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can-utils/candump.c

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/*
* $Id$
*/
/*
* candump.c
*
* Copyright (c) 2002-2005 Volkswagen Group Electronic Research
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions, the following disclaimer and
* the referenced file 'COPYING'.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of Volkswagen nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* Alternatively, provided that this notice is retained in full, this
* software may be distributed under the terms of the GNU General
* Public License ("GPL") version 2 as distributed in the 'COPYING'
* file from the main directory of the linux kernel source.
*
* The provided data structures and external interfaces from this code
* are not restricted to be used by modules with a GPL compatible license.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
* DAMAGE.
*
* Send feedback to <llcf@volkswagen.de>
*
*/
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <signal.h>
#include <ctype.h>
#include <libgen.h>
#include <time.h>
#include <sys/time.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <sys/uio.h>
#include "af_can.h"
#include "raw.h"
#include "terminal.h"
#define USE_RECVFROM /* use read() or recvfrom() syscall */
#define MAXDEV 6 /* change sscanf()'s manually if changed here */
#define ANYDEV "any"
#define ANL "\r\n" /* newline in ASC mode */
#define BOLD ATTBOLD
#define RED ATTBOLD FGRED
#define GREEN ATTBOLD FGGREEN
#define YELLOW ATTBOLD FGYELLOW
#define BLUE ATTBOLD FGBLUE
#define MAGENTA ATTBOLD FGMAGENTA
#define CYAN ATTBOLD FGCYAN
static const char col_on [MAXDEV][19] = {BOLD, MAGENTA, GREEN, BLUE, CYAN, RED};
static const char col_off [] = ATTRESET;
#define MAXANI 8
const char anichar[MAXANI] = {'|', '/', '-', '\\', '|', '/', '-', '\\'};
extern int optind, opterr, optopt;
static int running = 1;
void print_usage(char *prg)
{
fprintf(stderr, "Usage: %s [can-interfaces]\n", prg);
fprintf(stderr, "Options: -m <mask> (default 0x00000000)\n");
fprintf(stderr, " -v <value> (default 0x00000000)\n");
fprintf(stderr, " -i <0|1> (inv_filter)\n");
fprintf(stderr, " -t <type> (timestamp: Absolute/Delta/Zero)\n");
fprintf(stderr, " -c (color mode)\n");
fprintf(stderr, " -s <level> (silent mode - 1: animation 2: nothing)\n");
fprintf(stderr, " -b <can> (bridge mode - send received frames to <can>)\n");
fprintf(stderr, " -a (create ASC compatible output)\n");
fprintf(stderr, " -1 (increment interface numbering in ASC mode)\n");
fprintf(stderr, " -A (enable ASCII output)\n");
fprintf(stderr, "\n");
fprintf(stderr, "When using more than one CAN interface the options\n");
fprintf(stderr, "m/v/i have comma seperated values e.g. '-m 0,7FF,0'\n");
fprintf(stderr, "Use interface name '%s' to receive from all can-interfaces\n", ANYDEV);
}
void sigterm(int signo)
{
running = 0;
}
int main(int argc, char **argv)
{
fd_set rdfs;
int s[MAXDEV];
int bridge = 0;
canid_t mask[MAXDEV] = {0};
canid_t value[MAXDEV] = {0};
int inv_filter[MAXDEV] = {0};
char devname[MAXDEV][IFNAMSIZ];
unsigned char timestamp = 0;
unsigned char silent = 0;
unsigned char silentani = 0;
unsigned char color = 0;
unsigned char ascii = 0;
unsigned char asc = 0;
unsigned char asc_inc_channel = 0;
int max_devname_len = 0;
int opt, ret;
int currmax = 1; /* we assume at least one can bus ;-) */
struct sockaddr_can addr;
struct can_filter rfilter;
struct can_frame frame;
int nbytes, i, j;
struct ifreq ifr;
time_t currtime;
struct timeval tv, last_tv;
signal(SIGTERM, sigterm);
signal(SIGHUP, sigterm);
signal(SIGINT, sigterm);
last_tv.tv_sec = 0; /* init */
while ((opt = getopt(argc, argv, "m:v:i:b:s:ca1At:")) != -1) {
