From b68a79ebde37b60fc51a77b4eeddd7ad94e52ca9 Mon Sep 17 00:00:00 2001
From: Oliver Hartkopp <socketcan@hartkopp.net>
Date: Fri, 14 May 2010 12:03:32 +0000
Subject: [PATCH] Added tiny ip server to send ISO 15765-2 PDUs via
 internetsockets to the CAN bus and vice versa.

---
 Makefile      |   2 +-
 isotpserver.c | 397 ++++++++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 398 insertions(+), 1 deletion(-)
 create mode 100644 isotpserver.c

diff --git a/Makefile b/Makefile
index cd5af9c..8e6c609 100644
--- a/Makefile
+++ b/Makefile
@@ -53,7 +53,7 @@ CFLAGS    = -O2 -Wall -Wno-parentheses -I$(KERNELDIR)/include \
 	    -DPF_CAN=29 \
 	    -DAF_CAN=PF_CAN
 
-PROGRAMS_ISOTP = isotpdump isotprecv isotpsend isotpsniffer isotptun
+PROGRAMS_ISOTP = isotpdump isotprecv isotpsend isotpsniffer isotptun isotpserver
 PROGRAMS_CANGW = cangw
 PROGRAMS_SLCAN = slcan_attach slcand
 PROGRAMS = candump cansniffer cansend canplayer cangen canbusload\
diff --git a/isotpserver.c b/isotpserver.c
new file mode 100644
index 0000000..5082d12
--- /dev/null
+++ b/isotpserver.c
@@ -0,0 +1,397 @@
+/*
+ *  $Id$
+ */
+
+/*
+ * isotpserver.c
+ *
+ * Implements a socket server which understands ASCII HEX
+ * messages for simple TCP/IP <-> ISO 15765-2 bridging.
+ *
+ * General message format: <[data]+>
+ *
+ * e.g. for an eight bytes PDU
+ *
+ * <1122334455667788>
+ *
+ * Valid ISO 15625-2 PDUs have a length from 1-4095 bytes.
+ *
+ * Authors:
+ * Andre Naujoks (the socket server stuff)
+ * Oliver Hartkopp (the rest)
+ *
+ * Copyright (c) 2002-2010 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 <libgen.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/isotp.h>
+
+#define NO_CAN_ID 0xFFFFFFFFU
+
+int b64hex(char *asc, unsigned char *bin, int len)
+{
+	int i;
+
+	for (i = 0; i < len; i++) {
+		if (!sscanf(asc+(i*2), "%2hhx", bin+i))
+			return 1;	
+	}
+	return 0;
+}
+
+void childdied(int i)
+{
+	wait(NULL);
+}
+
+void print_usage(char *prg)
+{
+	fprintf(stderr, "\nUsage: %s -l <port> -s <can_id> -d <can_id> [options] <CAN interface>\n", prg);
+	fprintf(stderr, "Options: (* = mandatory)\n");
+	fprintf(stderr, "\n");
+	fprintf(stderr, "ip adressing:\n");
+	fprintf(stderr, " *       -l <port>    (local port for the server)\n");
+	fprintf(stderr, "\n");
+	fprintf(stderr, "isotp adressing:\n");
+	fprintf(stderr, " *       -s <can_id>  (source can_id. Use 8 digits for extended IDs)\n");
+	fprintf(stderr, " *       -d <can_id>  (destination can_id. Use 8 digits for extended IDs)\n");
+	fprintf(stderr, "         -x <addr>    (extended addressing mode)\n");
+	fprintf(stderr, "\n");
+	fprintf(stderr, "padding:\n");
+	fprintf(stderr, "         -p <byte>    (set and enable tx padding byte)\n");
+	fprintf(stderr, "         -r <byte>    (set and enable rx padding byte)\n");
+	fprintf(stderr, "         -P <mode>    (check padding in SF/CF. (l)ength (c)ontent (a)ll)\n");
