Merge 71e8c16178 into 93a7b2dfd3

Allow more fine-grained control over CMake targets

CMakeLists.txt

@@ -21,6 +21,25 @@ option(ENABLE_WERROR "Treat all compiler warnings as errors" OFF)
 option(ENABLE_GPS "Enable GPS support" OFF)
 option(BUILD_SHARED_LIBS "Build shared libraries" ON)
 
+# Options for controlling targets. These groups correspond to the README.
+option(ENABLE_BASIC_TOOLS "Build basic tools" ON)
+option(ENABLE_IP_SERVER   "Build tools providing CAN access via IP sockets" ON)
+option(ENABLE_GATEWAY     "Build in-kernel gateway configuration tools" ON)
+option(ENABLE_MEASUREMENT "Build measurement tools" ON)
+option(ENABLE_ISOTP       "Build isotp tools" ON)
+option(ENABLE_LOG_FILE    "Build log file converter tools" ON)
+option(ENABLE_SLCAN       "Build slcan tools" ON)
+option(ENABLE_MCP251XFD   "Build MCP251XFD tools" ON)
+
+# cmake_dependent_option is only available in CMake 3.22 and later.
+if(ANDROID)
+  set(ENABLE_J1939    OFF)
+  set(ENABLE_ISOBUSFS OFF)
+else()
+  option(ENABLE_J1939    "Build J1939 tools"  ON)
+  option(ENABLE_ISOBUSFS "Build ISOBUS tools" ON)
+endif()
+
 find_package(PkgConfig REQUIRED)
 if(ENABLE_GPS)
   pkg_check_modules(GPS REQUIRED libgps)
@@ -48,103 +67,111 @@ include_directories(./include)
 
 check_function_exists(fork HAVE_FORK)
 
-set(PROGRAMS_CANLIB
-  asc2log
-  canbusload
-  candump
-  cangen
-  canplayer
-  cansend
-  cansequence
-  log2asc
-  log2long
-  slcanpty
-)
+# List of all programs to be built.
+# Each program is expected to have a corresponding source file with the same name.
+set(PROGRAMS)
+# List of programs to link against can.
+set(PROGRAMS_CANLIB)
+# List of programs to link against j1939 and can.
+set(PROGRAMS_J1939)
 
-if(HAVE_FORK)
+if(ENABLE_BASIC_TOOLS)
+  list(APPEND PROGRAMS cansniffer)
+  list(APPEND PROGRAMS_CANLIB
+    candump
+    canplayer
+    cansend
+    cangen
+    cansequence
+  )
+endif()
+
+if(ENABLE_IP_SERVER AND HAVE_FORK)
+  list(APPEND PROGRAMS bcmserver)
   list(APPEND PROGRAMS_CANLIB canlogserver)
 endif()
 
-set(PROGRAMS_J1939
-  j1939acd
-  j1939cat
-  j1939spy
-  j1939sr
-  testj1939
-)
-
-set(PROGRAMS_J1939_TIMEDATE
-  j1939-timedate-srv
-  j1939-timedate-cli
-)
-
-set(PROGRAMS_J1939_VEHICLE_POSITION
-  j1939-vehicle-position-srv
-)
-
-set(PROGRAMS_ISOBUSFS
-  isobusfs-srv
-  isobusfs-cli
-)
-
-set(PROGRAMS
-  ${PROGRAMS_CANLIB}
-  canerrsim
-  canfdtest
-  cangw
-  cansniffer
-  isotpdump
-  isotpperf
-  isotprecv
-  isotpsend
-  isotpsniffer
-  isotptun
-  slcan_attach
-  slcand
-)
-
-if(HAVE_FORK)
-  list(APPEND PROGRAMS bcmserver)
-  list(APPEND PROGRAMS isotpserver)
+if(ENABLE_GATEWAY)
+  list(APPEND PROGRAMS cangw)
 endif()
 
-add_executable(can-calc-bit-timing
-  calc-bit-timing/can-calc-bit-timing.c
-)
+if(ENABLE_MEASUREMENT)
+  list(APPEND PROGRAMS
+    canfdtest
+    canerrsim
+  )
+  list(APPEND PROGRAMS_CANLIB canbusload)
 
