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2025-12-29 16:21:22 +07:00
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Devices/Libraries/Systems/can-utils/canplayer.c Executable file
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/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
/*
* canplayer.c - replay a compact CAN frame logfile to CAN devices
*
* 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 <libgen.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <time.h>
#include <unistd.h>
#include <linux/can.h>
#include <linux/can/raw.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <sys/time.h>
#include "lib.h"
#define DEFAULT_GAP 1 /* ms */
#define DEFAULT_LOOPS 1 /* only one replay */
#define CHANNELS 20 /* anyone using more than 20 CAN interfaces at a time? */
#define STDOUTIDX 65536 /* interface index for printing on stdout - bigger than max uint16 */
#if (IFNAMSIZ != 16)
#error "IFNAMSIZ value does not to DEVSZ calculation!"
#endif
#define DEVSZ 22 /* IFNAMSZ + 6 */
#define TIMESZ sizeof("(1345212884.318850) ")
#define BUFSZ (TIMESZ + DEVSZ + AFRSZ)
/* adapt sscanf() functions below on error */
#if (AFRSZ != 6300)
#error "AFRSZ value does not fit sscanf restrictions!"
#endif
#if (DEVSZ != 22)
#error "DEVSZ value does not fit sscanf restrictions!"
#endif
struct assignment {
char txif[IFNAMSIZ];
int txifidx;
char rxif[IFNAMSIZ];
};
static struct assignment asgn[CHANNELS];
const int canfx_on = 1;
extern int optind, opterr, optopt;
static void print_usage(char *prg)
{
fprintf(stderr, "%s - replay a compact CAN frame logfile to CAN devices.\n", prg);
fprintf(stderr, "\nUsage: %s <options> [interface assignment]*\n\n", prg);
fprintf(stderr, "Options:\n");
fprintf(stderr, " -I <infile> (default stdin)\n");
fprintf(stderr,
" -l <num> "
"(process input file <num> times)\n"
" "
"(Use 'i' for infinite loop - default: %d)\n",
DEFAULT_LOOPS);
fprintf(stderr, " -t (ignore timestamps: "
"send frames immediately)\n");
fprintf(stderr, " -i (interactive - wait "
"for ENTER key to process next frame)\n");
fprintf(stderr, " -n <count> (terminate after "
"processing <count> CAN frames)\n");
fprintf(stderr,
" -g <ms> (gap in milli "
"seconds - default: %d ms)\n",
DEFAULT_GAP);
fprintf(stderr, " -s <s> (skip gaps in "
"timestamps > 's' seconds)\n");
fprintf(stderr, " -x (disable local "
"loopback of sent CAN frames)\n");
fprintf(stderr, " -v (verbose: print "
"sent CAN frames)\n");
fprintf(stderr, " -h (show "
"this help message)\n\n");
fprintf(stderr, "Interface assignment:\n");
fprintf(stderr, " 0..n assignments like <write-if>=<log-if>\n\n");
fprintf(stderr, " e.g. vcan2=can0 (send frames received from can0 on "
"vcan2)\n");
fprintf(stderr, " extra hook: stdout=can0 (print logfile line marked with can0 on "
"stdout)\n");
fprintf(stderr, " No assignments => send frames to the interface(s) they "
"had been received from\n\n");
fprintf(stderr, "Lines in the logfile not beginning with '(' (start of "
"timestamp) are ignored.\n\n");
}
/* copied from /usr/src/linux/include/linux/time.h ...
