/* * tst-bcm-server.c * * Test programm that implements a socket server which understands ASCII * messages for simple broadcast manager frame send commands. * * < interface command ival_s ival_us can_id can_dlc [data]* > * * Only the items 'can_id' and 'data' are given in (ASCII) hexadecimal values. * * ## TX path: * * The commands are 'A'dd, 'U'pdate, 'D'elete and 'S'end. * e.g. * * Send the CAN frame 123#1122334455667788 every second on vcan1 * < vcan1 A 1 0 123 8 11 22 33 44 55 66 77 88 > * * Send the CAN frame 123#1122334455667788 every 10 usecs on vcan1 * < vcan1 A 0 10 123 8 11 22 33 44 55 66 77 88 > * * Send the CAN frame 123#42424242 every 20 msecs on vcan1 * < vcan1 A 0 20000 123 4 42 42 42 42 > * * Update the CAN frame 123#42424242 with 123#112233 - no change of timers * < vcan1 U 0 0 123 3 11 22 33 > * * Delete the cyclic send job from above * < vcan1 D 0 0 123 0 > * * Send a single CAN frame without cyclic transmission * < can0 S 0 0 123 0 > * * When the socket is closed the cyclic transmissions are terminated. * * ## RX path: * * The commands are 'R'eceive setup, 'F'ilter ID Setup and 'X' for delete. * e.g. * * Receive CAN ID 0x123 from vcan1 and check for changes in the first byte * < vcan1 R 0 0 123 1 FF > * * Receive CAN ID 0x123 from vcan1 and check for changes in given mask * < vcan1 R 0 0 123 8 FF 00 F8 00 00 00 00 00 > * * As above but throttle receive update rate down to 1.5 seconds * < vcan1 R 1 500000 123 8 FF 00 F8 00 00 00 00 00 > * * Filter for CAN ID 0x123 from vcan1 without content filtering * < vcan1 F 0 0 123 0 > * * Delete receive filter ('R' or 'F') for CAN ID 0x123 * < vcan1 X 0 0 123 0 > * * CAN messages received by the given filters are send in the format: * < interface can_id can_dlc [data]* > * * e.g. when receiving a CAN message from vcan1 with * can_id 0x123 , data length 4 and data 0x11, 0x22, 0x33 and 0x44 * * < vcan1 123 4 11 22 33 44 > * * ## * * Authors: * Andre Naujoks (the socket server stuff) * Oliver Hartkopp (the rest) * * Copyright (c) 2002-2009 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 * */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #define MAXLEN 100 #define PORT 28600 void childdied(int i) { wait(NULL); } int main(int argc, char **argv) { int sl, sa, sc; int i; int idx = 0; struct sockaddr_in saddr, clientaddr; struct sockaddr_can caddr; socklen_t caddrlen = sizeof(caddr); struct ifreq ifr; fd_set readfds; socklen_t sin_size = sizeof(clientaddr); struct sigaction signalaction; sigset_t sigset; char buf[MAXLEN]; char rxmsg[50]; struct { struct bcm_msg_head msg_head; struct can_frame frame; } msg; sigemptyset(&sigset); signalaction.sa_handler = &childdied; signalaction.sa_mask = sigset; signalaction.sa_flags = 0; sigaction(SIGCHLD, &signalaction, NULL); /* signal for dying child */ if((sl = socket(PF_INET, SOCK_STREAM, 0)) < 0) { perror("inetsocket"); exit(1); } saddr.sin_family = AF_INET; saddr.sin_addr.s_addr = htonl(INADDR_ANY); saddr.sin_port = htons(PORT); while(bind(sl,(struct