From d9b6577d1a6d8629313e8c6b4bf9dee6ef6b1fbf Mon Sep 17 00:00:00 2001 From: Luotao Fu Date: Fri, 20 Nov 2009 15:29:42 +0100 Subject: [PATCH] initial create libsocketcan-nl project Signed-off-by: Luotao Fu --- GNUmakefile.am | 34 ++ autogen-oldtools.sh | 45 ++ autogen.sh | 22 + config/GNUmakefile.am | 8 + config/libsocketcan-nl.pc.in | 12 + config/m4/.secret-world-domination-project | 0 config/m4/acx_pthread.m4 | 238 +++++++++ configure.ac | 122 +++++ include/GNUmakefile.am | 9 + include/can/netlink.h | 113 +++++ include/libsocketcan-nl.h | 5 + include/libsocketcan-nlstuff.h | 5 + include/socketcan_netlink.h | 49 ++ src/GNUmakefile.am | 17 + src/socketcan_netlink.c | 554 +++++++++++++++++++++ tests/GNUmakefile.am | 17 + tests/test.c | 7 + 17 files changed, 1257 insertions(+) create mode 100644 GNUmakefile.am create mode 100755 autogen-oldtools.sh create mode 100755 autogen.sh create mode 100644 config/GNUmakefile.am create mode 100644 config/libsocketcan-nl.pc.in create mode 100644 config/m4/.secret-world-domination-project create mode 100644 config/m4/acx_pthread.m4 create mode 100644 configure.ac create mode 100644 include/GNUmakefile.am create mode 100644 include/can/netlink.h create mode 100644 include/libsocketcan-nl.h create mode 100644 include/libsocketcan-nlstuff.h create mode 100644 include/socketcan_netlink.h create mode 100644 src/GNUmakefile.am create mode 100644 src/socketcan_netlink.c create mode 100644 tests/GNUmakefile.am create mode 100644 tests/test.c diff --git a/GNUmakefile.am b/GNUmakefile.am new file mode 100644 index 0000000..7f8d6f8 --- /dev/null +++ b/GNUmakefile.am @@ -0,0 +1,34 @@ +SUBDIRS = \ + include \ + config \ + src \ + tests + +EXTRA_DIST = \ + autogen.sh \ + config/m4/.secret-world-domination-project + +MAINTAINERCLEANFILES = \ + configure \ + GNUmakefile.in \ + aclocal.m4 \ + config/autoconf/compile \ + config/autoconf/config.guess \ + config/autoconf/config.sub \ + config/autoconf/depcomp \ + config/autoconf/install-sh \ + config/autoconf/ltmain.sh \ + config/autoconf/mdate-sh \ + config/autoconf/missing \ + config/autoconf/texinfo.tex \ + config/m4/libtool.m4 \ + config/m4/ltoptions.m4 \ + config/m4/ltsugar.m4 \ + config/m4/ltversion.m4 \ + config/m4/lt~obsolete.m4 \ + $(DIST_ARCHIVES) + +maintainer-clean-local: + -chmod -R a+rw $(distdir) + -rm -fr $(distdir) + diff --git a/autogen-oldtools.sh b/autogen-oldtools.sh new file mode 100755 index 0000000..cbb9522 --- /dev/null +++ b/autogen-oldtools.sh @@ -0,0 +1,45 @@ +#!/bin/bash + +# +# usage: +# +# banner +# +banner() { + + echo + TG=`echo $1 | sed -e "s,/.*/,,g"` + LINE=`echo $TG |sed -e "s/./-/g"` + echo $LINE + echo $TG + echo $LINE + echo +} + + +ACLOCAL=${ACLOCAL:=aclocal} +AUTOHEADER=${AUTOHEADER:=autoheader} +AUTOMAKE=${AUTOMAKE:=automake} +AUTOCONF=${AUTOCONF:=autoconf} + +banner "running libtoolize" +libtoolize --force +[ $? != 0 ] && exit + +banner "running aclocal" +$ACLOCAL -I config/m4 +[ $? != 0 ] && exit + +banner "running autoheader" +$AUTOHEADER +[ $? != 0 ] && exit + +banner "running automake" +$AUTOMAKE --gnu --add-missing -Wall +[ $? != 0 ] && exit + +banner "running autoconf" +$AUTOCONF -Wall +[ $? != 0 ] && exit + +banner "Finished" diff --git a/autogen.sh b/autogen.sh new file mode 100755 index 0000000..29db9c9 --- /dev/null +++ b/autogen.sh @@ -0,0 +1,22 @@ +#!/bin/bash + +# +# usage: +# +# banner +# +banner() { + echo + TG=`echo $1 | sed -e "s,/.*/,,g"` + LINE=`echo $TG |sed -e "s/./-/g"` + echo $LINE + echo $TG + echo $LINE + echo +} + +banner "autoreconf" + +autoreconf --force --install --symlink -Wall || exit $? + +banner "Finished" diff --git a/config/GNUmakefile.am b/config/GNUmakefile.am new file mode 100644 index 0000000..998e393 --- /dev/null +++ b/config/GNUmakefile.am @@ -0,0 +1,8 @@ +EXTRA_DIST = \ + libsocketcan-nl.pc.in + +pkgconfigdir = $(libdir)/pkgconfig +pkgconfig_DATA = libsocketcan-nl.pc + +MAINTAINERCLEANFILES = \ + GNUmakefile.in diff --git a/config/libsocketcan-nl.pc.in b/config/libsocketcan-nl.pc.in new file mode 100644 index 0000000..a29224a --- /dev/null +++ b/config/libsocketcan-nl.pc.in @@ -0,0 +1,12 @@ +prefix=@prefix@ +exec_prefix=@exec_prefix@ +libdir=@libdir@ +includedir=@includedir@ + +Name: libsocketcan-nl +Description: provides access to socketcan netlink interface +Requires: @REQUIRES_LIBRN@ +Version: @VERSION@ +Libs: -L${libdir} -llibsocketcan-nl +#Libs.private: -lm -lpthread ...etc... +Cflags: -I${includedir} diff --git a/config/m4/.secret-world-domination-project b/config/m4/.secret-world-domination-project new file mode 100644 index 0000000..e69de29 diff --git a/config/m4/acx_pthread.m4 b/config/m4/acx_pthread.m4 new file mode 100644 index 0000000..06af842 --- /dev/null +++ b/config/m4/acx_pthread.m4 @@ -0,0 +1,238 @@ +dnl @synopsis ACX_PTHREAD([ACTION-IF-FOUND[, ACTION-IF-NOT-FOUND]]) +dnl +dnl @summary figure out how to build C programs using POSIX threads +dnl +dnl This macro figures out how to build C programs using POSIX threads. +dnl It sets the PTHREAD_LIBS output variable to the threads library and +dnl linker flags, and the PTHREAD_CFLAGS output variable to any special +dnl C compiler flags that are needed. (The user can also force certain +dnl compiler flags/libs to be tested by setting these environment +dnl variables.) +dnl +dnl Also sets PTHREAD_CC to any special C compiler that is needed for +dnl multi-threaded programs (defaults to the value of CC otherwise). +dnl (This is necessary on AIX to use the special cc_r compiler alias.) +dnl +dnl NOTE: You are assumed to not only compile your program with these +dnl flags, but also link it with them as well. e.g. you should link +dnl with $PTHREAD_CC $CFLAGS $PTHREAD_CFLAGS $LDFLAGS ... $PTHREAD_LIBS +dnl $LIBS +dnl +dnl If you are only building threads programs, you may wish to use +dnl these variables in your default LIBS, CFLAGS, and CC: +dnl +dnl LIBS="$PTHREAD_LIBS $LIBS" +dnl CFLAGS="$CFLAGS $PTHREAD_CFLAGS" +dnl CC="$PTHREAD_CC" +dnl +dnl In addition, if the PTHREAD_CREATE_JOINABLE thread-attribute +dnl constant has a nonstandard name, defines PTHREAD_CREATE_JOINABLE to +dnl that name (e.g. PTHREAD_CREATE_UNDETACHED on AIX). +dnl +dnl ACTION-IF-FOUND is a list of shell commands to run if a threads +dnl library is found, and ACTION-IF-NOT-FOUND is a list of commands to +dnl run it if it is not found. If ACTION-IF-FOUND is not specified, the +dnl default action will define HAVE_PTHREAD. +dnl +dnl Please let the authors know if this macro fails on any platform, or +dnl if you have any other suggestions or comments. This macro was based +dnl on work by SGJ on autoconf scripts for FFTW (www.fftw.org) (with +dnl help from M. Frigo), as well as ac_pthread and hb_pthread macros +dnl posted by Alejandro Forero Cuervo to the autoconf macro repository. +dnl We are also grateful for the helpful feedback of numerous users. +dnl +dnl @category InstalledPackages +dnl @author Steven G. Johnson +dnl @version 2005-06-15 +dnl @license GPLWithACException + +AC_DEFUN([ACX_PTHREAD], [ +AC_REQUIRE([AC_CANONICAL_HOST]) +AC_LANG_SAVE +AC_LANG_C +acx_pthread_ok=no + +# We used to check for pthread.h first, but this fails if pthread.h +# requires special compiler flags (e.g. on True64 or Sequent). +# It gets checked for in the link test anyway. + +# First of all, check if the user has set any of the PTHREAD_LIBS, +# etcetera environment variables, and if threads linking works using +# them: +if test x"$PTHREAD_LIBS$PTHREAD_CFLAGS" != x; then + save_CFLAGS="$CFLAGS" + CFLAGS="$CFLAGS $PTHREAD_CFLAGS" + save_LIBS="$LIBS" + LIBS="$PTHREAD_LIBS $LIBS" + AC_MSG_CHECKING([for pthread_join in LIBS=$PTHREAD_LIBS with CFLAGS=$PTHREAD_CFLAGS]) + AC_TRY_LINK_FUNC(pthread_join, acx_pthread_ok=yes) + AC_MSG_RESULT($acx_pthread_ok) + if test x"$acx_pthread_ok" = xno; then + PTHREAD_LIBS="" + PTHREAD_CFLAGS="" + fi + LIBS="$save_LIBS" + CFLAGS="$save_CFLAGS" +fi + +# We must check for the threads library under a number of different +# names; the ordering is very important because some systems +# (e.g. DEC) have both -lpthread and -lpthreads, where one of the +# libraries is broken (non-POSIX). + +# Create a list of thread flags to try. Items starting with a "-" are +# C compiler flags, and other items are library names, except for "none" +# which indicates that we try without any flags at all, and "pthread-config" +# which is a program returning the flags for the Pth