Merge 7815be8741 into 374fecde09

The mixed mode is able to automatically detect the potential supported
CAN frame types CAN CC/FD/XL by checking the CAN device MTU at startup.

Usually the MTU shows which CAN frame types can be sent but in the case of
CAN XL in CANXL-only mode CC and FD frames can not be sent on the CAN_RAW
socket.

Since this patch [1] the CAN_RAW socket rejects unsupported CAN frames and
returns -EINVAL as error code. With this change in cangen the CC and FD
frame generation can be disabled in mixed mode at runtime.

[1] https://lore.kernel.org/linux-can/20251125123859.3924-17-socketcan@hartkopp.net/T/#u

Signed-off-by: Oliver Hartkopp <socketcan@hartkopp.net>

candump.c

@@ -113,7 +113,8 @@ static const int canfx_on = 1;
 
 #define MAXANI 4
 static const char anichar[MAXANI] = { '|', '/', '-', '\\' };
-static const char extra_m_info[4][4] = { "- -", "B -", "- E", "B E" };
+static const char extra_fd_info[4][4] = { "- -", "B -", "- E", "B E" };
+static const char extra_xl_info[4][4] = { "- -", "S -", "- R", "S R" };
 
 extern int optind, opterr, optopt;
 
@@ -143,7 +144,7 @@ static void print_usage(void)
 	fprintf(stderr, "         -d          (monitor dropped CAN frames)\n");
 	fprintf(stderr, "         -e          (dump CAN error frames in human-readable format)\n");
 	fprintf(stderr, "         -8          (display raw DLC values in {} for Classical CAN)\n");
-	fprintf(stderr, "         -x          (print extra message infos, rx/tx brs esi)\n");
+	fprintf(stderr, "         -x          (print extra message infos, rx/tx [brs esi|sec rrs])\n");
 	fprintf(stderr, "         -T <msecs>  (terminate after <msecs> if no frames were received)\n");
 	fprintf(stderr, "\n");
 	fprintf(stderr, "Up to %d CAN interfaces with optional filter sets can be specified\n", MAXSOCK);
@@ -892,11 +893,16 @@ int main(int argc, char **argv)
 
 			if (extra_msg_info) {
 				if (msg.msg_flags & MSG_DONTROUTE)
-					alen += sprintf(afrbuf + alen, "  TX %s",
-							  extra_m_info[cu.fd.flags & 3]);
+					alen += sprintf(afrbuf + alen, "  TX");
 				else
-					alen += sprintf(afrbuf + alen, "  RX %s",
-							  extra_m_info[cu.fd.flags & 3]);
+					alen += sprintf(afrbuf + alen, "  RX");
+
+				if (cu.xl.flags & CANXL_XLF)
+					alen += sprintf(afrbuf + alen, " %s",
+							extra_xl_info[cu.xl.flags & 3]);
+				else
+					alen += sprintf(afrbuf + alen, " %s",
+							extra_fd_info[cu.fd.flags & 3]);
 			}
 
 			alen += sprintf(afrbuf + alen, "%s  ", (color == 1) ? col_off : "");

cangen.c

@@ -180,7 +180,7 @@ static void print_usage(char *prg)
 	fprintf(stderr, "         -X            (generate CAN XL CAN frames)\n");
 	fprintf(stderr, "         -R            (generate RTR frames)\n");
 	fprintf(stderr, "         -8            (allow DLC values greater then 8 for Classic CAN frames)\n");
-	fprintf(stderr, "         -m            (mix -e -f -b -E -R -X frames)\n");
+	fprintf(stderr, "         -m            (mix CC [-e -R] FD [-f -b -E] XL [-X] on capable devices)\n");
 	fprintf(stderr, "         -I <mode>     (CAN ID generation mode - see below)\n");
 	fprintf(stderr, "         -L <mode>     (CAN data length code (dlc) generation mode - see below)\n");
 	fprintf(stderr, "         -D <mode>     (CAN data (payload) generation mode - see below)\n");
@@ -339,10 +339,9 @@ resend:
 	nbytes = sendmsg(fd, &msg, 0);
 	if (nbytes < 0) {
 		ret = -errno;
-		if (ret != -ENOBUFS) {
-			perror("write");
+		if (ret != -ENOBUFS)
 			return ret;
-		}
+
 		if (!ignore_enobufs && !timeout) {
 			perror("write");
 			return ret;
@@ -455,6 +454,9 @@ int main(int argc, char **argv)
 	unsigned char extended = 0;
 	unsigned char canfd = 0;
 	unsigned char canxl = 0;
+	unsigned char mixcc = 1; /* mix default */
+	unsigned char mixfd = 1; /* mix default */
+	unsigned char mixxl = 1; /* mix default */
 	unsigned char brs = 0;
 	unsigned char esi = 0;
 	unsigned char mix = 0;
@@ -574,7 +576,6 @@ int main(int argc, char **argv)
 