sockaddr*)&saddr, sizeof(saddr)) < 0) { printf(".");fflush(NULL); usleep(100000); } if (listen(sl,3) != 0) { perror("listen"); exit(1); } while (1) { sa = accept(sl,(struct sockaddr *)&clientaddr, &sin_size); if (sa > 0 ){ if (fork()) close(sa); else break; } else { if (errno != EINTR) { /* * If the cause for the error was NOT the * signal from a dying child => give an error */ perror("accept"); exit(1); } } } /* open BCM socket */ if ((sc = socket(PF_CAN, SOCK_DGRAM, CAN_BCM)) < 0) { perror("bcmsocket"); return 1; } memset(&caddr, 0, sizeof(caddr)); caddr.can_family = PF_CAN; /* can_ifindex is set to 0 (any device) => need for sendto() */ if (connect(sc, (struct sockaddr *)&caddr, sizeof(caddr)) < 0) { perror("connect"); return 1; } while (1) { FD_ZERO(&readfds); FD_SET(sc, &readfds); FD_SET(sa, &readfds); select((sc > sa)?sc+1:sa+1, &readfds, NULL, NULL, NULL); if (FD_ISSET(sc, &readfds)) { recvfrom(sc, &msg, sizeof(msg), 0, (struct sockaddr*)&caddr, &caddrlen); ifr.ifr_ifindex = caddr.can_ifindex; ioctl(sc, SIOCGIFNAME, &ifr); sprintf(rxmsg, "< %s %03X %d ", ifr.ifr_name, msg.msg_head.can_id, msg.frame.can_dlc); for ( i = 0; i < msg.frame.can_dlc; i++) sprintf(rxmsg + strlen(rxmsg), "%02X ", msg.frame.data[i]); /* delimiter '\0' for Adobe(TM) Flash(TM) XML sockets */ strcat(rxmsg, ">\0"); send(sa, rxmsg, strlen(rxmsg) + 1, 0); } if (FD_ISSET(sa, &readfds)) { char cmd; int items; if (read(sa, buf+idx, 1) < 1) exit(1); if (!idx) { if (buf[0] == '<') idx = 1; continue; } if (idx > MAXLEN-2) { idx = 0; continue; } if (buf[idx] != '>') { idx++; continue; } buf[idx+1] = 0; idx = 0; //printf("read '%s'\n", buf); /* prepare bcm message settings */ memset(&msg, 0, sizeof(msg)); msg.msg_head.nframes = 1; items = sscanf(buf, "< %6s %c %lu %lu %x %hhu " "%hhx %hhx %hhx %hhx %hhx %hhx " "%hhx %hhx >", ifr.ifr_name, &cmd, &msg.msg_head.ival2.tv_sec, &msg.msg_head.ival2.tv_usec, &msg.msg_head.can_id, &msg.frame.can_dlc, &msg.frame.data[0], &msg.frame.data[1], &msg.frame.data[2], &msg.frame.data[3], &msg.frame.data[4], &msg.frame.data[5], &msg.frame.data[6], &msg.frame.data[7]); if (items < 6) break; if (msg.frame.can_dlc > 8) break; if (items != 6 + msg.frame.can_dlc) break; msg.frame.can_id = msg.msg_head.can_id; switch (cmd) { case 'S': msg.msg_head.opcode = TX_SEND; break; case 'A': msg.msg_head.opcode = TX_SETUP; msg.msg_head.flags |= SETTIMER | STARTTIMER; break; case 'U': msg.msg_head.opcode = TX_SETUP; msg.msg_head.flags = 0; break; case 'D': msg.msg_head.opcode = TX_DELETE; break; case 'R': msg.msg_head.opcode = RX_SETUP; msg.msg_head.flags = SETTIMER; break; case 'F': msg.msg_head.opcode = RX_SETUP; msg.msg_head.flags = RX_FILTER_ID | SETTIMER; break; case 'X': msg.msg_head.opcode = RX_DELETE; break; default: printf("unknown command '%c'.\n", cmd); exit(1); } if (!ioctl(sc, SIOCGIFINDEX, &ifr)) { caddr.can_ifindex = ifr.ifr_ifindex; sendto(sc, &msg, sizeof(msg), 0, (struct sockaddr*)&caddr, sizeof(caddr)); } } } close(sc); close(sa); return 0; }