* lhs < rhs: return <0
* lhs == rhs: return 0
* lhs > rhs: return >0
*/
static inline int timeval_compare(struct timeval *lhs, struct timeval *rhs)
{
if (lhs->tv_sec < rhs->tv_sec)
return -1;
if (lhs->tv_sec > rhs->tv_sec)
return 1;
return lhs->tv_usec - rhs->tv_usec;
}
static inline void create_diff_tv(struct timeval *today, struct timeval *diff, struct timeval *log)
{
/* create diff_tv so that log_tv + diff_tv = today_tv */
diff->tv_sec = today->tv_sec - log->tv_sec;
diff->tv_usec = today->tv_usec - log->tv_usec;
}
static inline int frames_to_send(struct timeval *today, struct timeval *diff, struct timeval *log)
{
/* return value <0 when log + diff < today */
struct timeval cmp;
cmp.tv_sec = log->tv_sec + diff->tv_sec;
cmp.tv_usec = log->tv_usec + diff->tv_usec;
if (cmp.tv_usec >= 1000000) {
cmp.tv_usec -= 1000000;
cmp.tv_sec++;
}
if (cmp.tv_usec < 0) {
cmp.tv_usec += 1000000;
cmp.tv_sec--;
}
return timeval_compare(&cmp, today);
}
static int get_txidx(char *logif_name)
{
int i;
for (i = 0; i < CHANNELS; i++) {
if (asgn[i].rxif[0] == 0) /* end of table content */
break;
if (strcmp(asgn[i].rxif, logif_name) == 0) /* found device name */
break;
}
if ((i == CHANNELS) || (asgn[i].rxif[0] == 0))
return 0; /* not found */
return asgn[i].txifidx; /* return interface index */
}
static char *get_txname(char *logif_name)
{
int i;
for (i = 0; i < CHANNELS; i++) {
if (asgn[i].rxif[0] == 0) /* end of table content */
break;
if (strcmp(asgn[i].rxif, logif_name) == 0) /* found device name */
break;
}
if ((i == CHANNELS) || (asgn[i].rxif[0] == 0))
return 0; /* not found */
return asgn[i].txif; /* return interface name */
}
static int add_assignment(char *mode, int socket, char *txname,
char *rxname, int verbose)
{
struct ifreq ifr;
int i;
/* find free entry */
for (i = 0; i < CHANNELS; i++) {
if (asgn[i].txif[0] == 0)
break;
}
if (i == CHANNELS) {
fprintf(stderr, "Assignment table exceeded!\n");
return 1;
}
if (strlen(txname) >= IFNAMSIZ) {
fprintf(stderr, "write-if interface name '%s' too long!", txname);
return 1;
}
strcpy(asgn[i].txif, txname);
if (strlen(rxname) >= IFNAMSIZ) {
fprintf(stderr, "log-if interface name '%s' too long!", rxname);
return 1;
}
strcpy(asgn[i].rxif, rxname);
if (strcmp(txname, "stdout") != 0) {
strcpy(ifr.ifr_name, txname);
if (ioctl(socket, SIOCGIFINDEX, &ifr) < 0) {
perror("SIOCGIFINDEX");
fprintf(stderr, "write-if interface name '%s' is wrong!\n", txname);
return 1;
}
asgn[i].txifidx = ifr.ifr_ifindex;
} else
asgn[i].txifidx = STDOUTIDX;
if (verbose > 1) /* use -v -v to see this */
printf("added %s assignment: log-if=%s write-if=%s write-if-idx=%d\n", mode, asgn[i].rxif, asgn[i].txif, asgn[i].txifidx);
return 0;
}
int main(int argc, char **argv)
{
static char buf[BUFSZ], device[DEVSZ], afrbuf[AFRSZ];
struct sockaddr_can addr;
struct can_raw_vcid_options vcid_opts = {
.flags = CAN_RAW_XL_VCID_TX_PASS,
};
static cu_t cu;
static struct timeval today_tv, log_tv, last_log_tv, diff_tv;
struct timespec sleep_ts;
int s; /* CAN_RAW socket */
FILE *infile = stdin;
unsigned long gap = DEFAULT_GAP;
int use_timestamps = 1;
int interactive = 0; /* wait for ENTER keypress to process next frame */
int count = 0; /* end replay after sending count frames. 0 = disabled */
static int verbose, opt, delay_loops;
static unsigned long skipgap;
static int loopback_disable = 0;
static int infinite_loops = 0;
static int loops = DEFAULT_LOOPS;
int assignments; /* assignments defined on the commandline */
int txidx; /* sendto() interface index */