-add_executable(mcp251xfd-dump
-  mcp251xfd/mcp251xfd-dev-coredump.c
-  mcp251xfd/mcp251xfd-dump.c
-  mcp251xfd/mcp251xfd-main.c
-  mcp251xfd/mcp251xfd-regmap.c
-)
+  add_executable(can-calc-bit-timing
+    calc-bit-timing/can-calc-bit-timing.c
+  )
+  install(TARGETS can-calc-bit-timing DESTINATION ${CMAKE_INSTALL_BINDIR})
+endif()
 
-if(NOT ANDROID)
-  list(APPEND PROGRAMS ${PROGRAMS_J1939})
-
-  add_library(j1939 STATIC
-    libj1939.c
+if(ENABLE_ISOTP)
+  list(APPEND PROGRAMS
+    isotpdump
+    isotpperf
+    isotprecv
+    isotpsend
+    isotpsniffer
+    isotptun
   )
 
-  target_link_libraries(j1939
-    PRIVATE can
+  if(HAVE_FORK)
+    list(APPEND PROGRAMS isotpserver)
+  endif()
+endif()
+
+if(ENABLE_J1939)
+  list(APPEND PROGRAMS_J1939
+    j1939acd
+    j1939cat
+    j1939spy
+    j1939sr
+    testj1939
   )
 
-  add_library(isobusfs
+  add_executable(j1939-timedate-cli
+    j1939_timedate/j1939_timedate_cli.c
+  )
+  target_link_libraries(j1939-timedate-cli
+    PRIVATE can j1939
+  )
+  install(TARGETS j1939-timedate-cli DESTINATION ${CMAKE_INSTALL_BINDIR})
+
+  add_executable(j1939-timedate-srv
+    j1939_timedate/j1939_timedate_srv.c
+  )
+  target_link_libraries(j1939-timedate-srv
+    PRIVATE can j1939
+  )
+  install(TARGETS j1939-timedate-srv DESTINATION ${CMAKE_INSTALL_BINDIR})
+endif()
+
+if(ENABLE_J1939 AND ENABLE_GPS)
+  add_executable(j1939-vehicle-position-srv
+    j1939_vehicle_position/j1939_vehicle_position_srv.c
+  )
+  target_link_libraries(j1939-vehicle-position-srv
+    PRIVATE can j1939 ${GPS_LIBRARIES}
+  )
+  install(TARGETS j1939-vehicle-position-srv DESTINATION ${CMAKE_INSTALL_BINDIR})
+endif()
+
+if(ENABLE_ISOBUSFS)
+  add_library(isobusfs EXCLUDE_FROM_ALL
     isobusfs/isobusfs_cmn.c
     isobusfs/isobusfs_cmn_dh.c
   )
-
   set(PUBLIC_HEADER_ISOBUSFS
     isobusfs/isobusfs_cmn.h
     isobusfs/isobusfs_cmn_cm.h
   )
-
   set_target_properties(isobusfs PROPERTIES
     PUBLIC_HEADER "${PUBLIC_HEADER_ISOBUSFS}"
     SOVERSION 0
   )
-
   install(TARGETS isobusfs
     LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
     PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
@@ -158,10 +185,10 @@ if(NOT ANDROID)
     isobusfs/isobusfs_cli_selftests.c
     isobusfs/isobusfs_cli_int.c
   )
-
   target_link_libraries(isobusfs-cli
     PRIVATE isobusfs can j1939
   )
+  install(TARGETS isobusfs-cli DESTINATION ${CMAKE_INSTALL_BINDIR})
 