emulation library. + +acx_pthread_flags="pthreads none -Kthread -kthread lthread -pthread -pthreads -mthreads pthread --thread-safe -mt pthread-config" + +# The ordering *is* (sometimes) important. Some notes on the +# individual items follow: + +# pthreads: AIX (must check this before -lpthread) +# none: in case threads are in libc; should be tried before -Kthread and +# other compiler flags to prevent continual compiler warnings +# -Kthread: Sequent (threads in libc, but -Kthread needed for pthread.h) +# -kthread: FreeBSD kernel threads (preferred to -pthread since SMP-able) +# lthread: LinuxThreads port on FreeBSD (also preferred to -pthread) +# -pthread: Linux/gcc (kernel threads), BSD/gcc (userland threads) +# -pthreads: Solaris/gcc +# -mthreads: Mingw32/gcc, Lynx/gcc +# -mt: Sun Workshop C (may only link SunOS threads [-lthread], but it +# doesn't hurt to check since this sometimes defines pthreads too; +# also defines -D_REENTRANT) +# ... -mt is also the pthreads flag for HP/aCC +# pthread: Linux, etcetera +# --thread-safe: KAI C++ +# pthread-config: use pthread-config program (for GNU Pth library) + +case "${host_cpu}-${host_os}" in + *solaris*) + + # On Solaris (at least, for some versions), libc contains stubbed + # (non-functional) versions of the pthreads routines, so link-based + # tests will erroneously succeed. (We need to link with -pthreads/-mt/ + # -lpthread.) (The stubs are missing pthread_cleanup_push, or rather + # a function called by this macro, so we could check for that, but + # who knows whether they'll stub that too in a future libc.) So, + # we'll just look for -pthreads and -lpthread first: + + acx_pthread_flags="-pthreads pthread -mt -pthread $acx_pthread_flags" + ;; +esac + +if test x"$acx_pthread_ok" = xno; then +for flag in $acx_pthread_flags; do + + case $flag in + none) + AC_MSG_CHECKING([whether pthreads work without any flags]) + ;; + + -*) + AC_MSG_CHECKING([whether pthreads work with $flag]) + PTHREAD_CFLAGS="$flag" + ;; + + pthread-config) + AC_CHECK_PROG(acx_pthread_config, pthread-config, yes, no) + if test x"$acx_pthread_config" = xno; then continue; fi + PTHREAD_CFLAGS="`pthread-config --cflags`" + PTHREAD_LIBS="`pthread-config --ldflags` `pthread-config --libs`" + ;; + + *) + AC_MSG_CHECKING([for the pthreads library -l$flag]) + PTHREAD_LIBS="-l$flag" + ;; + esac + + save_LIBS="$LIBS" + save_CFLAGS="$CFLAGS" + LIBS="$PTHREAD_LIBS $LIBS" + CFLAGS="$CFLAGS $PTHREAD_CFLAGS" + + # Check for various functions. We must include pthread.h, + # since some functions may be macros. (On the Sequent, we + # need a special flag -Kthread to make this header compile.) + # We check for pthread_join because it is in -lpthread on IRIX + # while pthread_create is in libc. We check for pthread_attr_init + # due to DEC craziness with -lpthreads. We check for + # pthread_cleanup_push because it is one of the few pthread + # functions on Solaris that doesn't have a non-functional libc stub. + # We try pthread_create on general principles. + AC_TRY_LINK([#include ], + [pthread_t th; pthread_join(th, 0); + pthread_attr_init(0); pthread_cleanup_push(0, 0); + pthread_create(0,0,0,0); pthread_cleanup_pop(0); ], + [acx_pthread_ok=yes]) + + LIBS="$save_LIBS" + CFLAGS="$save_CFLAGS" + + AC_MSG_RESULT($acx_pthread_ok) + if test "x$acx_pthread_ok" = xyes; then + break; + fi + + PTHREAD_LIBS="" + PTHREAD_CFLAGS="" +done +fi + +# Various other checks: +if test "x$acx_pthread_ok" = xyes; then + save_LIBS="$LIBS" + LIBS="$PTHREAD_LIBS $LIBS" + save_CFLAGS="$CFLAGS" + CFLAGS="$CFLAGS $PTHREAD_CFLAGS" + + # Detect AIX lossage: JOINABLE attribute is called UNDETACHED. + AC_MSG_CHECKING([for joinable pthread attribute]) + attr_name=unknown + for attr in PTHREAD_CREATE_JOINABLE PTHREAD_CREATE_UNDETACHED; do + AC_TRY_LINK([#include ], [int attr=$attr; return attr;], + [attr_name=$attr; break]) + done + AC_MSG_RESULT($attr_name) + if test "$attr_name" != PTHREAD_CREATE_JOINABLE; then + AC_DEFINE_UNQUOTED(PTHREAD_CREATE_JOINABLE, $attr_name, + [Define to necessary symbol if this constant + uses a non-standard name on your system.]) + fi + + AC_MSG_CHECKING([if more special flags are required for pthreads]) + flag=no + case "${host_cpu}-${host_os}" in + *-aix* | *-freebsd* | *-darwin*) flag="-D_THREAD_SAFE";; + *solaris* | *-osf* | *-hpux*) flag="-D_REENTRANT";; + esac + AC_MSG_RESULT(${flag}) + if test "x$flag" != xno; then + PTHREAD_CFLAGS="$flag $PTHREAD_CFLAGS" + fi + + LIBS="$save_LIBS" + CFLAGS="$save_CFLAGS" + + # More AIX lossage: must compile with cc_r + AC_CHECK_PROG(PTHREAD_CC, cc_r, cc_r, ${CC}) +else + PTHREAD_CC="$CC" +fi + +AC_SUBST(PTHREAD_LIBS) +AC_SUBST(PTHREAD_CFLAGS) +AC_SUBST(PTHREAD_CC) + +# Finally, execute ACTION-IF-FOUND/ACTION-IF-NOT-FOUND: +if test x"$acx_pthread_ok" = xyes; then + ifelse([$1],,AC_DEFINE(HAVE_PTHREAD,1,[Define if you have POSIX threads libraries and header files.]),[$1]) + : +else + acx_pthread_ok=no + $2 +fi +AC_LANG_RESTORE +])dnl ACX_PTHREAD diff --git a/configure.ac b/configure.ac new file mode 100644 index 0000000..00b290f --- /dev/null +++ b/configure.ac @@ -0,0 +1,122 @@ +# -*- Autoconf -*- +# Process this file with autoconf to produce a configure script. +AC_PREREQ(2.59) + +AC_INIT([libsocketcan-nl], [0.0.1], [bugs@pengutronix.de]) +AC_CONFIG_HEADERS([include/libsocketcan-nl_config.h]) +AC_CONFIG_SRCDIR([src/socketcan_netlink.c]) +AC_CONFIG_MACRO_DIR([config/m4]) +AC_CONFIG_AUX_DIR([config/autoconf]) +AC_CANONICAL_BUILD +AC_CANONICAL_HOST + +AM_MAINTAINER_MODE + +CFLAGS="${CFLAGS} -Wall" + +# +# libtool library versioning stuff +# +# Library code modified: REVISION++ +# Interfaces changed/added/removed: CURRENT++ REVISION=0 +# Interfaces added: AGE++ +# Interfaces removed: AGE=0 +LT_CURRENT=0 +LT_REVISION=0 +LT_AGE=0 +AC_SUBST(LT_CURRENT) +AC_SUBST(LT_REVISION) +AC_SUBST(LT_AGE) + + +# +# Checks for programs. +# +AC_PROG_CC +#AM_MISSING_PROG(PERL, perl, $missing_dir) +# libtool, old: +AC_LIBTOOL_WIN32_DLL +#AC_LIBTOOL_TAGS([]) +AC_PROG_LIBTOOL +# libtool, new: +# LT_INIT(win32-dll) + +AM_INIT_AUTOMAKE([foreign no-exeext dist-bzip2]) + + +# +# Checks for libraries. +# + +AC_HEADER_DIRENT +AC_HEADER_STDC +AC_HEADER_SYS_WAIT +AC_CHECK_HEADERS([ \ + arpa/inet.h \ + limits.h \ + netdb.h \ + netinet/in.h \ + stddef.h \ + stdlib.h \ + string.h \ + sys/param.h \ + sys/socket.h \ + sys/time.h \ + sys/un.h \ + unistd.h \ + utime.h \ + net/if.h \ + linux/netlink.h \ + linux/rtnetlink.h \ + ]) + + +# +# Checks for typedefs, structures, and compiler characteristics. +# +AC_C_CONST +AC_C_INLINE +AC_TYPE_SIZE_T +AC_HEADER_TIME + + +# +# Checks for library functions. +# +AC_FUNC_MEMCMP +AC_TYPE_SIGNAL +AC_FUNC_STAT +AC_FUNC_UTIME_NULL +AC_CHECK_FUNCS([gethostbyaddr gethostbyname gethostname gettimeofday memset mkdir socket utime]) + + +# +# Debugging +# +AC_MSG_CHECKING([whether to enable debugging]) +AC_ARG_ENABLE(debug, + AS_HELP_STRING([--enable-debug], [enable debugging @<:@default=yes@:>@]), + [case "$enableval" in + y | yes) CONFIG_DEBUG=yes ;; + *) CONFIG_DEBUG=no ;; + esac], + [CONFIG_DEBUG=yes]) +AC_MSG_RESULT([${CONFIG_DEBUG}]) +if test "${CONFIG_DEBUG}" = "yes"; then + CFLAGS="${CFLAGS} -Werror -Wsign-compare -Wfloat-equal -Wformat-security -g -O1" + AC_DEFINE(DEBUG, 1, [debugging]) +else + CFLAGS="${CFLAGS} -O2" +fi + + +AC_CONFIG_FILES([ + GNUmakefile + config/libsocketcan-nl.pc + config/GNUmakefile + include/GNUmakefile + src/GNUmakefile + tests/GNUmakefile + ]) +AC_OUTPUT + diff --git a/include/GNUmakefile.am b/include/GNUmakefile.am new file mode 100644 index 0000000..c9abcb9 --- /dev/null +++ b/include/GNUmakefile.am @@ -0,0 +1,9 @@ +noinst_HEADERS = \ + libsocketcan-nlstuff.h + +nobase_include_HEADERS = \ + socketcan_netlink.h + +MAINTAINERCLEANFILES = \ + libsocketcan-nl_config.h.in \ + GNUmakefile.in diff --git a/include/can/netlink.h b/include/can/netlink.h new file mode 100644 index 0000000..9ecbb78 --- /dev/null +++ b/include/can/netlink.h @@ -0,0 +1,113 @@ +/* + * linux/can/netlink.h + * + * Definitions for the CAN netlink interface + * + * Copyright (c) 2009 Wolfgang Grandegger + * + * Send feedback to + * + */ + +#ifndef CAN_NETLINK_H +#define CAN_NETLINK_H + +#include + +/* + * CAN bit-timing parameters + * + * For futher information, please read chapter "8 BIT TIMING + * REQUIREMENTS" of the "Bosch CAN Specification version 2.0" + * at http://www.semiconductors.bosch.de/pdf/can2spec.pdf. + */ +struct can_bittiming { + __u32 bitrate; /* Bit-rate in bits/second */ + __u32 sample_point; /* Sample point in one-tenth of a percent */ + __u32 tq; /* Time quanta (TQ) in nanoseconds */ + __u32 prop_seg; /* Propagation segment in TQs */ + __u32 phase_seg1; /* Phase buffer segment 1 in TQs */ + __u32 phase_seg2; /* Phase buffer segment 2 in TQs */ + __u32 sjw; /* Synchronisation jump width in TQs */ + __u32 brp; /* Bit-rate prescaler */ +}; + +/* + * CAN harware-dependent bit-timing constant + * + * Used for calculating and checking bit-timing parameters + */ +struct can_bittiming_const { + char name[16]; /* Name of the CAN controller hardware */ + __u32 tseg1_min; /* Time segement 1 = prop_seg + phase_seg1 */ + __u32 tseg1_max; + __u32 tseg2_min; /* Time segement 2 = phase_seg2 */ + __u32 tseg2_max; + __u32 sjw_max; /* Synchronisation jump width */ + __u32 brp_min; /* Bit-rate prescaler */ + __u32 brp_max; + __u32 brp_inc; +}; + +/* + * CAN clock parameters + */ +struct can_clock { + __u32 freq; /* CAN system clock frequency in Hz */ +}; + +/* + * CAN operational and error states + */ +enum can_state { + CAN_STATE_ERROR_ACTIVE = 0, /* RX/TX error count < 96 */ + CAN_STATE_ERROR_WARNING, /* RX/TX error count < 128 */ + CAN_STATE_ERROR_PASSIVE, /* RX/TX error count < 256 */ + CAN_STATE_BUS_OFF, /* RX/TX error count >= 256 */ + CAN_STATE_STOPPED, /* Device is stopped */ + CAN_STATE_SLEEPING, /* Device is sleeping */ + CAN_STATE_MAX +}; + +/* + * CAN controller mode + */ +struct can_ctrlmode { + __u32 mask; + __u32 flags; +}; + +#define CAN_CTRLMODE_LOOPBACK 0x1 /* Loopback mode */ +#define CAN_CTRLMODE_LISTENONLY 0x2 /* Listen-only mode */ +#define CAN_CTRLMODE_3_SAMPLES 0x4 /* Triple sampling mode */ + +/* + * CAN device statistics + */ +struct can_device_stats { + __u32 bus_error; /* Bus errors */ + __u32 error_warning; /* Changes to error warning state */ + __u32 error_passive; /* Changes to error passive state */ + __u32 bus_off; /* Changes to bus off state */ + __u32 arbitration_lost; /* Arbitration lost errors */ + __u32 restarts; /* CAN controller re-starts */ +}; + +/* + * CAN netlink interface + */ +enum { + IFLA_CAN_UNSPEC, + IFLA_CAN_BITTIMING, + IFLA_CAN_BITTIMING_CONST, + IFLA_CAN_CLOCK, + IFLA_CAN_STATE, + IFLA_CAN_CTRLMODE, + IFLA_CAN_RESTART_MS, + IFLA_CAN_RESTART, + __IFLA_CAN_MAX +}; + +#define IFLA_CAN_MAX (__IFLA_CAN_MAX - 1) + +#endif /* CAN_NETLINK_H */ diff --git a/include/libsocketcan-nl.h b/include/libsocketcan-nl.h new file mode 100644 index 0000000..26ad1e4 --- /dev/null +++ b/include/libsocketcan-nl.h @@ -0,0 +1,5 @@ +#ifndef LIBSOCKETCAN-NL_H +#define LIBSOCKETCAN-NL_H + + +#endif diff --git a/include/libsocketcan-nlstuff.h b/include/libsocketcan-nlstuff.h new file mode 100644 index 0000000..26ad1e4 --- /dev/null +++ b/include/libsocketcan-nlstuff.h @@ -0,0 +1,5 @@ +#ifndef LIBSOCKETCAN-NL_H +#define LIBSOCKETCAN-NL_H + + +#endif diff --git a/include/socketcan_netlink.h b/include/socketcan_netlink.h new file mode 100644 index 0000000..a2bfe5d --- /dev/null +++ b/include/socketcan_netlink.h @@ -0,0 +1,49 @@ +/* + * Header file for CAN netlink support + * (C) 2009 Luotao Fu + */ + +#ifndef _NMS_H +#define _NMS_H + +#define IFLA_CAN_MAX (__IFLA_CAN_MAX - 1) +#define IF_UP 1 +#define IF_DOWN 2 + +#define GET_STATE 1 +#define GET_RESTART_MS 2 +#define GET_BITTIMING 3 + +struct get_req { + struct nlmsghdr n; + struct rtgenmsg g; +}; + +struct set_req { + struct nlmsghdr n; + struct ifinfomsg i; + char buf[1024]; +}; + +struct req_info { + __u8 restart; + __u8 disable_autorestart; + __u32 restart_ms; + __u32 bitrate; + __u32 ctrlmode; + __u32 flags; +}; + +int if_down(int fd, const char *name); +int if_up(int fd, const char *name); + +int set_link_can(const char *name, struct req_info *req_info); +int set_restart(const char *name); +int set_bitrate(const char *name, __u32 bitrate); +int set_restart_ms(const char *name, __u32 restart_ms); + +int get_state(const char *name); +__u32 get_restart_ms(const char *name); +int get_bittiming(const char *name, struct can_bittiming *bt); + +#endif diff --git a/src/GNUmakefile.am b/src/GNUmakefile.am new file mode 100644 index 0000000..3e0fe38 --- /dev/null +++ b/src/GNUmakefile.am @@ -0,0 +1,17 @@ +lib_LTLIBRARIES = libsocketcan-nl.la + +AM_CPPFLAGS = \ + -I$(top_srcdir)/include \ + -I$(top_builddir)/include + +libsocketcan_nl_la_SOURCES = socketcan_netlink.c + +libsocketcan_nl_la_LDFLAGS = \ + -version-info $(LT_CURRENT):$(LT_REVISION):$(LT_AGE) +# -no-undefined # win32_dll stuff only + +#libsocketcan-nl_LDADD = \ +# $(librn_LIBS) +# +MAINTAINERCLEANFILES = \ + GNUmakefile.in diff --git a/src/socketcan_netlink.c b/src/socketcan_netlink.c new file mode 100644 index 0000000..087a604 --- /dev/null +++ b/src/socketcan_netlink.c @@ -0,0 +1,554 @@ +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include +#include + +#define parse_rtattr_nested(tb, max, rta) \ + (parse_rtattr((tb), (max), RTA_DATA(rta), RTA_PAYLOAD(rta))) + +#define NLMSG_TAIL(nmsg) \ + ((struct rtattr *) (((void *) (nmsg)) + NLMSG_ALIGN((nmsg)->nlmsg_len))) + + +static void +parse_rtattr(struct rtattr **tb, int max, struct rtattr *rta, int len) +{ + memset(tb, 0, sizeof(*tb) * max); + while (RTA_OK(rta, len)) { + if (rta->rta_type <= max) { + tb[rta->rta_type] = rta; + } + + rta = RTA_NEXT(rta, len); + } +} + +static int addattr32(struct nlmsghdr *n, size_t maxlen, int type, __u32 data) +{ + int len = RTA_LENGTH(4); + struct rtattr *rta; + + if (NLMSG_ALIGN(n->nlmsg_len) + len > maxlen) { + fprintf(stderr, + "addattr32: Error! max allowed bound %lu exceeded\n", + maxlen); + return -1; + } + + rta = NLMSG_TAIL(n); + rta->rta_type = type; + rta->rta_len = len; + memcpy(RTA_DATA(rta), &data, 4); + n->nlmsg_len = NLMSG_ALIGN(n->nlmsg_len) + len; + + return 0; +} + +static int addattr_l(struct nlmsghdr *n, size_t maxlen, int type, const void *data, + int alen) +{ + int len = RTA_LENGTH(alen); + struct rtattr *rta; + + if (NLMSG_ALIGN(n->nlmsg_len) + RTA_ALIGN(len) > maxlen) { + fprintf(stderr, + "addattr_l ERROR: message exceeded bound of %lu\n", + maxlen); + return -1; + } + + rta = NLMSG_TAIL(n); + rta->rta_type = type; + rta->rta_len = len; + memcpy(RTA_DATA(rta), data, alen); + n->nlmsg_len = NLMSG_ALIGN(n->nlmsg_len) + RTA_ALIGN(len); + + return 0; +} + +static int send_mod_request(int fd, struct nlmsghdr *n) +{ + int status; + struct sockaddr_nl nladdr; + struct nlmsghdr *h; + + struct iovec iov = { + .iov_base = (void *)n, + .iov_len = n->nlmsg_len + }; + struct msghdr msg = { + .msg_name = &nladdr, + .msg_namelen = sizeof(nladdr), + .msg_iov = &iov, + .msg_iovlen = 1, + }; + char buf[16384]; + + memset(&nladdr, 0, sizeof(nladdr)); + + nladdr.nl_family = AF_NETLINK; + nladdr.nl_pid = 0; + nladdr.nl_groups = 0; + + n->nlmsg_seq = 0; + n->nlmsg_flags |= NLM_F_ACK; + + status = sendmsg(fd, &msg, 0); + + if (status < 0) { + perror("Cannot talk to rtnetlink"); + return -1; + } + //printf("stat sent: %d\n", status); + + iov.iov_base = buf; + while (1) { + iov.iov_len = sizeof(buf); + status = recvmsg(fd, &msg, 0); + //printf("stat rcv: %d\n", status); + for (h = (struct nlmsghdr *)buf; + (size_t)status >= sizeof(*h);) { + int len = h->nlmsg_len; + int l = len - sizeof(*h); + //printf("msgtype: %d, len %d, l %d\n", h->nlmsg_type, len, l); + if (l < 0 || len > status) { + if (msg.msg_flags & MSG_TRUNC) { + fprintf(stderr, "Truncated message\n"); + return -1; + } + fprintf(stderr, + "!!!malformed message: len=%d\n", len); + return -1; + } + + if (h->nlmsg_type == NLMSG_ERROR) { + struct nlmsgerr *err = + (struct nlmsgerr *)NLMSG_DATA(h); + if ((size_t)l < sizeof(struct nlmsgerr)) { + fprintf(stderr, "ERROR truncated\n"); + } else { + errno = -err->error; + if (errno == 0) + return 0; + + perror("RTNETLINK answers"); + } + return -1; + } + status -= NLMSG_ALIGN(len); + h = (struct nlmsghdr *)((char *)h + NLMSG_ALIGN(len)); + } + } + + return 0; +} + +static int send_dump_request(int fd, int family, int type) +{ + struct get_req req; + + memset(&req, 0, sizeof(req)); + + req.n.nlmsg_len = sizeof(req); + req.n.nlmsg_type = type; + req.n.nlmsg_flags = NLM_F_REQUEST | NLM_F_ROOT | NLM_F_MATCH; + req.n.nlmsg_pid = 0; + req.n.nlmsg_seq = 0; + + req.g.rtgen_family = family; + + return send(fd, (void *)&req, sizeof(req), 0); +} + +static int open_nl_sock() +{ + int fd; + int sndbuf = 32768; + int rcvbuf = 32768; + unsigned