } /* if (nptr) */
 486
 487                 /* try to switch the socket into CAN FD mode */
 488                 setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on));
 489
 490                 if (rcvbuf_size) {
 491
 492                         int curr_rcvbuf_size;
 493                         socklen_t curr_rcvbuf_size_len = sizeof(curr_rcvbuf_size);
 494
 495                         /* try SO_RCVBUFFORCE first, if we run with CAP_NET_ADMIN */
 496                         if (setsockopt(s[i], SOL_SOCKET, SO_RCVBUFFORCE,
 497                                        &rcvbuf_size, sizeof(rcvbuf_size)) < 0) {
 498 #ifdef DEBUG
 499                                 printf("SO_RCVBUFFORCE failed so try SO_RCVBUF ...\n");
 500 #endif
 501                                 if (setsockopt(s[i], SOL_SOCKET, SO_RCVBUF,
 502                                                &rcvbuf_size, sizeof(rcvbuf_size)) < 0) {
 503                                         perror("setsockopt SO_RCVBUF");
 504                                         return 1;
 505                                 }
 506
 507                                 if (getsockopt(s[i], SOL_SOCKET, SO_RCVBUF,
 508                                                &curr_rcvbuf_size, &curr_rcvbuf_size_len) < 0) {
 509                                         perror("getsockopt SO_RCVBUF");
 510                                         return 1;
 511                                 }
 512
 513                                 /* Only print a warning the first time we detect the adjustment */
 514                                 /* n.b.: The wanted size is doubled in Linux in net/sore/sock.c */
 515                                 if (!i && curr_rcvbuf_size < rcvbuf_size*2)
 516                                         fprintf(stderr, "The socket receive buffer size was "
 517                                                 "adjusted due to /proc/sys/net/core/rmem_max.\n");
 518                         }
 519                 }
 520
 521                 if (timestamp || log || logfrmt) {
 522
 523                         const int timestamp_on = 1;
 524
 525                         if (setsockopt(s[i], SOL_SOCKET, SO_TIMESTAMP,
 526                                        &timestamp_on, sizeof(timestamp_on)) < 0) {
 527                                 perror("setsockopt SO_TIMESTAMP");
 528                                 return 1;
 529                         }
 530                 }
 531
 532                 if (dropmonitor) {
 533
 534                         const int dropmonitor_on = 1;
 535
 536                         if (setsockopt(s[i], SOL_SOCKET, SO_RXQ_OVFL,
 537                                        &dropmonitor_on, sizeof(dropmonitor_on)) < 0) {
 538                                 perror("setsockopt SO_RXQ_OVFL not supported by your Linux Kernel");
 539                                 return 1;
 540                         }
 541                 }
 542
 543                 if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 544                         perror("bind");
 545                         return 1;
 546                 }
 547         }
 548
 549         if (log) {
 550                 time_t currtime;
 551                 struct tm now;
 552                 char fname[sizeof("candump-2006-11-20_202026.log")+1];
 553
 554                 if (time(&currtime) == (time_t)-1) {
 555                         perror("time");
 556                         return 1;
 557                 }
 558
 559                 localtime_r(&currtime, &now);
 560
 561                 sprintf(fname, "candump-%04d-%02d-%02d_%02d%02d%02d.log",
 562                         now.tm_year + 1900,
 563                         now.tm_mon + 1,
 564                         now.tm_mday,
 565                         now.tm_hour,
 566                         now.tm_min,
 567                         now.tm_sec);
 568
 569                 if (silent != SILENT_ON)
 570                         printf("\nWarning: console output active while logging!");
 571
 572                 fprintf(stderr, "\nEnabling Logfile '%s'\n\n", fname);
 573
 574                 logfile = fopen(fname, "w");
 575                 if (!logfile) {
 576                         perror("logfile");
 577                         return 1;
 578                 }
 579         }
 580
 581         /* these settings are static and can be held out of the hot path */
 582         iov.iov_base = &frame;
 583         msg.msg_name = &addr;
 584         msg.msg_iov = &iov;
 585         msg.msg_iovlen = 1;
 586         msg.msg_control = &ctrlmsg;
 587
 588         while (running) {
 589
 590                 FD_ZERO(&rdfs);
 591                 for (i=0; i<currmax; i++)
 592                         FD_SET(s[i], &rdfs);
 593
 594                 if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, NULL)) < 0) {