switch (opt) {
case 'm':
i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
&mask[0], &mask[1], &mask[2],
&mask[3], &mask[4], &mask[5]);
if (i > currmax)
currmax = i;
break;
case 'v':
i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
&value[0], &value[1], &value[2],
&value[3], &value[4], &value[5]);
if (i > currmax)
currmax = i;
break;
case 'i':
i = sscanf(optarg, "%d,%d,%d,%d,%d,%d",
&inv_filter[0], &inv_filter[1], &inv_filter[2],
&inv_filter[3], &inv_filter[4], &inv_filter[5]);
if (i > currmax)
currmax = i;
break;
case 'b':
if (strlen(optarg) >= IFNAMSIZ) {
printf("Name of CAN device '%s' is too long!\n\n", optarg);
return 1;
}
else {
if ((bridge = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
perror("bridge socket");
return 1;
}
addr.can_family = AF_CAN;
strcpy(ifr.ifr_name, optarg);
if (ioctl(bridge, SIOCGIFINDEX, &ifr) < 0)
perror("SIOCGIFINDEX");
addr.can_ifindex = ifr.ifr_ifindex;
if (!addr.can_ifindex) {
perror("invalid bridge interface");
return 1;
}
if (bind(bridge, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bridge bind");
return 1;
}
}
break;
case 's':
silent = atoi(optarg);
break;
case 'c':
color = 1;
break;
case 'a':
asc = 1;
break;
case '1':
asc_inc_channel = 1;
break;
case 'A':
ascii = 1;
break;
case 't':
timestamp = optarg[0];
if ((timestamp != 'a') && (timestamp != 'A') && (timestamp != 'd') && (timestamp != 'z')) {
printf("%s: unknown timestamp mode '%c' - ignored\n",
basename(argv[0]), optarg[0]);
timestamp = 0;
}
break;
case '?':
break;
default:
fprintf(stderr, "Unknown option %c\n", opt);
break;
}
}
if (optind == argc) {
print_usage(basename(argv[0]));
exit(0);
}
/* count in options higher than device count ? */
if (optind + currmax > argc) {
printf("low count of CAN devices!\n");
return 1;
}
currmax = argc - optind; /* find real number of CAN devices */
if (currmax > MAXDEV) {
printf("More than %d CAN devices!\n", MAXDEV);
return 1;
}
for (i=0; i<currmax; i++) {
#ifdef DEBUG
printf("open %d '%s' m%08X v%08X i%d.\n",
i, argv[optind+i], mask[i], value[i], inv_filter[i]);
#endif
if ((s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
perror("socket");
return 1;
}
if (mask[i] || value[i]) {
if (!(asc)) /* this output is not asc compatible! */
printf("CAN ID filter[%d] for %s set to mask = %08X, value = %08X %s\n",
i, argv[optind+i], mask[i], value[i],
(inv_filter[i]) ? "(inv_filter)" : "");
rfilter.can_id = value[i];
rfilter.can_mask = mask[i];
if (inv_filter[i])
rfilter.can_id |= CAN_INV_FILTER;
setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
}
j = strlen(argv[optind+i]);
if (!(j < IFNAMSIZ)) {
printf("name of CAN device '%s' is too long!\n", argv[optind+i]);
return 1;
}
strcpy(devname[i], argv[optind+i]);
if (j > max_devname_len)
max_devname_len = j; /* for nice printing */
addr.can_family = AF_CAN;
if (strcmp(ANYDEV, argv[optind+i])) {
strcpy(ifr.ifr_name, argv[optind+i]);
if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0)
perror("SIOCGIFINDEX");
addr.can_ifindex = ifr.ifr_ifindex;
}
else
addr.can_ifindex = 0; /* any can interface */
if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
return 1;
}
}
if (asc) {
char datestring[40];
/* print banner for ASC mode */
if (timestamp != 'd') /* delta time is allowed, else ... */
timestamp = 'z'; /* ASC-files always start with zero time */
if (time(&currtime) == (time_t)-1) {
perror("time");
return 1;
}
strncpy(datestring, ctime(&currtime), 39); /* copy to private buffer */
datestring[strlen(datestring)-1] = 0; /* chop off trailing newline */
printf("date %s%s", datestring, ANL); /* print with own new line representation */
printf("base hex timestamps %s%s", (timestamp == 'd')?"relative":"absolute", ANL);