+	fprintf(stderr, "\n");
+	fprintf(stderr, "rx path: (config, which is sent to the sender / data source)\n");
+	fprintf(stderr, "         -b <bs>      (blocksize. 0 = off)\n");
+	fprintf(stderr, "         -m <val>     (STmin in ms/ns. See spec.)\n");
+	fprintf(stderr, "         -w <num>     (max. wait frame transmissions)\n");
+	fprintf(stderr, "\n");
+	fprintf(stderr, "tx path: (config, which changes local tx settings)\n");
+	fprintf(stderr, "         -t <time ns> (transmit time in nanosecs)\n");
+	fprintf(stderr, "\n");
+	fprintf(stderr, "All values except for '-l' and '-t' are expected in hexadecimal values.\n");
+	fprintf(stderr, "\n");
+}
+
+int main(int argc, char **argv)
+{
+	extern int optind, opterr, optopt;
+	int opt;
+
+	int sl, sa, sc; /* (L)isten, (A)ccept, (C)AN sockets */ 
+	struct sockaddr_in  saddr, clientaddr;
+	struct sockaddr_can caddr;
+	static struct can_isotp_options opts;
+	static struct can_isotp_fc_options fcopts;
+	struct ifreq ifr;
+	socklen_t sin_size = sizeof(clientaddr);
+	socklen_t caddrlen = sizeof(caddr);
+
+	struct sigaction signalaction;
+	sigset_t sigset;
+
+	fd_set readfds;
+
+	int i, ret;
+	int nbytes;
+
+	int local_port = 0;
+	int verbose = 0;
+
+	int idx = 0; /* index in txmsg[] */
+
+	unsigned char msg[4096];   /* isotp socket message buffer (4095 + test_for_too_long_byte)*/
+	char rxmsg[8194]; /* isotp->tcp ASCII message buffer (4095*2 + < > \n null) */
+	char txmsg[8193]; /* tcp->isotp ASCII message buffer (4095*2 + < > null) */
+
+	/* mark missing mandatory commandline options as missing */
+	caddr.can_addr.tp.tx_id = caddr.can_addr.tp.rx_id = NO_CAN_ID;
+
+	while ((opt = getopt(argc, argv, "l:s:d:x:p:r:P:b:m:w:t:v?")) != -1) {
+		switch (opt) {
+		case 'l':
+			local_port = strtoul(optarg, (char **)NULL, 10);
+			break;
+
+		case 's':
+			caddr.can_addr.tp.tx_id = strtoul(optarg, (char **)NULL, 16);
+			if (strlen(optarg) > 7)
+				caddr.can_addr.tp.tx_id |= CAN_EFF_FLAG;
+			break;
+
+		case 'd':
+			caddr.can_addr.tp.rx_id = strtoul(optarg, (char **)NULL, 16);
+			if (strlen(optarg) > 7)
+				caddr.can_addr.tp.rx_id |= CAN_EFF_FLAG;
+			break;
+
+		case 'x':
+			opts.flags |= CAN_ISOTP_EXTEND_ADDR;
+			opts.ext_address = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+			break;
+
+		case 'p':
+			opts.flags |= CAN_ISOTP_TX_PADDING;
+			opts.txpad_content = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+			break;
+
+		case 'r':
+			opts.flags |= CAN_ISOTP_RX_PADDING;
+			opts.rxpad_content = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+			break;
+
+		case 'P':
+			if (optarg[0] == 'l')
+				opts.flags |= CAN_ISOTP_CHK_PAD_LEN;
+			else if (optarg[0] == 'c')
+				opts.flags |= CAN_ISOTP_CHK_PAD_DATA;
+			else if (optarg[0] == 'a')
+				opts.flags |= (CAN_ISOTP_CHK_PAD_DATA | CAN_ISOTP_CHK_PAD_DATA);
+			else {
+				printf("unknown padding check option '%c'.\n", optarg[0]);