 		case 'm':
 			mix = 1;
-			canfd = 1; /* to switch the socket into CAN FD mode */
 			view |= CANLIB_VIEW_INDENT_SFF;
 			break;
 
@@ -777,14 +778,58 @@ int main(int argc, char **argv)
 			   &loopback, sizeof(loopback));
 	}
 
-	if (canfd || canxl) {
+	/* get CAN netdevice MTU for frame type capabilities */
+	if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
+		perror("SIOCGIFMTU");
+		return 1;
+	}
 
-		/* check if the frame fits into the CAN netdevice */
-		if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
-			perror("SIOCGIFMTU");
+	/* check CAN XL support */
+	if (ifr.ifr_mtu < (int)CANXL_MIN_MTU) {
+		mixxl = 0;
+		if (canxl) {
+			printf("CAN interface not CAN XL capable - sorry.\n");
 			return 1;
 		}
+	}
 
+	/* check CAN FD support */
+	if (ifr.ifr_mtu < (int)CANFD_MTU) {
+		mixfd = 0;
+		if (canfd) {
+			printf("CAN interface not CAN FD capable - sorry.\n");
+			return 1;
+		}
+	}
+
+	/* enable CAN FD on the socket */
+	if (mixfd) {
+		/* interface is ok - try to switch the socket into CAN FD mode */
+		if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
+			       &enable_canfx, sizeof(enable_canfx))){
+			printf("error when enabling CAN FD support\n");
+			return 1;
+		}
+	}
+
+	/* enable CAN XL on the socket */
+	if (mixxl) {
+		/* interface is ok - try to switch the socket into CAN XL mode */
+		if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_XL_FRAMES,
+			       &enable_canfx, sizeof(enable_canfx))){
+			printf("error when enabling CAN XL support\n");
+			return 1;
+		}
+		/* try to enable the CAN XL VCID pass through mode */
+		if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_XL_VCID_OPTS,
+			       &vcid_opts, sizeof(vcid_opts))) {
+			printf("error when enabling CAN XL VCID pass through\n");
+			return 1;
+		}
+	}
+
+	/* sanitize given values */
+	if (canfd || canxl) {
 		if (canfd) {
 			/* ensure discrete CAN FD length values 0..8, 12, 16, 20, 24, 32, 64 */
 			cu.fd.len = can_fd_dlc2len(can_fd_len2dlc(cu.fd.len));
@@ -793,41 +838,6 @@ int main(int argc, char **argv)
 			if (cu.fd.len > CANFD_MAX_DLEN)
 				cu.fd.len = CANFD_MAX_DLEN;
 		}
-
-		if (canxl && (ifr.ifr_mtu < (int)CANXL_MIN_MTU)) {
-			printf("CAN interface not CAN XL capable - sorry.\n");
-			return 1;
-		}
-
-		if (canfd && (ifr.ifr_mtu < (int)CANFD_MTU)) {
-			printf("CAN interface not CAN FD capable - sorry.\n");
-			return 1;
-		}
-
-		if (ifr.ifr_mtu == (int)CANFD_MTU) {
-			/* interface is ok - try to switch the socket into CAN FD mode */
-			if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
-				       &enable_canfx, sizeof(enable_canfx))){
-				printf("error when enabling CAN FD support\n");
-				return 1;
-			}
-		}
-
-		if (ifr.ifr_mtu >= (int)CANXL_MIN_MTU) {
-			/* interface is ok - try to switch the socket into CAN XL mode */
-			if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_XL_FRAMES,
-				       &enable_canfx, sizeof(enable_canfx))){
-				printf("error when enabling CAN XL support\n");
-				return 1;
-			}
-			/* try to enable the CAN XL VCID pass through mode */
-			if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_XL_VCID_OPTS,
-				       &vcid_opts, sizeof(vcid_opts))) {
-				printf("error when enabling CAN XL VCID pass through\n");
-				return 1;
-			}
-		}
-
 	} else {
 		/* sanitize Classical CAN 2.0 frame length */
 		if (len8_dlc) {
@@ -857,7 +867,14 @@ int main(int argc, char **argv)
 	if (ret)
 		return 1;
 
