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June 30, 2023 14:43
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Patched isotpsend with non-blocking socket and epoll_wait
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/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */ | |
/* | |
* 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 <linux-can@vger.kernel.org> | |
* | |
*/ | |
#include <libgen.h> | |
#include <stdio.h> | |
#include <stdlib.h> | |
#include <string.h> | |
#include <unistd.h> | |
#include <fcntl.h> | |
#include <poll.h> | |
#include <errno.h> | |
#include <sys/epoll.h> | |
#include <net/if.h> | |
#include <sys/ioctl.h> | |
#include <sys/socket.h> | |
#include <sys/types.h> | |
#include <linux/can.h> | |
#include <linux/can/isotp.h> | |
#define NO_CAN_ID 0xFFFFFFFFU | |
#define BUFSIZE 67000 /* size > 66000 kernel buf to test socket API internal checks */ | |
#define ZERO_STRING "ZERO" | |
void print_usage(char *prg) | |
{ | |
fprintf(stderr, "\nUsage: %s [options] <CAN interface>\n", prg); | |
fprintf(stderr, "Options:\n"); | |
fprintf(stderr, " -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>[:<rxaddr>] (extended addressing / opt. separate rxaddr)\n"); | |
fprintf(stderr, " -p [tx]:[rx] (set and enable tx/rx padding bytes)\n"); | |
fprintf(stderr, " -P <mode> (check rx padding for (l)ength (c)ontent (a)ll)\n"); | |
fprintf(stderr, " -t <time ns> (frame transmit time (N_As) in nanosecs) (*)\n"); | |
fprintf(stderr, " -f <time ns> (ignore FC and force local tx stmin value in nanosecs)\n"); | |
fprintf(stderr, " -D <len> (send a fixed PDU with len bytes - no STDIN data)\n"); | |
fprintf(stderr, " -l <num> (send num PDUs - use 'i' for infinite loop)\n"); | |
fprintf(stderr, " -g <usecs> (wait given usecs before sending a PDU)\n"); | |
fprintf(stderr, " -b (block until the PDU transmission is completed)\n"); | |
fprintf(stderr, " -S (SF broadcast mode - for functional addressing)\n"); | |
fprintf(stderr, " -C (CF broadcast mode - no wait for flow controls)\n"); | |
fprintf(stderr, " -L <mtu>:<tx_dl>:<tx_flags> (link layer options for CAN FD)\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, "(*) = Use '-t %s' to set N_As to zero for Linux version 5.18+\n", ZERO_STRING); | |
fprintf(stderr, "\n"); | |
} | |
int main(int argc, char **argv) | |
{ | |
int s; | |
struct sockaddr_can addr; | |
static struct can_isotp_options opts; | |
static struct can_isotp_ll_options llopts; | |
int opt; | |
extern int optind, opterr, optopt; | |
unsigned int loops = 1; /* one (== no) loop by default */ | |
useconds_t usecs = 0; /* wait before sending the PDU */ | |
__u32 force_tx_stmin = 0; | |
unsigned char buf[BUFSIZE]; | |
int buflen = 0; | |
int datalen = 0; | |
int retval = 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:f:D:l:g:bSCL:?")) != -1) { | |
switch (opt) { | |
case 's': | |
addr.can_addr.tp.tx_id = strtoul(optarg, 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, NULL, 16); | |
if (strlen(optarg) > 7) | |
addr.can_addr.tp.rx_id |= CAN_EFF_FLAG; | |
break; | |
case 'x': | |
{ | |
int elements = sscanf(optarg, "%hhx:%hhx", | |
&opts.ext_address, | |
&opts.rx_ext_address); | |
if (elements == 1) | |
opts.flags |= CAN_ISOTP_EXTEND_ADDR; | |
else if (elements == 2) | |
opts.flags |= (CAN_ISOTP_EXTEND_ADDR | CAN_ISOTP_RX_EXT_ADDR); | |
else { | |
printf("incorrect extended addr values '%s'.\n", optarg); | |
print_usage(basename(argv[0])); | |
exit(0); | |
} | |
break; | |
} | |
case 'p': | |
{ | |
int elements = sscanf(optarg, "%hhx:%hhx", | |
&opts.txpad_content, | |
&opts.rxpad_content); | |
if (elements == 1) | |
opts.flags |= CAN_ISOTP_TX_PADDING; | |
else if (elements == 2) | |
opts.flags |= (CAN_ISOTP_TX_PADDING | CAN_ISOTP_RX_PADDING); | |
else if (sscanf(optarg, ":%hhx", &opts.rxpad_content) == 1) | |
opts.flags |= CAN_ISOTP_RX_PADDING; | |
else { | |
printf("incorrect padding values '%s'.\n", optarg); | |