+				print_usage(basename(argv[0]));
+				exit(0);
+			}
+			break;
+
+		case 'b':
+			fcopts.bs = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+			break;
+
+		case 'm':
+			fcopts.stmin = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+			break;
+
+		case 'w':
+			fcopts.wftmax = strtoul(optarg, (char **)NULL, 16) & 0xFF;
+			break;
+
+		case 't':
+			opts.frame_txtime = strtoul(optarg, (char **)NULL, 10);
+			break;
+
+		case 'v':
+			verbose = 1;
+			break;
+
+		case '?':
+			print_usage(basename(argv[0]));
+			exit(0);
+			break;
+
+		default:
+			fprintf(stderr, "Unknown option %c\n", opt);
+			print_usage(basename(argv[0]));
+			exit(1);
+			break;
+		}
+	}
+
+	if ((argc - optind != 1) || (local_port == 0) ||
+	    (caddr.can_addr.tp.tx_id == NO_CAN_ID) ||
+	    (caddr.can_addr.tp.rx_id == NO_CAN_ID)) {
+		print_usage(basename(argv[0]));
+		exit(1);
+	}
+  
+	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(local_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);
+			}
+		}
+	}
+
+	if ((sc = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
+		perror("socket");
+		exit(1);
+	}
+
+	setsockopt(sc, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
+	setsockopt(sc, SOL_CAN_ISOTP, CAN_ISOTP_RECV_FC, &fcopts, sizeof(fcopts));
+
+	caddr.can_family = AF_CAN;
+	strcpy(ifr.ifr_name, argv[optind]);
+	if (ioctl(sc, SIOCGIFINDEX, &ifr) < 0) {
+		perror("SIOCGIFINDEX");
+		exit(1);
+	}
+	caddr.can_ifindex = ifr.ifr_ifindex;
+
+	if (bind(sc, (struct sockaddr *)&caddr, caddrlen) < 0) {
+		perror("bind");
+		exit(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)) {
+
+
+			nbytes = read(sc, &msg, 4096);
+
+			if (nbytes < 1 || nbytes > 4095) {
+				perror("read from isotp socket");
+				exit(1);
+			}
+
+			rxmsg[0] = '<';
+
+			for ( i = 0; i < nbytes; i++)
+				sprintf(rxmsg + 1 + 2*i, "%02X", msg[i]);
+
+			/* finalize string for sending */
+			strcat(rxmsg, ">\n");
+
+			if (verbose)
+				printf("CAN>TCP %s", rxmsg);
+
+			send(sa, rxmsg, strlen(rxmsg), 0);
+		}
+
+
+		if (FD_ISSET(sa, &readfds)) {
+
+			if (read(sa, txmsg+idx, 1) < 1) {
+				perror("read from tcp/ip socket");
+				exit(1);
+			}
+
+			if (!idx) {
+				if (txmsg[0] == '<')
+					idx = 1;
+
+				continue;
+			}
+
+			/* max len is 4095*2 + '<' + '>' = 8192. The buffer index starts with 0 */
+			if (idx > 8191) {
+				idx = 0;
+				continue;
+			}
+
+			if (txmsg[idx] != '>') {
+				idx++;
+				continue;
+			}
+
+			txmsg[idx+1] = 0;
+			idx = 0;
+
+			/* must be an even number of bytes and at least one data byte <XX> */
+			if (strlen(txmsg) < 4 || strlen(txmsg) % 2)
+				continue;
+
+			if (verbose)
+				printf("TCP>CAN %s\n", txmsg);
+
+			nbytes = (strlen(txmsg)-2)/2;
+			if (b64hex(txmsg+1, msg, nbytes) == 0)
+				send(sc, msg, nbytes, 0);
+		}
+	}
+
+	close(sc);
+	close(sa);
+
+	return 0;
+}
-- 
2.39.2