int addr_len; + struct sockaddr_nl local; + + fd = socket(AF_NETLINK, SOCK_RAW, NETLINK_ROUTE); + if (fd < 0) { + perror("Cannot open netlink socket"); + return -1; + } + + setsockopt(fd, SOL_SOCKET, SO_SNDBUF, (void *)&sndbuf, sizeof(sndbuf)); + + setsockopt(fd, SOL_SOCKET, SO_RCVBUF, (void *)&rcvbuf, sizeof(rcvbuf)); + + memset(&local, 0, sizeof(local)); + local.nl_family = AF_NETLINK; + local.nl_groups = 0; + + if (bind(fd, (struct sockaddr *)&local, sizeof(local)) < 0) { + perror("Cannot bind netlink socket"); + return -1; + } + + addr_len = sizeof(local); + if (getsockname(fd, (struct sockaddr *)&local, &addr_len) < 0) { + perror("Cannot getsockname"); + return -1; + } + if (addr_len != sizeof(local)) { + fprintf(stderr, "Wrong address length %d\n", addr_len); + return -1; + } + if (local.nl_family != AF_NETLINK) { + fprintf(stderr, "Wrong address family %d\n", local.nl_family); + return -1; + } + return fd; +} + +static int do_get_nl_link(int fd, __u8 acquire, const char *name, void *res) +{ + struct sockaddr_nl peer; + + char cbuf[64]; + char nlbuf[1024 * 8]; + + int ret = -1; + + struct iovec iov = { + .iov_base = (void *)nlbuf, + .iov_len = sizeof(nlbuf), + }; + + struct msghdr msg = { + .msg_name = (void *)&peer, + .msg_namelen = sizeof(peer), + .msg_iov = &iov, + .msg_iovlen = 1, + .msg_control = &cbuf, + .msg_controllen = sizeof(cbuf), + .msg_flags = 0, + }; + struct nlmsghdr *nl_msg; + ssize_t msglen; + + struct rtattr *linkinfo[IFLA_INFO_MAX + 1]; + struct rtattr *can_attr[IFLA_CAN_MAX + 1]; + + if (send_dump_request(fd, AF_PACKET, RTM_GETLINK) < 0) { + perror("Cannot send dump request"); + return ret; + } + + if ((msglen = recvmsg(fd, &msg, 0)) <= 0) { + perror("Receive error"); + return ret; + } + size_t u_msglen = (size_t)msglen; + /* Check to see if the buffers in msg get truncated */ + if (msg.msg_namelen != sizeof(peer) || + (msg.msg_flags & (MSG_TRUNC | MSG_CTRUNC))) { + fprintf(stderr, "Uhoh... truncated message.\n"); + return ret; + } + + for (nl_msg = (struct nlmsghdr *)nlbuf; + NLMSG_OK(nl_msg, u_msglen); nl_msg = NLMSG_NEXT(nl_msg, u_msglen)) { + int type = nl_msg->nlmsg_type; + int len; + if (type != RTM_NEWLINK) + continue; + + struct ifinfomsg *ifi = NLMSG_DATA(nl_msg); + struct rtattr *tb[IFLA_MAX + 1]; + + len = + nl_msg->nlmsg_len - NLMSG_LENGTH(sizeof(struct ifaddrmsg)); + parse_rtattr(tb, IFLA_MAX, IFLA_RTA(ifi), len); + + if (strncmp((char *)RTA_DATA(tb[IFLA_IFNAME]), name, 4) != 0) + continue; + + if (tb[IFLA_LINKINFO]) + parse_rtattr_nested(linkinfo, + IFLA_INFO_MAX, tb[IFLA_LINKINFO]); + else + continue; + + if (!linkinfo[IFLA_INFO_DATA]) { + fprintf(stderr, "no link data found\n"); + return ret; + } + + parse_rtattr_nested(can_attr, IFLA_CAN_MAX, + linkinfo[IFLA_INFO_DATA]); + + switch (acquire) { + case GET_STATE: + if (can_attr[IFLA_CAN_STATE]) { + *((int *)res) = + *((__u32 *) + RTA_DATA(can_attr[IFLA_CAN_STATE])); + ret = 0; + } else { + fprintf(stderr, "no state data found\n"); + } + + break; + case GET_RESTART_MS: + if (can_attr[IFLA_CAN_RESTART_MS]) { + *((__u32 *) res) = + *((__u32 *) + RTA_DATA(can_attr[IFLA_CAN_RESTART_MS])); + ret = 0; + } else + fprintf(stderr, "no restart_ms data found\n"); + + break; + case GET_BITTIMING: + if (can_attr[IFLA_CAN_BITTIMING]) { + memcpy(res, RTA_DATA(can_attr[IFLA_CAN_BITTIMING]), + sizeof(struct can_bittiming)); + ret = 0; + } else + fprintf(stderr, "no bittiming data found\n"); + + break; + default: + fprintf(stderr, "unknown acquire mode\n"); + } + } + return ret; +} + +static int do_set_nl_link(int fd, __u8 if_state, const char* name, struct req_info *req_info) +{ + struct set_req req; + + struct can_bittiming bt; + struct can_ctrlmode cm; + + const char* type="can"; + + memset(&req, 0, sizeof(req)); + + req.n.nlmsg_len = NLMSG_LENGTH(sizeof(struct ifinfomsg)); + req.n.nlmsg_flags = NLM_F_REQUEST | NLM_F_ACK; + req.n.nlmsg_type = RTM_NEWLINK; + req.i.ifi_family = 0; + + req.i.ifi_index = if_nametoindex(name); + if (req.i.ifi_index == 0) { + fprintf(stderr, "Cannot find device \"%s\"\n", name); + return -1; + } + + if (if_state) { + switch (if_state) { + case IF_DOWN: + req.i.ifi_change |= IFF_UP; + req.i.ifi_flags &= ~IFF_UP; + break; + case