 595                         //perror("select");
 596                         running = 0;
 597                         continue;
 598                 }
 599
 600                 for (i=0; i<currmax; i++) {  /* check all CAN RAW sockets */
 601
 602                         if (FD_ISSET(s[i], &rdfs)) {
 603
 604                                 int idx;
 605
 606                                 /* these settings may be modified by recvmsg() */
 607                                 iov.iov_len = sizeof(frame);
 608                                 msg.msg_namelen = sizeof(addr);
 609                                 msg.msg_controllen = sizeof(ctrlmsg);
 610                                 msg.msg_flags = 0;
 611
 612                                 nbytes = recvmsg(s[i], &msg, 0);
 613                                 if (nbytes < 0) {
 614                                         perror("read");
 615                                         return 1;
 616                                 }
 617
 618                                 if ((size_t)nbytes == CAN_MTU)
 619                                         maxdlen = CAN_MAX_DLEN;
 620                                 else if ((size_t)nbytes == CANFD_MTU)
 621                                         maxdlen = CANFD_MAX_DLEN;
 622                                 else {
 623                                         fprintf(stderr, "read: incomplete CAN frame\n");
 624                                         return 1;
 625                                 }
 626
 627                                 if (count && (--count == 0))
 628                                         running = 0;
 629
 630                                 if (bridge) {
 631                                         if (bridge_delay)
 632                                                 usleep(bridge_delay);
 633
 634                                         nbytes = write(bridge, &frame, nbytes);
 635                                         if (nbytes < 0) {
 636                                                 perror("bridge write");
 637                                                 return 1;
 638                                         } else if ((size_t)nbytes != CAN_MTU && (size_t)nbytes != CANFD_MTU) {
 639                                                 fprintf(stderr,"bridge write: incomplete CAN frame\n");
 640                                                 return 1;
 641                                         }
 642                                 }
 643
 644                                 for (cmsg = CMSG_FIRSTHDR(&msg);
 645                                      cmsg && (cmsg->cmsg_level == SOL_SOCKET);
 646                                      cmsg = CMSG_NXTHDR(&msg,cmsg)) {
 647                                         if (cmsg->cmsg_type == SO_TIMESTAMP)
 648                                                 tv = *(struct timeval *)CMSG_DATA(cmsg);
 649                                         else if (cmsg->cmsg_type == SO_RXQ_OVFL)
 650                                                 dropcnt[i] = *(__u32 *)CMSG_DATA(cmsg);
 651                                 }
 652
 653                                 /* check for (unlikely) dropped frames on this specific socket */
 654                                 if (dropcnt[i] != last_dropcnt[i]) {
 655
 656                                         __u32 frames;
 657
 658                                         if (dropcnt[i] > last_dropcnt[i])
 659                                                 frames = dropcnt[i] - last_dropcnt[i];
 660                                         else
 661                                                 frames = 4294967295U - last_dropcnt[i] + dropcnt[i]; /* 4294967295U == UINT32_MAX */
 662
 663                                         if (silent != SILENT_ON)
 664                                                 printf("DROPCOUNT: dropped %d CAN frame%s on '%s' socket (total drops %d)\n",
 665                                                        frames, (frames > 1)?"s":"", cmdlinename[i], dropcnt[i]);
 666
 667                                         if (log)
 668                                                 fprintf(logfile, "DROPCOUNT: dropped %d CAN frame%s on '%s' socket (total drops %d)\n",
 669                                                         frames, (frames > 1)?"s":"", cmdlinename[i], dropcnt[i]);
 670
 671                                         last_dropcnt[i] = dropcnt[i];
 672                                 }
 673
 674                                 idx = idx2dindex(addr.can_ifindex, s[i]);
 675
 676                                 /* once we detected a EFF frame indent SFF frames accordingly */
 677                                 if (frame.can_id & CAN_EFF_FLAG)
 678                                         view |= CANLIB_VIEW_INDENT_SFF;
 679
 680                                 if (log) {
