Move BCM server into can-utils as it is not test application anymore.
Oliver Hartkopp
parent
0740b53016
commit
40edca27a2
2
Makefile
2
Makefile
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@ -48,7 +48,7 @@ CFLAGS = -O2 -Wall -Wno-parentheses -I../kernel/2.6/include \
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-DAF_CAN=PF_CAN
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PROGRAMS = candump cansniffer cansend canplayer canlogserver cangen\
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canbusload log2long log2asc asc2log\
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canbusload log2long log2asc asc2log bcmserver\
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isotpdump isotprecv isotpsend isotpsniffer isotptun\
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slcan_attach slcand slcanpty
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@ -0,0 +1,360 @@
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/*
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* $Id$
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*/
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/*
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* tst-bcm-server.c
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*
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* Test programm that implements a socket server which understands ASCII
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* messages for simple broadcast manager frame send commands.
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*
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* < interface command ival_s ival_us can_id can_dlc [data]* >
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*
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* Only the items 'can_id' and 'data' are given in (ASCII) hexadecimal values.
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*
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* ## TX path:
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*
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* The commands are 'A'dd, 'U'pdate, 'D'elete and 'S'end.
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* e.g.
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*
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* Send the CAN frame 123#1122334455667788 every second on vcan1
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* < vcan1 A 1 0 123 8 11 22 33 44 55 66 77 88 >
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*
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* Send the CAN frame 123#1122334455667788 every 10 usecs on vcan1
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* < vcan1 A 0 10 123 8 11 22 33 44 55 66 77 88 >
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*
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* Send the CAN frame 123#42424242 every 20 msecs on vcan1
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* < vcan1 A 0 20000 123 4 42 42 42 42 >
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*
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* Update the CAN frame 123#42424242 with 123#112233 - no change of timers
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* < vcan1 U 0 0 123 3 11 22 33 >
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*
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* Delete the cyclic send job from above
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* < vcan1 D 0 0 123 0 >
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*
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* Send a single CAN frame without cyclic transmission
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* < can0 S 0 0 123 0 >
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*
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* When the socket is closed the cyclic transmissions are terminated.
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*
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* ## RX path:
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*
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* The commands are 'R'eceive setup, 'F'ilter ID Setup and 'X' for delete.
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* e.g.
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*
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* Receive CAN ID 0x123 from vcan1 and check for changes in the first byte
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* < vcan1 R 0 0 123 1 FF >
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*
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* Receive CAN ID 0x123 from vcan1 and check for changes in given mask
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* < vcan1 R 0 0 123 8 FF 00 F8 00 00 00 00 00 >
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*
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* As above but throttle receive update rate down to 1.5 seconds
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* < vcan1 R 1 500000 123 8 FF 00 F8 00 00 00 00 00 >
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*
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* Filter for CAN ID 0x123 from vcan1 without content filtering
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* < vcan1 F 0 0 123 0 >
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*
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* Delete receive filter ('R' or 'F') for CAN ID 0x123
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* < vcan1 X 0 0 123 0 >
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*
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* CAN messages received by the given filters are send in the format:
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* < interface can_id can_dlc [data]* >
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*
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* e.g. when receiving a CAN message from vcan1 with
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* can_id 0x123 , data length 4 and data 0x11, 0x22, 0x33 and 0x44
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*
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* < vcan1 123 4 11 22 33 44 >
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*
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* ##
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*
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* Authors:
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* Andre Naujoks (the socket server stuff)
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* Oliver Hartkopp (the rest)
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*
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* Copyright (c) 2002-2009 Volkswagen Group Electronic Research
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* 3. Neither the name of Volkswagen nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* Alternatively, provided that this notice is retained in full, this
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* software may be distributed under the terms of the GNU General
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* Public License ("GPL") version 2, in which case the provisions of the
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* GPL apply INSTEAD OF those given above.
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*
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* The provided data structures and external interfaces from this code
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* are not restricted to be used by modules with a GPL compatible license.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
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* DAMAGE.