printf("no internal events logged%s", ANL);
fflush(stdout);
}
while (running) {
FD_ZERO(&rdfs);
for (i=0; i<currmax; i++)
FD_SET(s[i], &rdfs);
if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, NULL)) < 0) {
//perror("select");
running = 0;
continue;
}
for (i=0; i<currmax; i++) {
if (FD_ISSET(s[i], &rdfs)) {
#ifdef USE_RECVFROM
socklen_t len = sizeof(addr);
if ((nbytes = recvfrom(s[i], &frame, sizeof(struct can_frame), 0, (struct sockaddr*)&addr, &len)) < 0) {
#else
if ((nbytes = read(s[i], &frame, sizeof(struct can_frame))) < 0) {
#endif
perror("read");
return 1;
} else if (nbytes < sizeof(struct can_frame)) {
fprintf(stderr, "read: incomplete CAN frame\n");
return 1;
} else {
if (bridge) {
if ((nbytes = write(bridge, &frame, sizeof(struct can_frame))) < 0) {
perror("bridge write");
return 1;
} else if (nbytes < sizeof(struct can_frame)) {
fprintf(stderr, "bridge write: incomplete CAN frame\n");
return 1;
}
}
if (silent){
if (silent == 1)
printf("%c\b", anichar[silentani%=MAXANI]), silentani++;
}
else {
switch (timestamp) {
case 'a': /* absolute with timestamp */
if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
perror("SIOCGSTAMP");
if (asc)
printf("%4ld.%04ld ", tv.tv_sec, tv.tv_usec/100);
else
printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
break;
case 'A': /* absolute with date */
{
struct tm tm;
char timestring[25];
if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
perror("SIOCGSTAMP");
tm = *localtime(&tv.tv_sec);
strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
if (asc)
printf("%s.%04ld ", timestring, tv.tv_usec/100);
else
printf("(%s.%06ld) ", timestring, tv.tv_usec);
}
break;
case 'd': /* delta */
case 'z': /* starting with zero */
{
struct timeval diff;
if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
perror("SIOCGSTAMP");
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 (diff.tv_sec < 0)
diff.tv_sec = diff.tv_usec = 0;
if (asc)
printf("%4ld.%04ld ", diff.tv_sec, diff.tv_usec/100);
else
printf("(%ld.%06ld) ", diff.tv_sec, diff.tv_usec);
if (timestamp == 'd')
last_tv = tv; /* update for delta calculation */
}
break;
default: /* no timestamp output */
break;
}
if (asc) {
char id[10];
printf("%-2d ", i + asc_inc_channel); /* channel number - left aligned */
sprintf(id, "%X%c", frame.can_id & CAN_EFF_MASK,
(frame.can_id & CAN_EFF_FLAG)?'x':' ');
printf("%-15s Rx ", id);
if (frame.can_id & CAN_RTR_FLAG)
printf("r"); /* RTR frame: nothing else to print */
else {
printf("d %d ", frame.can_dlc); /* data frame */
for (j = 0; j < frame.can_dlc; j++) {
printf("%02X ", frame.data[j]);
}
}
printf("%s", ANL);
}
else {
printf(" %s",(color)?col_on[i]:"");
#ifdef USE_RECVFROM
ifr.ifr_ifindex = addr.can_ifindex;
if (ioctl(s[i], SIOCGIFNAME, &ifr) < 0)
perror("SIOCGIFNAME");
if (max_devname_len < strlen(ifr.ifr_name))
max_devname_len = strlen(ifr.ifr_name);
printf("%*s", max_devname_len, ifr.ifr_name);
#else
printf("%*s", max_devname_len, devname[i]); /* device name */
#endif
printf("%s ",(color)?col_off:"");
if (frame.can_id & CAN_EFF_FLAG)
printf("%8X ", frame.can_id & CAN_EFF_MASK);
else
printf("%3X ", frame.can_id & CAN_SFF_MASK);
printf("[%d] ", frame.can_dlc);
for (j = 0; j < frame.can_dlc; j++) {
printf("%02X ", frame.data[j]);
}
if (ascii) {
printf("%*s", 3*(8-frame.can_dlc)+3, "'");
for (j = 0; j < frame.can_dlc; j++)
if ((frame.data[j] > 0x1F) && (frame.data[j] < 0x7F))
putchar(frame.data[j]);
else
putchar('.');
printf("' ");
}
if (frame.can_id & CAN_RTR_FLAG)
printf("remote request");
printf("\n");
}
}
fflush(stdout);
}
}
}
}
for (i=0; i<currmax; i++)
close(s[i]);
if (bridge)
close(bridge);
return 0;
}
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