   add_executable(isobusfs-srv
     isobusfs/isobusfs_srv.c
@@ -172,66 +199,55 @@ if(NOT ANDROID)
     isobusfs/isobusfs_srv_fh.c
     isobusfs/isobusfs_srv_vh.c
   )
-
   target_link_libraries(isobusfs-srv
     PRIVATE isobusfs can j1939
   )
-
-  install(TARGETS
-    isobusfs-cli
-    isobusfs-srv
-    DESTINATION ${CMAKE_INSTALL_BINDIR})
-
-  set(PUBLIC_HEADER_j1939_TIMEDATE
-    j1939_timedate/j1939_timedate_cmn.h
-  )
-
-  add_executable(j1939-timedate-cli
-    j1939_timedate/j1939_timedate_cli.c
-  )
-
-  target_link_libraries(j1939-timedate-cli
-    PRIVATE can j1939
-  )
-
-  add_executable(j1939-timedate-srv
-    j1939_timedate/j1939_timedate_srv.c
-  )
-
-  target_link_libraries(j1939-timedate-srv
-    PRIVATE can j1939
-  )
-
-  install(TARGETS
-    j1939-timedate-cli
-    j1939-timedate-srv
-    DESTINATION ${CMAKE_INSTALL_BINDIR})
-
-  if(ENABLE_GPS)
-    set(PUBLIC_HEADER_J1939_VEHICLE_POSITION
-      j1939_vehicle_position/j1939_vehicle_position_cmn.h
-    )
-
-    add_executable(j1939-vehicle-position-srv
-      j1939_vehicle_position/j1939_vehicle_position_srv.c
-    )
-
-    target_link_libraries(j1939-vehicle-position-srv
-      PRIVATE can j1939 ${GPS_LIBRARIES}
-    )
-
-    install(TARGETS
-      j1939-vehicle-position-srv
-      DESTINATION ${CMAKE_INSTALL_BINDIR})
-  endif()
-
+  install(TARGETS isobusfs-srv DESTINATION ${CMAKE_INSTALL_BINDIR})
 endif()
 
-add_library(can STATIC
+if(ENABLE_LOG_FILE)
+  list(APPEND PROGRAMS_CANLIB
+    asc2log
+    log2asc
+    log2long
+  )
+endif()
+
+if(ENABLE_SLCAN)
+  list(APPEND PROGRAMS
+    slcan_attach
+    slcand
+  )
+  list(APPEND PROGRAMS_CANLIB slcanpty)
+endif()
+
+if(ENABLE_MCP251XFD)
+  add_executable(mcp251xfd-dump
+    mcp251xfd/mcp251xfd-dev-coredump.c
+    mcp251xfd/mcp251xfd-dump.c
+    mcp251xfd/mcp251xfd-main.c
+    mcp251xfd/mcp251xfd-regmap.c
+  )
+  install(TARGETS mcp251xfd-dump DESTINATION ${CMAKE_INSTALL_BINDIR})
+endif()
+
+list(APPEND PROGRAMS
+  ${PROGRAMS_CANLIB}
+  ${PROGRAMS_J1939}
+)
+
+add_library(can STATIC EXCLUDE_FROM_ALL
   lib.c
   canframelen.c
 )
 
+add_library(j1939 STATIC EXCLUDE_FROM_ALL
+  libj1939.c
+)
+target_link_libraries(j1939
+  PRIVATE can
+)
+
 foreach(name ${PROGRAMS})
   add_executable(${name} ${name}.c)
 
@@ -248,12 +264,6 @@ foreach(name ${PROGRAMS})
   install(TARGETS ${name} DESTINATION ${CMAKE_INSTALL_BINDIR})
 endforeach()
 
-install(TARGETS
-  can-calc-bit-timing
-  mcp251xfd-dump
-  DESTINATION ${CMAKE_INSTALL_BINDIR}
-)
-
 add_custom_target(uninstall
   "${CMAKE_COMMAND}" -P "${CMAKE_SOURCE_DIR}/cmake/make_uninstall.cmake"
   COMMENT "Add uninstall target"

README.md

@@ -50,6 +50,10 @@ subsystem (aka SocketCAN):
 Follow the link to see examples on how this tools can be used:
 [Kickstart guide to can-j1939 on linux](https://github.com/linux-can/can-utils/blob/master/can-j1939-kickstart.md)
 
+#### ISOBus File server tools
+* isobusfs-cli : ISOBus file client
+* isobusfs-srv : ISOBus file server
+
 #### Log file converters
 * asc2log : convert ASC logfile to compact CAN frame logfile
 * log2asc : convert compact CAN frame logfile to ASC logfile

candump.c

@@ -128,6 +128,7 @@ static void print_usage(void)
 	fprintf(stderr, "Options:\n");
 	fprintf(stderr, "         -t <type>   (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
 	fprintf(stderr, "         -H          (read hardware timestamps instead of system timestamps)\n");
+	fprintf(stderr, "         -N          (log nanosecond timestamps instead of microseconds)\n");
 	fprintf(stderr, "         -c          (increment color mode level)\n");
 	fprintf(stderr, "         -i          (binary output - may exceed 80 chars/line)\n");
 	fprintf(stderr, "         -a          (enable additional ASCII output)\n");
@@ -220,16 +221,22 @@ static int idx2dindex(int ifidx, int socket)
 	return i;
 }
 
