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/*
* Copyright 2017 Max Staudt
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License 2 as published
* by the Free Software Foundation.
*/
#include <stdio.h>
#include <stdint.h>
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <linux/can.h>
#include <linux/can/raw.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include "vw-bap.h"
static int net_init(char *ifname)
{
int s;
int recv_own_msgs;
struct sockaddr_can addr;
struct ifreq ifr;
s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
if (s < 0) {
perror("socket");
exit(1);
}
/* Convert interface name to index */
memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));
strncpy(ifr.ifr_name, ifname, IFNAMSIZ);
if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
perror("SIOCGIFINDEX");
exit(1);
}
/* Open the CAN interface */
memset(&addr, 0, sizeof(addr));
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
return 0;
}
recv_own_msgs = 1; /* 0 = disabled (default), 1 = enabled */
setsockopt(s, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS,
&recv_own_msgs, sizeof(recv_own_msgs));
return s;
}
int main(int argc, char **argv)
{
fd_set rdfs;
int s;
int i;
int can_id_count;
unsigned *can_ids;
struct BAP_RXer **baps;
if (argc < 3) {
printf("syntax: %s IFNAME CAN_ID [CAN_ID CAN_ID ...]\n", argv[0]);
return 1;
}
can_id_count = argc - 2;
can_ids = calloc(can_id_count, sizeof(*can_ids));
baps = calloc(can_id_count, sizeof(*baps));
if (!can_ids || !baps) {
printf("Out of memory allocating meta structs.\n");
return 1;
}
for (i = 0; i < can_id_count; i++) {
can_ids[i] = strtoul(argv[2 + i], NULL, 0);
baps[i] = vw_bap_alloc();
if (!baps[i]) {
printf("Out of memory allocating BAP struct.\n");
return 1;
}
printf("Listening for CAN ID: %x\n", can_ids[i]);
}
s = net_init(argv[1]);
while (1) {
int retval;
FD_ZERO(&rdfs);
FD_SET(s, &rdfs);
retval = select(s+1, &rdfs, NULL, NULL, NULL);
/* We currently rely on Linux timeout behavior here,
* i.e. the timeout now reflects the remaining time */
if (retval < 0) {
perror("select");
return 1;
} else if (!retval) {
/* Timeout, we NEED to check this first */
} else if (FD_ISSET(s, &rdfs)) {
struct can_frame frame;
ssize_t ret;
ret = read(s, &frame, sizeof(frame));
if (ret < 0) {
perror("read from CAN socket");
return 1;
}
for (i = 0; i < can_id_count; i++) {
if (can_ids[i] == frame.can_id) {
struct BAP_Frame *bap_frame;
struct BAP_RXer *bap = baps[i];
bap_frame = vw_bap_handle_can_frame(bap, &frame);
if (bap_frame) {
printf("%03x: ", frame.can_id);
vw_bap_frame_dump(bap_frame);
vw_bap_frame_free(bap_frame);
}
break;
}
}
continue;
}
}
/* TODO: Free */
close(s);
return 0;
}
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