 681                                         /* log CAN frame with absolute timestamp & device */
 682                                         fprintf(logfile, "(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 683                                         fprintf(logfile, "%*s ", max_devname_len, devname[idx]);
 684                                         /* without seperator as logfile use-case is parsing */
 685                                         fprint_canframe(logfile, &frame, "\n", 0, maxdlen);
 686                                 }
 687
 688                                 if (logfrmt) {
 689                                         /* print CAN frame in log file style to stdout */
 690                                         printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 691                                         printf("%*s ", max_devname_len, devname[idx]);
 692                                         fprint_canframe(stdout, &frame, "\n", 0, maxdlen);
 693                                         goto out_fflush; /* no other output to stdout */
 694                                 }
 695
 696                                 if (silent != SILENT_OFF){
 697                                         if (silent == SILENT_ANI) {
 698                                                 printf("%c\b", anichar[silentani%=MAXANI]);
 699                                                 silentani++;
 700                                         }
 701                                         goto out_fflush; /* no other output to stdout */
 702                                 }
 703
 704                                 printf(" %s", (color>2)?col_on[idx%MAXCOL]:"");
 705
 706                                 switch (timestamp) {
 707
 708                                 case 'a': /* absolute with timestamp */
 709                                         printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
 710                                         break;
 711
 712                                 case 'A': /* absolute with date */
 713                                 {
 714                                         struct tm tm;
 715                                         char timestring[25];
 716
 717                                         tm = *localtime(&tv.tv_sec);
 718                                         strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
 719                                         printf("(%s.%06ld) ", timestring, tv.tv_usec);
 720                                 }
 721                                 break;
 722
 723                                 case 'd': /* delta */
 724                                 case 'z': /* starting with zero */
 725                                 {
 726                                         struct timeval diff;
 727
 728                                         if (last_tv.tv_sec == 0)   /* first init */
 729                                                 last_tv = tv;
 730                                         diff.tv_sec  = tv.tv_sec  - last_tv.tv_sec;
 731                                         diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
 732                                         if (diff.tv_usec < 0)
 733                                                 diff.tv_sec--, diff.tv_usec += 1000000;
 734                                         if (diff.tv_sec < 0)
 735                                                 diff.tv_sec = diff.tv_usec = 0;
 736                                         printf("(%03ld.%06ld) ", diff.tv_sec, diff.tv_usec);
 737
 738                                         if (timestamp == 'd')
 739                                                 last_tv = tv; /* update for delta calculation */
 740                                 }
 741                                 break;
 742
 743                                 default: /* no timestamp output */
 744                                         break;
 745                                 }
 746
 747                                 printf(" %s", (color && (color<3))?col_on[idx%MAXCOL]:"");
 748                                 printf("%*s", max_devname_len, devname[idx]);
 749                                 printf("%s  ", (color==1)?col_off:"");
 750
 751                                 fprint_long_canframe(stdout, &frame, NULL, view, maxdlen);
 752
 753                                 printf("%s", (color>1)?col_off:"");
 754                                 printf("\n");
 755                         }
 756
 757                 out_fflush:
 758                         fflush(stdout);
 759                 }
 760         }
 761
 762         for (i=0; i<currmax; i++)
 763                 close(s[i]);
 764
 765         if (bridge)
 766                 close(bridge);
 767
 768         if (log)
 769                 fclose(logfile);
 770
 771         return 0;
 772 }