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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 <ncurses.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;
unsigned can_id;
struct BAP_RXer *bap;
unsigned node_id;
if (argc < 4) {
printf("syntax: %s IFNAME CAN_ID bap_node \n", argv[0]);
return 1;
}
can_id = strtoul(argv[2], NULL, 0);
node_id = strtoul(argv[3], NULL, 0);
bap = vw_bap_rxer_alloc();
if (!bap) {
printf("Out of memory allocating BAP struct.\n");
return 1;
}
printf("Listening for CAN ID: %x and Node %d\n", can_id, node_id);
s = net_init(argv[1]);
initscr();
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;
}
if (can_id == frame.can_id) {
struct BAP_Frame *bap_frame;
unsigned i;
bap_frame = vw_bap_handle_can_frame(bap, &frame);
if (bap_frame && bap_frame->node == node_id) {
mvprintw(bap_frame->port, 0, "");
printw("%u. %2i/%-2i .%c%02i --",
bap_frame->opcode,
bap_frame->node,
bap_frame->port,
bap_frame->is_multiframe ? 'm' : 's',
bap_frame->len);
/* Limit huge packets */
if (bap_frame->len > 20) {
bap_frame->len = 20;
}
/* Hex dump */
for (i = 0; i < bap_frame->len; i++) {
if (!(i % 4)) {
printw(" ");
}
printw("%02x", (unsigned char)(bap_frame->data[i]));
}
printw("\n");
/* ASCII dump */
mvprintw(bap_frame->port, 64, "");
for (i = 0; i < bap_frame->len; i++) {
unsigned char c = bap_frame->data[i];
if (!isprint(c) || c == '\n' || c == '\r') {
c = '.';
}
printw("%c", c);
}
printw("'");
printw("\r");
refresh();
vw_bap_frame_free(bap_frame);
}
}
continue;
}
}
endwin();
vw_bap_rxer_free(bap);
close(s);
return 0;
}
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