-static int sprint_timestamp(char *ts_buffer, const char timestamp,
-			    const struct timeval *tv, struct timeval *const last_tv)
+static int sprint_timestamp(char *ts_buffer, const char timestamp, unsigned char use_ns,
+			    const struct timespec *ts, struct timespec *const last_ts)
 {
 	int numchars = 0;
 
 	switch (timestamp) {
 	case 'a': /* absolute with timestamp */
-		numchars = sprintf(ts_buffer, "(%010llu.%06llu) ",
-				   (unsigned long long)tv->tv_sec,
-				   (unsigned long long)tv->tv_usec);
+		if (use_ns) {
+			numchars = sprintf(ts_buffer, "(%010llu.%09llu) ",
+					   (unsigned long long)ts->tv_sec,
+					   (unsigned long long)ts->tv_nsec);
+		} else {
+			numchars = sprintf(ts_buffer, "(%010llu.%06llu) ",
+					   (unsigned long long)ts->tv_sec,
+					   (unsigned long long)ts->tv_nsec / 1000);
+		}
 		break;
 
 	case 'A': /* absolute with date */
@@ -237,32 +244,43 @@ static int sprint_timestamp(char *ts_buffer, const char timestamp,
 		struct tm tm;
 		char timestring[25];
 
-		tm = *localtime(&tv->tv_sec);
+		tm = *localtime(&ts->tv_sec);
 		strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
-		numchars = sprintf(ts_buffer, "(%s.%06llu) ", timestring,
-				   (unsigned long long)tv->tv_usec);
+		if (use_ns) {
+			numchars = sprintf(ts_buffer, "(%s.%09llu) ", timestring,
+					   (unsigned long long)ts->tv_nsec);
+		} else {
+			numchars = sprintf(ts_buffer, "(%s.%06llu) ", timestring,
+					   (unsigned long long)ts->tv_nsec / 1000);
+		}
 	}
 	break;
 
 	case 'd': /* delta */
 	case 'z': /* starting with zero */
 	{
-		struct timeval diff;
+		struct timespec diff;
 
-		if (last_tv->tv_sec == 0) /* first init */
-			*last_tv = *tv;
-		diff.tv_sec = tv->tv_sec - last_tv->tv_sec;
-		diff.tv_usec = tv->tv_usec - last_tv->tv_usec;
-		if (diff.tv_usec < 0)
-			diff.tv_sec--, diff.tv_usec += 1000000;
+		if (last_ts->tv_sec == 0) /* first init */
+			*last_ts = *ts;
+		diff.tv_sec = ts->tv_sec - last_ts->tv_sec;
+		diff.tv_nsec = ts->tv_nsec - last_ts->tv_nsec;
+		if (diff.tv_nsec < 0)
+			diff.tv_sec--, diff.tv_nsec += 1000000000;
 		if (diff.tv_sec < 0)
-			diff.tv_sec = diff.tv_usec = 0;
-		numchars = sprintf(ts_buffer, "(%03llu.%06llu) ",
-				   (unsigned long long)diff.tv_sec,
-				   (unsigned long long)diff.tv_usec);
+			diff.tv_sec = diff.tv_nsec = 0;
+		if (use_ns) {
+			numchars = sprintf(ts_buffer, "(%03llu.%09llu) ",
+					   (unsigned long long)diff.tv_sec,
+					   (unsigned long long)diff.tv_nsec);
+		} else {
+			numchars = sprintf(ts_buffer, "(%03llu.%06llu) ",
+					   (unsigned long long)diff.tv_sec,
+					   (unsigned long long)diff.tv_nsec / 1000);
+		}
 
 		if (timestamp == 'd')
-			*last_tv = *tv; /* update for delta calculation */
+			*last_ts = *ts; /* update for delta calculation */
 	}
 	break;
 