int eof, txmtu, i, j;
char *fret;
unsigned long long sec, usec;
while ((opt = getopt(argc, argv, "I:l:tin:g:s:xvh")) != -1) {
switch (opt) {
case 'I':
infile = fopen(optarg, "r");
if (!infile) {
perror("infile");
return 1;
}
break;
case 'l':
if (optarg[0] == 'i')
infinite_loops = 1;
else if (!(loops = atoi(optarg))) {
fprintf(stderr, "Invalid argument for option -l !\n");
return 1;
}
break;
case 't':
use_timestamps = 0;
break;
case 'i':
interactive = 1;
break;
case 'n':
count = atoi(optarg);
if (count < 1) {
print_usage(basename(argv[0]));
exit(1);
}
break;
case 'g':
gap = strtoul(optarg, NULL, 10);
break;
case 's':
skipgap = strtoul(optarg, NULL, 10);
if (skipgap < 1) {
fprintf(stderr, "Invalid argument for option -s !\n");
return 1;
}
break;
case 'x':
loopback_disable = 1;
break;
case 'v':
verbose++;
break;
case 'h':
print_usage(basename(argv[0]));
exit(EXIT_SUCCESS);
break;
default:
print_usage(basename(argv[0]));
exit(EXIT_FAILURE);
break;
}
}
assignments = argc - optind; /* find real number of user assignments */
if (infile == stdin) { /* no jokes with stdin */
infinite_loops = 0;
loops = 1;
}
if (verbose > 1) { /* use -v -v to see this */
if (infinite_loops)
printf("infinite_loops\n");
else
printf("%d loops\n", loops);
}
/* ignore timestamps from logfile when in single step keypress mode */
if (interactive) {
use_timestamps = 0;
printf("interactive mode: press ENTER to process next CAN frame ...\n");
}
sleep_ts.tv_sec = gap / 1000;
sleep_ts.tv_nsec = (gap % 1000) * 1000000;
/* open socket */
if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
perror("socket");
return 1;
}
addr.can_family = AF_CAN;
addr.can_ifindex = 0;
/* disable unneeded default receive filter on this RAW socket */
setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
/* try to switch the socket into CAN FD mode */
setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfx_on, sizeof(canfx_on));
/* try to switch the socket into CAN XL mode */
setsockopt(s, SOL_CAN_RAW, CAN_RAW_XL_FRAMES, &canfx_on, sizeof(canfx_on));
/* try to enable the CAN XL VCID pass through mode */
setsockopt(s, SOL_CAN_RAW, CAN_RAW_XL_VCID_OPTS, &vcid_opts, sizeof(vcid_opts));
if (loopback_disable) {
int loopback = 0;
setsockopt(s, SOL_CAN_RAW, CAN_RAW_LOOPBACK, &loopback, sizeof(loopback));
}
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
return 1;
}
if (assignments) {
/* add & check user assignments from commandline */
for (i = 0; i < assignments; i++) {
if (strlen(argv[optind + i]) >= BUFSZ) {
fprintf(stderr, "Assignment too long!\n");
print_usage(basename(argv[0]));
return 1;
}
strcpy(buf, argv[optind + i]);
for (j = 0; j < (int)BUFSZ; j++) { /* find '=' in assignment */
if (buf[j] == '=')
break;
}
if ((j == BUFSZ) || (buf[j] != '=')) {
fprintf(stderr, "'=' missing in assignment!\n");
print_usage(basename(argv[0]));
return 1;
}
buf[j] = 0; /* cut string in two pieces */
if (add_assignment("user", s, &buf[0], &buf[j + 1], verbose))
return 1;
}
}
while (infinite_loops || loops--) {
if (infile != stdin)
rewind(infile); /* for each loop */
if (verbose > 1) /* use -v -v to see this */
printf(">>>>>>>>> start reading file. remaining loops = %d\n", loops);
/* read first non-comment frame from logfile */
while ((fret = fgets(buf, BUFSZ - 1, infile)) != NULL && buf[0] != '(') {
if (strlen(buf) >= BUFSZ - 2) {
fprintf(stderr, "comment line too long for input buffer\n");
return 1;
}
}
if (!fret)
goto out; /* nothing to read */
eof = 0;
if (sscanf(buf, "(%llu.%llu) %21s %6299s", &sec, &usec, device, afrbuf) != 4) {