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*
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* Send feedback to <socketcan-users@lists.berlios.de>
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*
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <string.h>
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#include <signal.h>
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#include <errno.h>
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#include <sys/types.h>
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#include <sys/wait.h>
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#include <sys/socket.h>
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#include <sys/ioctl.h>
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#include <sys/uio.h>
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#include <net/if.h>
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#include <netinet/in.h>
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#include <linux/can.h>
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#include <linux/can/bcm.h>
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#define MAXLEN 100
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#define PORT 28600
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void childdied(int i)
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{
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wait(NULL);
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}
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int main(int argc, char **argv)
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{
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int sl, sa, sc;
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int i, ret;
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int idx = 0;
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struct sockaddr_in saddr, clientaddr;
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struct sockaddr_can caddr;
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socklen_t caddrlen = sizeof(caddr);
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struct ifreq ifr;
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fd_set readfds;
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socklen_t sin_size = sizeof(clientaddr);
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struct sigaction signalaction;
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sigset_t sigset;
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char buf[MAXLEN];
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char rxmsg[50];
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struct {
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struct bcm_msg_head msg_head;
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struct can_frame frame;
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} msg;
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sigemptyset(&sigset);
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signalaction.sa_handler = &childdied;
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signalaction.sa_mask = sigset;
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signalaction.sa_flags = 0;
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sigaction(SIGCHLD, &signalaction, NULL); /* signal for dying child */
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if((sl = socket(PF_INET, SOCK_STREAM, 0)) < 0) {
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perror("inetsocket");
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exit(1);
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}
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saddr.sin_family = AF_INET;
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saddr.sin_addr.s_addr = htonl(INADDR_ANY);
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saddr.sin_port = htons(PORT);
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while(bind(sl,(struct sockaddr*)&saddr, sizeof(saddr)) < 0) {
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printf(".");fflush(NULL);
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usleep(100000);
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}
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if (listen(sl,3) != 0) {
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perror("listen");
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exit(1);
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}
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while (1) {
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sa = accept(sl,(struct sockaddr *)&clientaddr, &sin_size);
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if (sa > 0 ){
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if (fork())
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close(sa);
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else
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break;
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}
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else {
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if (errno != EINTR) {
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/*
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* If the cause for the error was NOT the
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* signal from a dying child => give an error
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*/
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perror("accept");
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exit(1);
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}
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}
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}
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/* open BCM socket */
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if ((sc = socket(PF_CAN, SOCK_DGRAM, CAN_BCM)) < 0) {
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perror("bcmsocket");
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return 1;
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}
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memset(&caddr, 0, sizeof(caddr));
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caddr.can_family = PF_CAN;
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/* can_ifindex is set to 0 (any device) => need for sendto() */
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if (connect(sc, (struct sockaddr *)&caddr, sizeof(caddr)) < 0) {
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perror("connect");
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return 1;
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}
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while (1) {
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FD_ZERO(&readfds);
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FD_SET(sc, &readfds);
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FD_SET(sa, &readfds);
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ret = select((sc > sa)?sc+1:sa+1, &readfds, NULL, NULL, NULL);
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if (FD_ISSET(sc, &readfds)) {
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ret = recvfrom(sc, &msg, sizeof(msg), 0,
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(struct sockaddr*)&caddr, &caddrlen);
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ifr.ifr_ifindex = caddr.can_ifindex;
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ioctl(sc, SIOCGIFNAME, &ifr);
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sprintf(rxmsg, "< %s %03X %d ", ifr.ifr_name,
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msg.msg_head.can_id, msg.frame.can_dlc);
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for ( i = 0; i < msg.frame.can_dlc; i++)
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sprintf(rxmsg + strlen(rxmsg), "%02X ",
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msg.frame.data[i]);
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/* delimiter '\0' for Adobe(TM) Flash(TM) XML sockets */
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strcat(rxmsg, ">\0");
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send(sa, rxmsg, strlen(rxmsg) + 1, 0);
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}
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if (FD_ISSET(sa, &readfds)) {
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char cmd;
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int items;
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if (read(sa, buf+idx, 1) < 1)
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exit(1);
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if (!idx) {
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if (buf[0] == '<')
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idx = 1;
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continue;
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}
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if (idx > MAXLEN-2) {
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idx = 0;
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continue;
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}
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if (buf[idx] != '>') {
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idx++;
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continue;
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}
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buf[idx+1] = 0;
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idx = 0;
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//printf("read '%s'\n", buf);
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/* prepare bcm message settings */
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memset(&msg, 0, sizeof(msg));
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msg.msg_head.nframes = 1;
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items = sscanf(buf, "< %6s %c %lu %lu %x %hhu "
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"%hhx %hhx %hhx %hhx %hhx %hhx "
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"%hhx %hhx >",
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ifr.ifr_name,
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&cmd,
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&msg.msg_head.ival2.tv_sec,
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&msg.msg_head.ival2.tv_usec,
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&msg.msg_head.can_id,
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&msg.frame.can_dlc,
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&msg.frame.data[0],
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&msg.frame.data[1],
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&msg.frame.data[2],
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&msg.frame.data[3],
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&msg.frame.data[4],
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&msg.frame.data[5],
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&msg.frame.data[6],
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&msg.frame.data[7]);
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if (items < 6)
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break;
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if (msg.frame.can_dlc > 8)
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break;
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if (items != 6 + msg.frame.can_dlc)
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break;
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msg.frame.can_id = msg.msg_head.can_id;
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switch (cmd) {
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case 'S':
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msg.msg_head.opcode = TX_SEND;
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break;
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case 'A':
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msg.msg_head.opcode = TX_SETUP;
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msg.msg_head.flags |= SETTIMER | STARTTIMER;
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break;
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case 'U':
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msg.msg_head.opcode = TX_SETUP;
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msg.msg_head.flags = 0;
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break;
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case 'D':
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msg.msg_head.opcode = TX_DELETE;
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break;
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case 'R':
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msg.msg_head.opcode = RX_SETUP;
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msg.msg_head.flags = SETTIMER;
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break;
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case 'F':
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msg.msg_head.opcode = RX_SETUP;
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msg.msg_head.flags = RX_FILTER_ID | SETTIMER;
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break;
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case 'X':
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msg.msg_head.opcode = RX_DELETE;
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break;
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default:
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printf("unknown command '%c'.\n", cmd);
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exit(1);
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}
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if (!ioctl(sc, SIOCGIFINDEX, &ifr)) {
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caddr.can_ifindex = ifr.ifr_ifindex;
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sendto(sc, &msg, sizeof(msg), 0,
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(struct sockaddr*)&caddr, sizeof(caddr));
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}
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}
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}
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close(sc);
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close(sa);
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return 0;
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}
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