Added tiny ip server to send ISO 15765-2 PDUs via internetsockets to the CAN bus and vice versa.
Oliver Hartkopp
parent
c8247c8a57
commit
b68a79ebde
2
Makefile
2
Makefile
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@ -53,7 +53,7 @@ CFLAGS = -O2 -Wall -Wno-parentheses -I$(KERNELDIR)/include \
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-DPF_CAN=29 \
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-DPF_CAN=29 \
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-DAF_CAN=PF_CAN
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-DAF_CAN=PF_CAN
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PROGRAMS_ISOTP = isotpdump isotprecv isotpsend isotpsniffer isotptun
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PROGRAMS_ISOTP = isotpdump isotprecv isotpsend isotpsniffer isotptun isotpserver
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PROGRAMS_CANGW = cangw
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PROGRAMS_CANGW = cangw
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PROGRAMS_SLCAN = slcan_attach slcand
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PROGRAMS_SLCAN = slcan_attach slcand
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PROGRAMS = candump cansniffer cansend canplayer cangen canbusload\
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PROGRAMS = candump cansniffer cansend canplayer cangen canbusload\
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@ -0,0 +1,397 @@
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/*
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* $Id$
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*/
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/*
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* isotpserver.c
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*
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* Implements a socket server which understands ASCII HEX
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* messages for simple TCP/IP <-> ISO 15765-2 bridging.
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*
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* General message format: <[data]+>
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*
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* e.g. for an eight bytes PDU
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*
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* <1122334455667788>
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*
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* Valid ISO 15625-2 PDUs have a length from 1-4095 bytes.
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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) 2002-2010 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 <libgen.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/isotp.h>
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#define NO_CAN_ID 0xFFFFFFFFU
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int b64hex(char *asc, unsigned char *bin, int len)
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{
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int i;
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for (i = 0; i < len; i++) {
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if (!sscanf(asc+(i*2), "%2hhx", bin+i))
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return 1;
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}
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return 0;
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}
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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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void print_usage(char *prg)
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{
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fprintf(stderr, "\nUsage: %s -l <port> -s <can_id> -d <can_id> [options] <CAN interface>\n", prg);
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fprintf(stderr, "Options: (* = mandatory)\n");
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fprintf(stderr, "\n");
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fprintf(stderr, "ip adressing:\n");
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fprintf(stderr, " * -l <port> (local port for the server)\n");
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fprintf(stderr, "\n");
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fprintf(stderr, "isotp adressing:\n");
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fprintf(stderr, " * -s <can_id> (source can_id. Use 8 digits for extended IDs)\n");
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fprintf(stderr, " * -d <can_id> (destination can_id. Use 8 digits for extended IDs)\n");
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fprintf(stderr, " -x <addr> (extended addressing mode)\n");
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fprintf(stderr, "\n");
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fprintf(stderr, "padding:\n");
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fprintf(stderr, " -p <byte> (set and enable tx padding byte)\n");
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fprintf(stderr, " -r <byte> (set and enable rx padding byte)\n");
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fprintf(stderr, " -P <mode> (check padding in SF/CF. (l)ength (c)ontent (a)ll)\n");
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fprintf(stderr, "\n");
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fprintf(stderr, "rx path: (config, which is sent to the sender / data source)\n");
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fprintf(stderr, " -b <bs> (blocksize. 0 = off)\n");
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fprintf(stderr, " -m <val> (STmin in ms/ns. See spec.)\n");
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fprintf(stderr, " -w <num> (max. wait frame transmissions)\n");
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fprintf(stderr, "\n");
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fprintf(stderr, "tx path: (config, which changes local tx settings)\n");
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fprintf(stderr, " -t <time ns> (transmit time in nanosecs)\n");
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fprintf(stderr, "\n");
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fprintf(stderr, "All values except for '-l' and '-t' are expected in hexadecimal values.\n");
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fprintf(stderr, "\n");
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}
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int main(int argc, char **argv)
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{
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extern int optind, opterr, optopt;
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int opt;
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int sl, sa, sc; /* (L)isten, (A)ccept, (C)AN sockets */
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struct sockaddr_in saddr, clientaddr;
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struct sockaddr_can caddr;
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static struct can_isotp_options opts;
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static struct can_isotp_fc_options fcopts;
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struct ifreq ifr;
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socklen_t sin_size = sizeof(clientaddr);
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socklen_t caddrlen = sizeof(caddr);
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struct sigaction signalaction;
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sigset_t sigset;
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fd_set readfds;
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int i, ret;
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int nbytes;
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int local_port = 0;
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int verbose = 0;
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int idx = 0; /* index in txmsg[] */
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unsigned char msg[4096]; /* isotp socket message buffer (4095 + test_for_too_long_byte)*/
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char rxmsg[8194]; /* isotp->tcp ASCII message buffer (4095*2 + < > \n null) */
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char txmsg[8193]; /* tcp->isotp ASCII message buffer (4095*2 + < > null) */
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/* mark missing mandatory commandline options as missing */
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caddr.can_addr.tp.tx_id = caddr.can_addr.tp.rx_id = NO_CAN_ID;
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while ((opt = getopt(argc, argv, "l:s:d:x:p:r:P:b:m:w:t:v?")) != -1) {
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switch (opt) {
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case 'l':
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local_port = strtoul(optarg, (char **)NULL, 10);