fprintf(stderr, "incorrect line format in logfile\n");
return 1;
}
log_tv.tv_sec = sec;
log_tv.tv_usec = usec;
/*
* ensure the fractions of seconds are 6 decimal places long to catch
* 3rd party or handcrafted logfiles that treat the timestamp as float
*/
if (strchr(buf, ')') - strchr(buf, '.') != 7) {
fprintf(stderr, "timestamp format in logfile requires 6 decimal places\n");
return 1;
}
if (use_timestamps) { /* throttle sending due to logfile timestamps */
gettimeofday(&today_tv, NULL);
create_diff_tv(&today_tv, &diff_tv, &log_tv);
last_log_tv = log_tv;
}
while (!eof) {
while ((!use_timestamps) || (frames_to_send(&today_tv, &diff_tv, &log_tv) < 0)) {
/* wait for keypress to process next frame */
if (interactive)
getchar();
/* log_tv/device/afrbuf are valid here */
if (strlen(device) >= IFNAMSIZ) {
fprintf(stderr, "log interface name '%s' too long!", device);
return 1;
}
txidx = get_txidx(device); /* get ifindex for sending the frame */
if ((!txidx) && (!assignments)) {
/* ifindex not found and no user assignments */
/* => assign this device automatically */
if (add_assignment("auto", s, device, device, verbose))
return 1;
txidx = get_txidx(device);
}
if (txidx == STDOUTIDX) { /* hook to print logfile lines on stdout */
printf("%s", buf); /* print the line AS-IS without extra \n */
fflush(stdout);
} else if (txidx > 0) { /* only send to valid CAN devices */
txmtu = parse_canframe(afrbuf, &cu); /* dual-use frame */
if (!txmtu) {
fprintf(stderr, "wrong CAN frame format: '%s'!", afrbuf);
return 1;
}
/* CAN XL frames need real frame length for sending */
if (txmtu == CANXL_MTU)
txmtu = CANXL_HDR_SIZE + cu.xl.len;
addr.can_family = AF_CAN;
addr.can_ifindex = txidx; /* send via this interface */
if (sendto(s, &cu, txmtu, 0, (struct sockaddr *)&addr, sizeof(addr)) != txmtu) {
perror("sendto");
return 1;
}
if (verbose) {
printf("%s (%s) ", get_txname(device), device);
snprintf_long_canframe(afrbuf, sizeof(afrbuf), &cu, CANLIB_VIEW_INDENT_SFF);
printf("%s\n", afrbuf);
}
if (count && (--count == 0))
goto out;
}
/* read next non-comment frame from logfile */
while ((fret = fgets(buf, BUFSZ - 1, infile)) != NULL && buf[0] != '(') {
if (strlen(buf) >= BUFSZ - 2) {
fprintf(stderr, "comment line too long for input buffer\n");
return 1;
}
}
if (!fret) {
eof = 1; /* this file is completely processed */
break;
}
if (sscanf(buf, "(%llu.%llu) %s %s", &sec, &usec, device, afrbuf) != 4) {
fprintf(stderr, "incorrect line format in logfile\n");
return 1;
}
log_tv.tv_sec = sec;
log_tv.tv_usec = usec;
/*
* ensure the fractions of seconds are 6 decimal places long to catch
* 3rd party or handcrafted logfiles that treat the timestamp as float
*/
if (strchr(buf, ')') - strchr(buf, '.') != 7) {
fprintf(stderr, "timestamp format in logfile requires 6 decimal places\n");
return 1;
}
if (use_timestamps) {
gettimeofday(&today_tv, NULL);
/* test for logfile timestamps jumping backwards OR */
/* if the user likes to skip long gaps in the timestamps */
if ((last_log_tv.tv_sec > log_tv.tv_sec) || (skipgap && labs(last_log_tv.tv_sec - log_tv.tv_sec) > (long)skipgap))
create_diff_tv(&today_tv, &diff_tv, &log_tv);
last_log_tv = log_tv;
}
} /* while frames_to_send ... */
if (nanosleep(&sleep_ts, NULL))
return 1;
delay_loops++; /* private statistics */
gettimeofday(&today_tv, NULL);
} /* while (!eof) */
} /* while (infinite_loops || loops--) */
out:
close(s);
fclose(infile);
if (verbose > 1) /* use -v -v to see this */
printf("%d delay_loops\n", delay_loops);
return 0;
}