IF_UP: + req.i.ifi_change |= IFF_UP; + req.i.ifi_flags |= IFF_UP; + break; + default: + fprintf(stderr, "unknown state\n"); + return -1; + } + } + + if (req_info != NULL) { + /* setup linkinfo section */ + struct rtattr *linkinfo = NLMSG_TAIL(&req.n); + addattr_l(&req.n, sizeof(req), IFLA_LINKINFO, NULL, 0); + addattr_l(&req.n, sizeof(req), IFLA_INFO_KIND, type, + strlen(type)); + /* setup data section */ + struct rtattr *data = NLMSG_TAIL(&req.n); + addattr_l(&req.n, sizeof(req), IFLA_INFO_DATA, NULL, 0); + + if (req_info->restart_ms > 0 || req_info->disable_autorestart) + addattr32(&req.n, 1024, IFLA_CAN_RESTART_MS, + req_info->restart_ms); + + if (req_info->bitrate > 0) { + memset(&bt, 0, sizeof(bt)); + bt.bitrate = req_info->bitrate; + addattr_l(&req.n, 1024, IFLA_CAN_BITTIMING, + &bt, sizeof(bt)); + } + + if (req_info->restart) + addattr32(&req.n, 1024, IFLA_CAN_RESTART, 1); + + if (req_info->ctrlmode) { + memset(&cm, 0, sizeof(cm)); + cm.mask = req_info->ctrlmode; + cm.flags = req_info->flags; + addattr_l(&req.n, 1024, IFLA_CAN_CTRLMODE, &cm, sizeof(cm)); + } + + /* mark end of data section */ + data->rta_len = (void *)NLMSG_TAIL(&req.n) - (void *)data; + + /* mark end of link info section */ + linkinfo->rta_len = + (void *)NLMSG_TAIL(&req.n) - (void *)linkinfo; + } + + return send_mod_request(fd, &req.n); +} + +static int set_link(const char *name, struct req_info *req_info) +{ + int fd; + int err = 0; + + fd = open_nl_sock(); + if (fd < 0) + goto err_out; + + err = if_down(fd, name); + if (err < 0) + goto close_out; + + err = do_set_nl_link(fd, 0, name, req_info); + if (err < 0) + goto close_out; + + err = if_up(fd, name); + if (err < 0) + goto close_out; + +close_out: + close(fd); +err_out: + return err; +} + +int if_up(int fd, const char *name) +{ + return do_set_nl_link(fd, IF_UP, name, NULL); +} + +int if_down(int fd, const char *name) +{ + return do_set_nl_link(fd, IF_DOWN, name, NULL); +} + +int set_bitrate(const char *name, __u32 bitrate) +{ + struct req_info req_info = { + .bitrate = bitrate, + }; + + return set_link(name, &req_info); +} + +int set_restart(const char *name) +{ + int fd; + int err = -1; + int state; + + state = get_state(name); + + if (state != CAN_STATE_BUS_OFF) { + fprintf(stderr, + "Device %s is not in BUS_OFF," + " no use to restart it\n", + name); + err = 0; + goto err_out; + } + + struct req_info req_info = { + .restart = 1, + }; + + fd = open_nl_sock(); + if (fd < 0) + goto err_out; + + err = do_set_nl_link(fd, 0, name, &req_info); + if (err < 0) + goto close_out; + +close_out: + close(fd); +err_out: + return err; +} + +int set_restart_ms(const char *name, __u32 restart_ms) +{ + struct req_info req_info = { + .restart_ms = restart_ms, + }; + + if (restart_ms == 0) + req_info.disable_autorestart = 1; + + return set_link(name, &req_info); +} + +int get_state(const char *name) +{ + int fd; + int state; + int err; + + fd = open_nl_sock(); + if (fd < 0) + return -1; + + err = do_get_nl_link(fd, GET_STATE, name, &state); + if (err < 0) + return -1; + + return state; +} + +__u32 get_restart_ms(const char *name) +{ + int fd; + int err; + __u32 restart_ms; + + fd = open_nl_sock(); + if (fd < 0) + return -1; + + err = do_get_nl_link(fd, GET_RESTART_MS, name, &restart_ms); + if (err < 0) + return -1; + + close(fd); + return restart_ms; + +} + +int get_bittiming(const char *name, struct can_bittiming *bt) +{ + int fd; + int err; + + fd = open_nl_sock(); + if (fd < 0) + return -1; + + err = do_get_nl_link(fd, GET_BITTIMING, name, bt); + if (err < 0) + return -1; + + close(fd); + return 0; +} diff --git a/tests/GNUmakefile.am b/tests/GNUmakefile.am new file mode 100644 index 0000000..6e52c67 --- /dev/null +++ b/tests/GNUmakefile.am @@ -0,0 +1,17 @@ +TESTS = \ + test + +noinst_PROGRAMS = \ + test + +test_SOURCES = \ + test.c +test_LDADD = \ + $(top_builddir)/src/libsocketcan-nl.la + +AM_CPPFLAGS = \ + -I$(top_srcdir)/include \ + -I$(top_builddir)/include + +MAINTAINERCLEANFILES = \ + GNUmakefile.in diff --git a/tests/test.c b/tests/test.c new file mode 100644 index 0000000..ad562a2 --- /dev/null +++ b/tests/test.c @@ -0,0 +1,7 @@ +#include + +int main(void) +{ + printf("hallo\n"); + return 0; +}