isotpsend.c

/*
 *  $Id$
 */

/*
 * isotpsend.c
 *
 * Copyright (c) 2008 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 <socketcan-users@lists.berlios.de>
 *
 */

#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
#include <libgen.h>

#include <net/if.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/ioctl.h>

#include <linux/can.h>
#include <linux/can/isotp.h>

#define NO_CAN_ID 0xFFFFFFFFU

void print_usage(char *prg)
{
	fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg);
	fprintf(stderr, "Options: -s <can_id>  (source can_id. Use 8 digits for extended IDs)\n");
	fprintf(stderr, "         -d <can_id>  (destination can_id. Use 8 digits for extended IDs)\n");
	fprintf(stderr, "         -x <addr>    (extended addressing mode. Use 'any' for all addresses)\n");
	fprintf(stderr, "         -p <byte>    (set and enable padding byte)\n");
	fprintf(stderr, "         -P <mode>    (check padding in FC. (l)ength (c)ontent (a)ll)\n");
	fprintf(stderr, "         -t <time ns> (transmit time in nanosecs)\n");
	fprintf(stderr, "\nCAN IDs and addresses are given and expected in hexadecimal values.\n");
	fprintf(stderr, "The pdu data is expected on STDIN in space separated ASCII hex values.\n");
	fprintf(stderr, "\n");
}

int main(int argc, char **argv)
{
    int s;
    struct sockaddr_can addr;
    struct ifreq ifr;
    static struct can_isotp_options opts;
    int opt;
    extern int optind, opterr, optopt;
    unsigned char buf[4096];
    int buflen = 0;

    addr.can_addr.tp.tx_id = addr.can_addr.tp.rx_id = NO_CAN_ID;

    while ((opt = getopt(argc, argv, "s:d:x:p:P:t:?")) != -1) {
	    switch (opt) {
	    case 's':
		    addr.can_addr.tp.tx_id = strtoul(optarg, (char **)NULL, 16);
		    if (strlen(optarg) > 7)
			    addr.can_addr.tp.tx_id |= CAN_EFF_FLAG;
		    break;

	    case 'd':
		    addr.can_addr.tp.rx_id = strtoul(optarg, (char **)NULL, 16);
		    if (strlen(optarg) > 7)
			    addr.can_addr.tp.rx_id |= CAN_EFF_FLAG;
		    break;

	    case 'x':
		    opts.flags |= CAN_ISOTP_EXTEND_ADDR;
		    opts.ext_address = strtoul(optarg, (char **)NULL, 16) & 0xFF;
		    break;

	    case 'p':
		    opts.flags |= CAN_ISOTP_TX_PADDING;
		    opts.txpad_content = strtoul(optarg, (char **)NULL, 16) & 0xFF;
		    break;

	    case 'P':
		    if (optarg[0] == 'l')
			    opts.flags |= CAN_ISOTP_CHK_PAD_LEN;
		    else if (optarg[0] == 'c')
			    opts.flags |= CAN_ISOTP_CHK_PAD_DATA;
		    else if (optarg[0] == 'a')
			    opts.flags |= (CAN_ISOTP_CHK_PAD_DATA | CAN_ISOTP_CHK_PAD_DATA);
		    else {
			    printf("unknown padding check option '%c'.\n", optarg[0]);
			    print_usage(basename(argv[0]));
			    exit(0);
		    }
		    break;

	    case 't':
		    opts.frame_txtime = strtoul(optarg, (char **)NULL, 10);
		    break;

	    case '?':
		    print_usage(basename(argv[0]));
		    exit(0);
		    break;

	    default:
		    fprintf(stderr, "Unknown option %c\n", opt);
		    print_usage(basename(argv[0]));
		    exit(1);
		    break;
	    }
    }

    if ((argc - optind != 1) ||
	(addr.can_addr.tp.tx_id == NO_CAN_ID) ||
	(addr.can_addr.tp.rx_id == NO_CAN_ID)) {
	    print_usage(basename(argv[0]));
	    exit(1);
    }
  
    if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) {
	perror("socket");
	exit(1);
    }

    setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts));

    addr.can_family = AF_CAN;
    strcpy(ifr.ifr_name, argv[optind]);
    ioctl(s, SIOCGIFINDEX, &ifr);
    addr.can_ifindex = ifr.ifr_ifindex;

    if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
	perror("bind");
	close(s);
	exit(1);
    }

    while (buflen < 4096 && scanf("%hhx", &buf[buflen]) == 1)
	    buflen++;

    write(s, buf, buflen);

    /* 
     * due to a Kernel internal wait queue the PDU is sent completely
     * before close() returns.
     */
    close(s);

    return 0;
}