--- /dev/null
+/*
+ * $Id$
+ */
+
+/*
+ * tst-bcm-server.c
+ *
+ * Test programm that implements a socket server which understands ASCII
+ * messages for simple broadcast manager frame send commands.
+ *
+ * < interface command ival_s ival_us can_id can_dlc [data]* >
+ *
+ * Only the items 'can_id' and 'data' are given in (ASCII) hexadecimal values.
+ *
+ * ## TX path:
+ *
+ * The commands are 'A'dd, 'U'pdate, 'D'elete and 'S'end.
+ * e.g.
+ *
+ * Send the CAN frame 123#1122334455667788 every second on vcan1
+ * < vcan1 A 1 0 123 8 11 22 33 44 55 66 77 88 >
+ *
+ * Send the CAN frame 123#1122334455667788 every 10 usecs on vcan1
+ * < vcan1 A 0 10 123 8 11 22 33 44 55 66 77 88 >
+ *
+ * Send the CAN frame 123#42424242 every 20 msecs on vcan1
+ * < vcan1 A 0 20000 123 4 42 42 42 42 >
+ *
+ * Update the CAN frame 123#42424242 with 123#112233 - no change of timers
+ * < vcan1 U 0 0 123 3 11 22 33 >
+ *
+ * Delete the cyclic send job from above
+ * < vcan1 D 0 0 123 0 >
+ *
+ * Send a single CAN frame without cyclic transmission
+ * < can0 S 0 0 123 0 >
+ *
+ * When the socket is closed the cyclic transmissions are terminated.
+ *
+ * ## RX path:
+ *
+ * The commands are 'R'eceive setup, 'F'ilter ID Setup and 'X' for delete.
+ * e.g.
+ *
+ * Receive CAN ID 0x123 from vcan1 and check for changes in the first byte
+ * < vcan1 R 0 0 123 1 FF >
+ *
+ * Receive CAN ID 0x123 from vcan1 and check for changes in given mask
+ * < vcan1 R 0 0 123 8 FF 00 F8 00 00 00 00 00 >
+ *
+ * As above but throttle receive update rate down to 1.5 seconds
+ * < vcan1 R 1 500000 123 8 FF 00 F8 00 00 00 00 00 >
+ *
+ * Filter for CAN ID 0x123 from vcan1 without content filtering
+ * < vcan1 F 0 0 123 0 >
+ *
+ * Delete receive filter ('R' or 'F') for CAN ID 0x123
+ * < vcan1 X 0 0 123 0 >
+ *
+ * CAN messages received by the given filters are send in the format:
+ * < interface can_id can_dlc [data]* >
+ *
+ * e.g. when receiving a CAN message from vcan1 with
+ * can_id 0x123 , data length 4 and data 0x11, 0x22, 0x33 and 0x44
+ *
+ * < vcan1 123 4 11 22 33 44 >
+ *
+ * ##
+ *
+ * Authors:
+ * Andre Naujoks (the socket server stuff)
+ * Oliver Hartkopp (the rest)
+ *
+ * Copyright (c) 2002-2009 Volkswagen Group Electronic Research
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of Volkswagen nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * Alternatively, provided that this notice is retained in full, this
+ * software may be distributed under the terms of the GNU General
+ * Public License ("GPL") version 2, in which case the provisions of the
+ * GPL apply INSTEAD OF those given above.
+ *
+ * The provided data structures and external interfaces from this code
+ * are not restricted to be used by modules with a GPL compatible license.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+ * DAMAGE.
+ *
+ * Send feedback to <socketcan-users@lists.berlios.de>
+ *
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <signal.h>
+#include <errno.h>
+
+#include <sys/types.h>
+#include <sys/wait.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+#include <sys/uio.h>
+#include <net/if.h>
+#include <netinet/in.h>
+
+#include <linux/can.h>
+#include <linux/can/bcm.h>
+
+#define MAXLEN 100
+#define PORT 28600
+
+void childdied(int i)
+{
+ wait(NULL);
+}
+
+int main(int argc, char **argv)
+{
+
+ int sl, sa, sc;
+ int i, ret;
+ int idx = 0;
+ struct sockaddr_in saddr, clientaddr;
+ struct sockaddr_can caddr;
+ socklen_t caddrlen = sizeof(caddr);
+ struct ifreq ifr;
+ fd_set readfds;
+ socklen_t sin_size = sizeof(clientaddr);
+ struct sigaction signalaction;
+ sigset_t sigset;
+
+ char buf[MAXLEN];
+ char rxmsg[50];
+
+ struct {
+ struct bcm_msg_head msg_head;
+ struct can_frame frame;
+ } msg;
+
+ sigemptyset(&sigset);
+ signalaction.sa_handler = &childdied;