+	int k[] = {1,2};
+	int j = 0;
 	while (running) {
+		ts_gap = double_to_timespec((k[j%2])/1000.0);
+		// printf("%lu, %lu\n", ts_gap.tv_sec, ts_gap.tv_nsec);
+		setsockopt_txtime(s);
+		setup_time();
+		j++;
 		/* clear values but preserve cu.fd.len */
 		cu.fd.flags = 0;
 		cu.fd.__res0 = 0;
@@ -1040,8 +1057,31 @@ int main(int argc, char **argv)
 		}
 
 		ret = do_send_one(s, &cu, mtu, polltimeout);
-		if (ret)
+		if ((ret == -EINVAL) && mix) {
+			/* mix mode: disable unsupported CAN frame type */
+			switch (mtu) {
+			case CAN_MTU:
+				mixcc = 0;
+				break;
+			case CANFD_MTU:
+				mixfd = 0;
+				break;
+			case CANXL_MTU:
+				mixxl = 0;
+				break;
+			default:
+				printf ("mix mode: unknown MTU");
+				return 1;
+			}
+			if (!mixcc && !mixfd && !mixxl) {
+				printf ("mix mode: no valid CAN frame types\n");
+				return 1;
+			}
+		} else if (ret) {
+			/* other error than -ENOBUFS and -EINVAL */
+			perror("write");
 			return 1;
+		}
 
 		if (burst_sent_count >= burst_count)
 			burst_sent_count = 0;
@@ -1082,18 +1122,41 @@ int main(int argc, char **argv)
 		}
 
 		if (mix) {
+			canfd = 0;
+			canxl = 0;
 			i = random();
 			extended = i & 1;
-			canfd = i & 2;
-			if (canfd) {
-				brs = i & 4;
-				esi = i & 8;
+			if (mixfd) {
+				canfd = i & 2;
+				if (canfd) {
+					brs = i & 4;
+					esi = i & 8;
+				}
+			}
+			if (mixxl) {
+				if (mixfd)
+					canxl = ((i & 96) == 96); /* 1/4 */
+				else
+					canxl = ((i & 32) == 32); /* 1/2 */
+			}
+			if (mixcc) {
+				rtr_frame = ((i & 24) == 24); /* reduce RTR to 1/4 */
+			} else {
+				/* no CC frames allowed - CAN XL-only mode? */
+				if (!canxl && !canfd) {
+					/* force XL or FD frames */
+					if (mixxl)
+						canxl = 1;
+					else if (mixfd) {
+						canfd = 1;
+						brs = i & 4;
+						esi = i & 8;
+					} else {
+						printf ("mix mode: no valid CAN frame types\n");
+						return 1;
+					}
+				}
 			}
-			/* generate CAN XL traffic if the interface is capable */
-			if (ifr.ifr_mtu >= (int)CANXL_MIN_MTU)
-				canxl = ((i & 96) == 96);
-
-			rtr_frame = ((i & 24) == 24); /* reduce RTR frames to 1/4 */
 		}
 	}
 

canplayer.c

@@ -48,6 +48,7 @@
 #include <string.h>
 #include <time.h>
 #include <unistd.h>
+#include <stdbool.h>
 
