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canlogserver.c
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canlogserver.c
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/*
* canlogserver.c
*
* Copyright (c) 2002-2007 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 and the following disclaimer.
* 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, in which case the provisions of the
* GPL apply INSTEAD OF those given above.
*
* 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 <linux-can@vger.kernel.org>
*
*/
#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/wait.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <sys/uio.h>
#include <net/if.h>
#include <netinet/in.h>
#include <linux/can.h>
#include <linux/can/raw.h>
#include <signal.h>
#include <errno.h>
#include "lib.h"
#define MAXDEV 6 /* change sscanf()'s manually if changed here */
#define ANYDEV "any"
#define ANL "\r\n" /* newline in ASC mode */
#define COMMENTSZ 200
#define BUFSZ (sizeof("(1345212884.318850)") + IFNAMSIZ + 4 + CL_CFSZ + COMMENTSZ) /* for one line in the logfile */
#define DEFPORT 28700
static char devname[MAXDEV][IFNAMSIZ+1];
static int dindex[MAXDEV];
static int max_devname_len;
extern int optind, opterr, optopt;
static volatile int running = 1;
void print_usage(char *prg)
{
fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
fprintf(stderr, " (use CTRL-C to terminate %s)\n\n", prg);
fprintf(stderr, "Options: -m <mask> (ID filter mask. Default 0x00000000) *\n");
fprintf(stderr, " -v <value> (ID filter value. Default 0x00000000) *\n");
fprintf(stderr, " -i <0|1> (invert the specified ID filter) *\n");
fprintf(stderr, " -e <emask> (mask for error frames)\n");
fprintf(stderr, " -p <port> (listen on port <port>. Default: %d)\n", DEFPORT);
fprintf(stderr, "\n");
fprintf(stderr, "* The CAN ID filter matches, when ...\n");
fprintf(stderr, " <received_can_id> & mask == value & mask\n");
fprintf(stderr, "\n");
fprintf(stderr, "When using more than one CAN interface the options\n");
fprintf(stderr, "m/v/i/e have comma separated values e.g. '-m 0,7FF,0'\n");
fprintf(stderr, "\nUse interface name '%s' to receive from all CAN interfaces.\n\n", ANYDEV);
}
int idx2dindex(int ifidx, int socket)
{
int i;
struct ifreq ifr;
for (i=0; i<MAXDEV; i++) {
if (dindex[i] == ifidx)
return i;
}
/* create new interface index cache entry */
/* remove index cache zombies first */
for (i=0; i < MAXDEV; i++) {
if (dindex[i]) {
ifr.ifr_ifindex = dindex[i];
if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
dindex[i] = 0;
}
}
for (i=0; i < MAXDEV; i++)
if (!dindex[i]) /* free entry */
break;
if (i == MAXDEV) {
printf("Interface index cache only supports %d interfaces.\n", MAXDEV);
exit(1);
}
dindex[i] = ifidx;
ifr.ifr_ifindex = ifidx;
if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
perror("SIOCGIFNAME");
if (max_devname_len < strlen(ifr.ifr_name))
max_devname_len = strlen(ifr.ifr_name);
strcpy(devname[i], ifr.ifr_name);
#ifdef DEBUG
printf("new index %d (%s)\n", i, devname[i]);
#endif
return i;
}
/*
* This is a Signalhandler. When we get a signal, that a child
* terminated, we wait for it, so the zombie will disappear.