+ signalaction.sa_mask = sigset;
+ signalaction.sa_flags = 0;
+ sigaction(SIGCHLD, &signalaction, NULL); /* signal for dying child */
+
+ if((sl = socket(PF_INET, SOCK_STREAM, 0)) < 0) {
+ perror("inetsocket");
+ exit(1);
+ }
+
+ saddr.sin_family = AF_INET;
+ saddr.sin_addr.s_addr = htonl(INADDR_ANY);
+ saddr.sin_port = htons(PORT);
+
+ while(bind(sl,(struct sockaddr*)&saddr, sizeof(saddr)) < 0) {
+ printf(".");fflush(NULL);
+ usleep(100000);
+ }
+
+ if (listen(sl,3) != 0) {
+ perror("listen");
+ exit(1);
+ }
+
+ while (1) {
+ sa = accept(sl,(struct sockaddr *)&clientaddr, &sin_size);
+ if (sa > 0 ){
+
+ if (fork())
+ close(sa);
+ else
+ break;
+ }
+ else {
+ if (errno != EINTR) {
+ /*
+ * If the cause for the error was NOT the
+ * signal from a dying child => give an error
+ */
+ perror("accept");
+ exit(1);
+ }
+ }
+ }
+
+ /* open BCM socket */
+
+ if ((sc = socket(PF_CAN, SOCK_DGRAM, CAN_BCM)) < 0) {
+ perror("bcmsocket");
+ return 1;
+ }
+
+ memset(&caddr, 0, sizeof(caddr));
+ caddr.can_family = PF_CAN;
+ /* can_ifindex is set to 0 (any device) => need for sendto() */
+
+ if (connect(sc, (struct sockaddr *)&caddr, sizeof(caddr)) < 0) {
+ perror("connect");
+ return 1;
+ }
+
+ while (1) {
+
+ FD_ZERO(&readfds);
+ FD_SET(sc, &readfds);
+ FD_SET(sa, &readfds);
+
+ ret = select((sc > sa)?sc+1:sa+1, &readfds, NULL, NULL, NULL);
+
+ if (FD_ISSET(sc, &readfds)) {
+
+ ret = recvfrom(sc, &msg, sizeof(msg), 0,
+ (struct sockaddr*)&caddr, &caddrlen);
+
+ ifr.ifr_ifindex = caddr.can_ifindex;
+ ioctl(sc, SIOCGIFNAME, &ifr);
+
+ sprintf(rxmsg, "< %s %03X %d ", ifr.ifr_name,
+ msg.msg_head.can_id, msg.frame.can_dlc);
+
+ for ( i = 0; i < msg.frame.can_dlc; i++)
+ sprintf(rxmsg + strlen(rxmsg), "%02X ",
+ msg.frame.data[i]);
+
+ /* delimiter '\0' for Adobe(TM) Flash(TM) XML sockets */
+ strcat(rxmsg, ">\0");
+
+ send(sa, rxmsg, strlen(rxmsg) + 1, 0);
+ }
+
+
+ if (FD_ISSET(sa, &readfds)) {
+
+ char cmd;
+ int items;
+
+ if (read(sa, buf+idx, 1) < 1)
+ exit(1);
+
+ if (!idx) {
+ if (buf[0] == '<')
+ idx = 1;
+
+ continue;
+ }
+
+ if (idx > MAXLEN-2) {
+ idx = 0;
+ continue;
+ }
+
+ if (buf[idx] != '>') {
+ idx++;
+ continue;
+ }
+
+ buf[idx+1] = 0;
+ idx = 0;
+
+ //printf("read '%s'\n", buf);
+
+ /* prepare bcm message settings */
+ memset(&msg, 0, sizeof(msg));
+ msg.msg_head.nframes = 1;
+
+ items = sscanf(buf, "< %6s %c %lu %lu %x %hhu "
+ "%hhx %hhx %hhx %hhx %hhx %hhx "
+ "%hhx %hhx >",
+ ifr.ifr_name,
+ &cmd,
+ &msg.msg_head.ival2.tv_sec,
+ &msg.msg_head.ival2.tv_usec,
+ &msg.msg_head.can_id,
+ &msg.frame.can_dlc,
+ &msg.frame.data[0],
+ &msg.frame.data[1],
+ &msg.frame.data[2],
+ &msg.frame.data[3],
+ &msg.frame.data[4],
+ &msg.frame.data[5],
+ &msg.frame.data[6],
+ &msg.frame.data[7]);
+
+ if (items < 6)
+ break;
+ if (msg.frame.can_dlc > 8)
+ break;
+ if (items != 6 + msg.frame.can_dlc)
+ break;
+
+ msg.frame.can_id = msg.msg_head.can_id;
+
+ switch (cmd) {
+ case 'S':
+ msg.msg_head.opcode = TX_SEND;
+ break;
+ case 'A':
+ msg.msg_head.opcode = TX_SETUP;
+ msg.msg_head.flags |= SETTIMER | STARTTIMER;
+ break;
+ case 'U':
+ msg.msg_head.opcode = TX_SETUP;
+ msg.msg_head.flags = 0;
+ break;
+ case 'D':
+ msg.msg_head.opcode = TX_DELETE;
+ break;
+
+ case 'R':
+ msg.msg_head.opcode = RX_SETUP;
+ msg.msg_head.flags = SETTIMER;
+ break;
+ case 'F':
+ msg.msg_head.opcode = RX_SETUP;
+ msg.msg_head.flags = RX_FILTER_ID | SETTIMER;
+ break;
+ case 'X':
+ msg.msg_head.opcode = RX_DELETE;
+ break;
+ default:
+ printf("unknown command '%c'.\n", cmd);
+ exit(1);
+ }
+
+ if (!ioctl(sc, SIOCGIFINDEX, &ifr)) {
+ caddr.can_ifindex = ifr.ifr_ifindex;
+ sendto(sc, &msg, sizeof(msg), 0,
+ (struct sockaddr*)&caddr, sizeof(caddr));
+ }
+ }
+ }
+
+ close(sc);
+ close(sa);
+
+ return 0;
+}
projects / sojka / can-utils.git / commitdiff