 #include <linux/can.h>
 #include <linux/can/raw.h>
@@ -89,6 +90,12 @@ const int canfx_on = 1;
 
 extern int optind, opterr, optopt;
 
+struct sleep {
+	struct timeval *sleep_vector;
+	size_t idx;
+	size_t size;
+};
+
 static void print_usage(char *prg)
 {
 	fprintf(stderr, "%s - replay a compact CAN frame logfile to CAN devices.\n", prg);
@@ -117,6 +124,8 @@ static void print_usage(char *prg)
 			"loopback of sent CAN frames)\n");
 	fprintf(stderr, "         -v           (verbose: print "
 			"sent CAN frames)\n");
+	fprintf(stderr, "         -r           (real-time: send "
+			"CAN frames in real-time)\n");
 	fprintf(stderr, "         -h           (show "
 			"this help message)\n\n");
 	fprintf(stderr, "Interface assignment:\n");
@@ -280,8 +289,11 @@ int main(int argc, char **argv)
 	int eof, txmtu, i, j;
 	char *fret;
 	unsigned long long sec, usec;
+	bool gap_from_file = false;
+	struct sleep timestamps;
+	struct timeval send_time, act_time, init_trace, init_time;
 
-	while ((opt = getopt(argc, argv, "I:l:tin:g:s:xvh")) != -1) {
+	while ((opt = getopt(argc, argv, "I:l:tin:g:s:xvrh")) != -1) {
 		switch (opt) {
 		case 'I':
 			infile = fopen(optarg, "r");
@@ -336,6 +348,17 @@ int main(int argc, char **argv)
 			verbose++;
 			break;
 
+		case 'r':
+			if (isatty(fileno(infile))) {
+				fprintf(stderr, "Specify an input file for option -r !\n");
+				exit(EXIT_FAILURE);
+			}
+			gap_from_file = true; /* using time delta from file */
+			init_trace.tv_sec = 0;
+			init_trace.tv_usec = 0;
+			timestamps.idx = 0; /*to avoid warning accessing idx variable*/
+			break;
+
 		case 'h':
 			print_usage(basename(argv[0]));
 			exit(EXIT_SUCCESS);
@@ -368,8 +391,10 @@ int main(int argc, char **argv)
 		printf("interactive mode: press ENTER to process next CAN frame ...\n");
 	}
 
-	sleep_ts.tv_sec = gap / 1000;
-	sleep_ts.tv_nsec = (gap % 1000) * 1000000;
+	if (!gap_from_file) {
+		sleep_ts.tv_sec = gap / 1000;
+		sleep_ts.tv_nsec = (gap % 1000) * 1000000;
+	}
 
 	/* open socket */
 	if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
@@ -553,6 +578,26 @@ int main(int argc, char **argv)
 				}
 				log_tv.tv_sec = sec;
 
+				if (gap_from_file){
+					if (timestamps.idx == 0){
+						gettimeofday(&init_time, NULL);
+						if (log_tv.tv_sec > 0 || log_tv.tv_usec > 0)
+							init_trace = log_tv;
+					}
+					timersub(&log_tv, &init_trace, &send_time);
+
+					if (timestamps.idx > 0){
+						gettimeofday(&act_time, NULL);
+						timersub(&act_time, &init_time, &act_time);
+
+						while (timercmp(&act_time, &send_time, <)){
+							gettimeofday(&act_time, NULL);
+							timersub(&act_time, &init_time, &act_time);
+						}
+					}
+					timestamps.idx++;
+				}
+
 				/*
 				 * ensure the fractions of seconds are 6 or 9 decimal places long to catch
 				 * 3rd party or handcrafted logfiles that treat the timestamp as float
@@ -582,7 +627,7 @@ int main(int argc, char **argv)
 
 			} /* while frames_to_send ... */
 
-			if (nanosleep(&sleep_ts, NULL))
+			if (!gap_from_file && nanosleep(&sleep_ts, NULL))
 				return 1;
 
 			delay_loops++; /* private statistics */