print_usage(basename(argv[0])); | |
exit(0); | |
} | |
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_LEN | 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': | |
if (!strncmp(optarg, ZERO_STRING, strlen(ZERO_STRING))) | |
opts.frame_txtime = CAN_ISOTP_FRAME_TXTIME_ZERO; | |
else | |
opts.frame_txtime = strtoul(optarg, NULL, 10); | |
break; | |
case 'f': | |
opts.flags |= CAN_ISOTP_FORCE_TXSTMIN; | |
force_tx_stmin = strtoul(optarg, NULL, 10); | |
break; | |
case 'D': | |
datalen = strtoul(optarg, NULL, 10); | |
if (!datalen || datalen >= BUFSIZE) { | |
print_usage(basename(argv[0])); | |
exit(0); | |
} | |
break; | |
case 'l': | |
if (optarg[0] == 'i') { | |
loops = 0; /* infinite loop */ | |
} else { | |
loops = strtoul(optarg, NULL, 10); | |
if (!loops) { | |
fprintf(stderr, "Invalid argument for option -l!\n"); | |
return 1; | |
} | |
} | |
break; | |
case 'g': | |
usecs = strtoul(optarg, NULL, 10); | |
break; | |
case 'b': | |
opts.flags |= CAN_ISOTP_WAIT_TX_DONE; | |
break; | |
case 'S': | |
opts.flags |= CAN_ISOTP_SF_BROADCAST; | |
break; | |
case 'C': | |
opts.flags |= CAN_ISOTP_CF_BROADCAST; | |
break; | |
case 'L': | |
if (sscanf(optarg, "%hhu:%hhu:%hhu", | |
&llopts.mtu, | |
&llopts.tx_dl, | |
&llopts.tx_flags) != 3) { | |
printf("unknown link layer options '%s'.\n", optarg); | |
print_usage(basename(argv[0])); | |
exit(0); | |
} | |
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; | |
} | |
} | |
#define BC_FLAGS (CAN_ISOTP_SF_BROADCAST | CAN_ISOTP_CF_BROADCAST) | |
if ((argc - optind != 1) || | |
(addr.can_addr.tp.tx_id == NO_CAN_ID) || | |
((opts.flags & BC_FLAGS) == BC_FLAGS) || | |
((addr.can_addr.tp.rx_id == NO_CAN_ID) && | |
(!(opts.flags & BC_FLAGS)))) { | |
print_usage(basename(argv[0])); | |
exit(1); | |
} | |
if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_ISOTP)) < 0) { | |
perror("socket"); | |
exit(1); | |
} | |
if (setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_OPTS, &opts, sizeof(opts)) < 0) { | |
perror("sockopt"); | |
exit(1); | |
} | |
if (llopts.tx_dl) { | |
if (setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_LL_OPTS, &llopts, sizeof(llopts)) < 0) { | |
perror("link layer sockopt"); | |
exit(1); | |
} | |
} | |
if (opts.flags & CAN_ISOTP_FORCE_TXSTMIN) | |
setsockopt(s, SOL_CAN_ISOTP, CAN_ISOTP_TX_STMIN, &force_tx_stmin, sizeof(force_tx_stmin)); | |
addr.can_family = AF_CAN; | |
addr.can_ifindex = if_nametoindex(argv[optind]); | |
if (!addr.can_ifindex) { | |
perror("if_nametoindex"); | |
exit(1); | |
} | |
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) { | |
perror("bind"); | |
close(s); | |
exit(1); | |
} | |
fcntl(s, F_SETFL, O_RDWR | O_NONBLOCK); | |
if (!datalen) { | |
while (buflen < BUFSIZE && scanf("%hhx", &buf[buflen]) == 1) | |
buflen++; | |
} else { | |
for (buflen = 0; buflen < datalen; buflen++) | |
buf[buflen] = ((buflen % 0xFF) + 1) & 0xFF; | |
} | |
int epollfd = epoll_create(1); | |
if (retval < 0) { | |
perror("epoll_create"); | |
return 1; | |
} | |
struct epoll_event s_ev = { | |
.events = EPOLLIN|EPOLLOUT|EPOLLRDHUP, | |
}; | |
retval = epoll_ctl(epollfd, EPOLL_CTL_ADD, s, &s_ev); | |
if (retval < 0) { | |
perror("epoll_ctl"); | |
return 1; | |
} | |
loop: | |
if (usecs) | |
usleep(usecs); | |
retval = epoll_wait(epollfd, &s_ev, 1, 2000); | |
if (retval < 0) { | |
perror("epoll_wait"); | |
return 1; | |
} | |
retval = write(s, buf, buflen); | |
if (retval < 0) { | |
if (errno == EAGAIN) | |
goto loop; | |
perror("write"); | |
return retval; | |
} | |
if (retval != buflen) | |
fprintf(stderr, "wrote only %d from %d byte\n", retval, buflen); | |
if (loops) { | |
if (--loops) | |
goto loop; | |
} else { | |
goto loop; | |
} | |
/* | |
* due to a Kernel internal wait queue the PDU is sent completely | |
* before close() returns. | |
*/ | |
close(s); | |
return 0; | |
} |
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