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break;
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case 's':
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caddr.can_addr.tp.tx_id = strtoul(optarg, (char **)NULL, 16);
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if (strlen(optarg) > 7)
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caddr.can_addr.tp.tx_id |= CAN_EFF_FLAG;
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break;
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case 'd':
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caddr.can_addr.tp.rx_id = strtoul(optarg, (char **)NULL, 16);
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if (strlen(optarg) > 7)
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caddr.can_addr.tp.rx_id |= CAN_EFF_FLAG;
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break;
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case 'x':
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opts.flags |= CAN_ISOTP_EXTEND_ADDR;
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opts.ext_address = strtoul(optarg, (char **)NULL, 16) & 0xFF;
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break;
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case 'p':
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opts.flags |= CAN_ISOTP_TX_PADDING;
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opts.txpad_content = strtoul(optarg, (char **)NULL, 16) & 0xFF;
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break;
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case 'r':
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opts.flags |= CAN_ISOTP_RX_PADDING;
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opts.rxpad_content = strtoul(optarg, (char **)NULL, 16) & 0xFF;
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break;
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case 'P':
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if (optarg[0] == 'l')
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opts.flags |= CAN_ISOTP_CHK_PAD_LEN;
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else if (optarg[0] == 'c')
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opts.flags |= CAN_ISOTP_CHK_PAD_DATA;
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else if (optarg[0] == 'a')
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opts.flags |= (CAN_ISOTP_CHK_PAD_DATA | CAN_ISOTP_CHK_PAD_DATA);
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else {
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printf("unknown padding check option '%c'.\n", optarg[0]);
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print_usage(basename(argv[0]));
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exit(0);
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}
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break;
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case 'b':
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fcopts.bs = strtoul(optarg, (char **)NULL, 16) & 0xFF;
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break;
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case 'm':
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fcopts.stmin = strtoul(optarg, (char **)NULL, 16) & 0xFF;
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break;
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case 'w':
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fcopts.wftmax = strtoul(optarg, (char **)NULL, 16) & 0xFF;
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break;
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case 't':
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opts.frame_txtime = strtoul(optarg, (char **)NULL, 10);
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break;
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case 'v':
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verbose = 1;
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break;
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case '?':
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print_usage(basename(argv[0]));
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exit(0);
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break;
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default:
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fprintf(stderr, "Unknown option %c\n", opt);
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print_usage(basename(argv[0]));
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exit(1);
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break;
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}
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}
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if ((argc - optind != 1) || (local_port == 0) ||
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(caddr.can_addr.tp.tx_id == NO_CAN_ID) ||
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(caddr.can_addr.tp.rx_id == NO_CAN_ID)) {
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print_usage(basename(argv[0]));
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exit(1);
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}
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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(local_port);
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while(bind(sl,(struct sockaddr*)&saddr, sizeof(saddr)) < 0) {
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printf(".");
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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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if ((sc = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
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perror("socket");
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exit(1);
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}
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setsockopt(sc, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));
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setsockopt(sc, SOL_CAN_ISOTP, CAN_ISOTP_RECV_FC, &fcopts, sizeof(fcopts));
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caddr.can_family = AF_CAN;
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strcpy(ifr.ifr_name, argv[optind]);
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if (ioctl(sc, SIOCGIFINDEX, &ifr) < 0) {
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perror("SIOCGIFINDEX");
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exit(1);
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}
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caddr.can_ifindex = ifr.ifr_ifindex;
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if (bind(sc, (struct sockaddr *)&caddr, caddrlen) < 0) {
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perror("bind");
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exit(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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nbytes = read(sc, &msg, 4096);
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if (nbytes < 1 || nbytes > 4095) {
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perror("read from isotp socket");
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exit(1);
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}
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rxmsg[0] = '<';
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for ( i = 0; i < nbytes; i++)
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sprintf(rxmsg + 1 + 2*i, "%02X", msg[i]);
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/* finalize string for sending */
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strcat(rxmsg, ">\n");
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if (verbose)
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printf("CAN>TCP %s", rxmsg);
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send(sa, rxmsg, strlen(rxmsg), 0);
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}
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if (FD_ISSET(sa, &readfds)) {
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if (read(sa, txmsg+idx, 1) < 1) {
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perror("read from tcp/ip socket");
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exit(1);
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}
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if (!idx) {
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if (txmsg[0] == '<')
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idx = 1;
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continue;
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}
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/* max len is 4095*2 + '<' + '>' = 8192. The buffer index starts with 0 */
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if (idx > 8191) {
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||||||
|
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;
|
||||||
|
}
|
||||||
Loading…
Reference in New Issue