*/
void childdied(int i)
{
wait(NULL);
}
/*
* This is a Signalhandler for a cought SIGTERM
*/
void shutdown_gra(int i)
{
exit(0);
}
int main(int argc, char **argv)
{
struct sigaction signalaction;
sigset_t sigset;
fd_set rdfs;
int s[MAXDEV];
int socki, accsocket;
canid_t mask[MAXDEV] = {0};
canid_t value[MAXDEV] = {0};
int inv_filter[MAXDEV] = {0};
can_err_mask_t err_mask[MAXDEV] = {0};
int opt, ret;
int currmax = 1; /* we assume at least one can bus ;-) */
struct sockaddr_can addr;
struct can_filter rfilter;
struct canfd_frame frame;
const int canfd_on = 1;
int nbytes, i, j, maxdlen;
struct ifreq ifr;
struct timeval tv;
int port = DEFPORT;
struct sockaddr_in inaddr;
struct sockaddr_in clientaddr;
socklen_t sin_size = sizeof(clientaddr);
char temp[BUFSZ];
sigemptyset(&sigset);
signalaction.sa_handler = &childdied;
signalaction.sa_mask = sigset;
signalaction.sa_flags = 0;
sigaction(SIGCHLD, &signalaction, NULL); /* install signal for dying child */
signalaction.sa_handler = &shutdown_gra;
signalaction.sa_mask = sigset;
signalaction.sa_flags = 0;
sigaction(SIGTERM, &signalaction, NULL); /* install Signal for termination */
sigaction(SIGINT, &signalaction, NULL); /* install Signal for termination */
while ((opt = getopt(argc, argv, "m:v:i:e:p:?")) != -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 'e':
i = sscanf(optarg, "%x,%x,%x,%x,%x,%x",
&err_mask[0], &err_mask[1], &err_mask[2],
&err_mask[3], &err_mask[4], &err_mask[5]);
if (i > currmax)
currmax = i;
break;
case 'p':
port = atoi(optarg);
break;
default:
print_usage(basename(argv[0]));
exit(1);
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;
}
socki = socket(PF_INET, SOCK_STREAM, 0);
if (socki < 0) {
perror("socket");
exit(1);
}
inaddr.sin_family = AF_INET;
inaddr.sin_addr.s_addr = htonl(INADDR_ANY);
inaddr.sin_port = htons(port);
while(bind(socki, (struct sockaddr*)&inaddr, sizeof(inaddr)) < 0) {
printf(".");fflush(NULL);
usleep(100000);
}
if (listen(socki, 3) != 0) {
perror("listen");
exit(1);
}
while(1) {
accsocket = accept(socki, (struct sockaddr*)&clientaddr, &sin_size);
if (accsocket > 0) {
//printf("accepted\n");
if (!fork())
break;
else
close(accsocket);
}
else if (errno != EINTR) {
perror("accept");
exit(1);
}
}
for (i=0; i<currmax; i++) {
#ifdef DEBUG
printf("open %d '%s' m%08X v%08X i%d e%d.\n",
i, argv[optind+i], mask[i], value[i],
inv_filter[i], err_mask[i]);
#endif
if ((s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
perror("socket");
return 1;
}
if (mask[i] || value[i]) {
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));
}
if (err_mask[i])
setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
&err_mask[i], sizeof(err_mask[i]));
/* try to switch the socket into CAN FD mode */
setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on));
j = strlen(argv[optind+i]);
if (!(j < IFNAMSIZ)) {
printf("name of CAN device '%s' is too long!\n", argv[optind+i]);
return 1;
}
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");
exit(1);
}
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("bindcan");
return 1;
}
}
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++) { /* check all CAN RAW sockets */
if (FD_ISSET(s[i], &rdfs)) {
socklen_t len = sizeof(addr);
int idx;
if ((nbytes = recvfrom(s[i], &frame, CANFD_MTU, 0,
(struct sockaddr*)&addr, &len)) < 0) {
perror("read");
return 1;
}
if ((size_t)nbytes == CAN_MTU)
maxdlen = CAN_MAX_DLEN;
else if ((size_t)nbytes == CANFD_MTU)
maxdlen = CANFD_MAX_DLEN;
else {
fprintf(stderr, "read: incomplete CAN frame\n");
return 1;
}
if (ioctl(s[i], SIOCGSTAMP, &tv) < 0)
perror("SIOCGSTAMP");
idx = idx2dindex(addr.can_ifindex, s[i]);
sprintf(temp, "(%ld.%06ld) %*s ",
tv.tv_sec, tv.tv_usec, max_devname_len, devname[idx]);
sprint_canframe(temp+strlen(temp), &frame, 0, maxdlen);
strcat(temp, "\n");
if (write(accsocket, temp, strlen(temp)) < 0) {
perror("writeaccsock");
return 1;
}
#if 0
/* print CAN frame in log file style to stdout */
printf("(%ld.%06ld) ", tv.tv_sec, tv.tv_usec);
printf("%*s ", max_devname_len, devname[idx]);
fprint_canframe(stdout, &frame, "\n", 0, maxdlen);
#endif
}
}
}
for (i=0; i<currmax; i++)
close(s[i]);
close(accsocket);
return 0;
}