@@ -288,6 +306,7 @@ int main(int argc, char **argv)
 	unsigned char timestamp = 0;
 	unsigned char logtimestamp = 'a';
 	unsigned char hwtimestamp = 0;
+	unsigned char use_ns = 0;
 	unsigned char down_causes_exit = 1;
 	unsigned char dropmonitor = 0;
 	unsigned char extra_msg_info = 0;
@@ -322,7 +341,7 @@ int main(int argc, char **argv)
 	static cu_t cu; /* union for CAN CC/FD/XL frames */
 	int nbytes, i;
 	struct ifreq ifr;
-	struct timeval tv, last_tv;
+	struct timespec ts, last_ts;
 	int timeout_ms = -1; /* default to no timeout */
 	FILE *logfile = NULL;
 	char fname[83]; /* suggested by -Wformat-overflow= */
@@ -334,12 +353,12 @@ int main(int argc, char **argv)
 	signal(SIGHUP, sigterm);
 	signal(SIGINT, sigterm);
 
-	last_tv.tv_sec = 0;
-	last_tv.tv_usec = 0;
+	last_ts.tv_sec = 0;
+	last_ts.tv_nsec = 0;
 
 	progname = basename(argv[0]);
 
-	while ((opt = getopt(argc, argv, "t:HciaSs:lf:Ln:r:Dde8xT:h?")) != -1) {
+	while ((opt = getopt(argc, argv, "t:HNciaSs:lf:Ln:r:Dde8xT:h?")) != -1) {
 		switch (opt) {
 		case 't':
 			timestamp = optarg[0];
@@ -359,6 +378,10 @@ int main(int argc, char **argv)
 			hwtimestamp = 1;
 			break;
 
+		case 'N':
+			use_ns = 1;
+			break;
+
 		case 'c':
 			color++;
 			break;
@@ -784,7 +807,11 @@ int main(int argc, char **argv)
 			     cmsg && (cmsg->cmsg_level == SOL_SOCKET);
 			     cmsg = CMSG_NXTHDR(&msg,cmsg)) {
 				if (cmsg->cmsg_type == SO_TIMESTAMP) {
+					struct timeval tv;
 					memcpy(&tv, CMSG_DATA(cmsg), sizeof(tv));
+					ts.tv_sec = tv.tv_sec;
+					ts.tv_nsec = tv.tv_usec;
+					ts.tv_nsec *= 1000;
 				} else if (cmsg->cmsg_type == SO_TIMESTAMPING) {
 					struct timespec *stamp = (struct timespec *)CMSG_DATA(cmsg);
 
@@ -795,8 +822,7 @@ int main(int argc, char **argv)
 					 * See chapter 2.1.2 Receive timestamps in
 					 * linux/Documentation/networking/timestamping.txt
 					 */
-					tv.tv_sec = stamp[2].tv_sec;
-					tv.tv_usec = stamp[2].tv_nsec / 1000;
+					ts = stamp[2];
 				} else if (cmsg->cmsg_type == SO_RXQ_OVFL) {
 					memcpy(&obj->dropcnt, CMSG_DATA(cmsg), sizeof(__u32));
 				}
@@ -831,8 +857,8 @@ int main(int argc, char **argv)
 			/* build common log format output */
 			if ((log) || ((logfrmt) && (silent == SILENT_OFF))) {
 
-				alen = sprint_timestamp(afrbuf, logtimestamp,
-							  &tv, &last_tv);
+				alen = sprint_timestamp(afrbuf, logtimestamp, use_ns,
+							  &ts, &last_ts);
 
 				alen += sprintf(afrbuf + alen, "%*s ",
 						  max_devname_len, devname[idx]);
@@ -861,7 +887,7 @@ int main(int argc, char **argv)
 
 			/* print (colored) long CAN frame style to stdout */
 			alen = sprintf(afrbuf, " %s", (color > 2) ? col_on[idx % MAXCOL] : "");
-			alen += sprint_timestamp(afrbuf + alen, timestamp, &tv, &last_tv);
+			alen += sprint_timestamp(afrbuf + alen, timestamp, use_ns, &ts, &last_ts);
 			alen += sprintf(afrbuf + alen, " %s%*s",
 					  (color && (color < 3)) ? col_on[idx % MAXCOL] : "",
 					  max_devname_len, devname[idx]);