tst-bcm-filter.c

/*
 * tst-bcm-filter.c
 *
 * 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 <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>

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

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

#define U64_DATA(p) (*(unsigned long long*)(p)->data)
#define MHSIZ sizeof(struct bcm_msg_head)
#define CFSIZ sizeof(struct can_frame)

int main(int argc, char **argv)
{
	int s,nbytes;
	struct sockaddr_can addr;
	struct ifreq ifr;

	struct timeval tv;

	struct {
		struct bcm_msg_head msg_head;
		struct can_frame frame[4];
	} txmsg, rxmsg;

	if ((s = socket(PF_CAN, SOCK_DGRAM, CAN_BCM)) < 0) {
		perror("socket");
		return 1;
	}

	addr.can_family = PF_CAN;
	strcpy(ifr.ifr_name, "vcan2");
	ioctl(s, SIOCGIFINDEX, &ifr);
	addr.can_ifindex = ifr.ifr_ifindex;

	if (connect(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
		perror("connect");
		return 1;
	}

	txmsg.msg_head.opcode  = RX_SETUP;
	txmsg.msg_head.can_id  = 0x042;
	txmsg.msg_head.flags   = SETTIMER|RX_FILTER_ID;
	txmsg.msg_head.ival1.tv_sec = 1;
	txmsg.msg_head.ival1.tv_usec = 0;
	txmsg.msg_head.ival2.tv_sec = 0;
	txmsg.msg_head.ival2.tv_usec = 0;
	txmsg.msg_head.nframes = 0;

	printf("<*>Writing RX_SETUP with RX_FILTER_ID for can_id <%03X>\n",
	       txmsg.msg_head.can_id);

	if (write(s, &txmsg, sizeof(txmsg)) < 0)
		perror("write");

	/* test for RX_DELETE */
	txmsg.msg_head.opcode  = RX_DELETE;
	txmsg.msg_head.can_id  = 0x042; /* everything we need for RX_DELETE */

	printf("<*>Writing RX_DELETE for can_id <%03X>\n",
	       txmsg.msg_head.can_id);

	if (write(s, &txmsg, sizeof(txmsg)) < 0)
		perror("write");

	txmsg.msg_head.opcode  = RX_SETUP;
	txmsg.msg_head.can_id  = 0x042;
	txmsg.msg_head.flags   = SETTIMER|RX_FILTER_ID;
	txmsg.msg_head.ival1.tv_sec = 1;
	txmsg.msg_head.ival1.tv_usec = 0;
	txmsg.msg_head.ival2.tv_sec = 0;
	txmsg.msg_head.ival2.tv_usec = 0;
	txmsg.msg_head.nframes = 0;

	printf("<*>Writing RX_SETUP with RX_FILTER_ID for can_id <%03X>\n",
	       txmsg.msg_head.can_id);

	if (write(s, &txmsg, sizeof(txmsg)) < 0)
		perror("write");

	txmsg.msg_head.opcode  = TX_SEND;
	txmsg.msg_head.nframes = 1;
	/* obsolete for TX_SEND ... */
#if 0
	txmsg.msg_head.can_id  = 0x43;
	txmsg.msg_head.flags   = SETTIMER|STARTTIMER|TX_CP_CAN_ID;
	txmsg.msg_head.count = 0;
	txmsg.msg_head.ival1.tv_sec = 0;
	txmsg.msg_head.ival1.tv_usec = 0;
	txmsg.msg_head.ival2.tv_sec = 0;
	txmsg.msg_head.ival2.tv_usec = 0;
#endif
	txmsg.frame[0].can_id    = 0x43;
	txmsg.frame[0].can_dlc   = 8;
	U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;

	printf("<2>Writing TX_SEND with wrong can_id <%03X>\n",
	       txmsg.frame[0].can_id);

	if (write(s, &txmsg, MHSIZ + CFSIZ) < 0)
		perror("write");

	txmsg.msg_head.opcode  = TX_SEND;
	txmsg.msg_head.nframes = 1;
	txmsg.frame[0].can_id    = 0x42;
	txmsg.frame[0].can_dlc   = 8;
	U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;

	printf("<3>Writing TX_SEND with correct can_id <%03X>\n",
	       txmsg.frame[0].can_id);

	if (write(s, &txmsg, MHSIZ + CFSIZ) < 0)
		perror("write");

	if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
		perror("read");
    
	ioctl(s, SIOCGSTAMP, &tv);
	printf("(%ld.%06ld)   ", tv.tv_sec, tv.tv_usec);

	if (rxmsg.msg_head.opcode == RX_CHANGED &&
	    nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
	    rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
		printf("<3>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
		       rxmsg.frame[0].can_id);
	}

	/* growing number of nframes => RX_DELETE instead of simple update */
	txmsg.msg_head.opcode  = RX_DELETE;
	txmsg.msg_head.can_id  = 0x042; /* everything we need for RX_DELETE */

	printf("<*>Writing RX_DELETE for can_id <%03X>\n",
	       txmsg.msg_head.can_id);

	if (write(s, &txmsg, sizeof(txmsg)) < 0)
		perror("write");

	txmsg.msg_head.opcode  = RX_SETUP;
	txmsg.msg_head.can_id  = 0x042;
	txmsg.msg_head.flags   = SETTIMER|RX_CHECK_DLC;
	txmsg.msg_head.ival1.tv_sec = 1;
	txmsg.msg_head.ival1.tv_usec = 0;
	txmsg.msg_head.ival2.tv_sec = 0;
	txmsg.msg_head.ival2.tv_usec = 0;
	txmsg.msg_head.nframes = 1;
	/* txmsg.frame[0].can_dlc   = 8; obsolete for RX_SETUP */
	U64_DATA(&txmsg.frame[0]) = (__u64) 0xFF00000000000000ULL;

	printf("<*>Writing simple RX_SETUP for can_id <%03X> with msgbits 0x%016llX\n",
	       txmsg.msg_head.can_id, U64_DATA(&txmsg.frame[0]));

	if (write(s, &txmsg, sizeof(txmsg)) < 0)
		perror("write");

	txmsg.msg_head.opcode  = TX_SEND;
	txmsg.msg_head.nframes = 1;
	txmsg.frame[0].can_id    = 0x42;
	txmsg.frame[0].can_dlc   = 8;
	U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;

	printf("<5>Writing TX_SEND with correct can_id <%03X>\n",
	       txmsg.frame[0].can_id);

	if (write(s, &txmsg, MHSIZ + CFSIZ) < 0)
		perror("write");

	if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
		perror("read");

	ioctl(s, SIOCGSTAMP, &tv);
	printf("(%ld.%06ld)   ", tv.tv_sec, tv.tv_usec);

	if (rxmsg.msg_head.opcode == RX_CHANGED &&
	    nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
	    rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
		printf("<5>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
		       rxmsg.frame[0].can_id);
	}

	txmsg.msg_head.opcode  = TX_SEND;
	txmsg.msg_head.nframes = 1;
	txmsg.frame[0].can_id    = 0x42;
	txmsg.frame[0].can_dlc   = 8;
	U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;

	printf("<6>Writing TX_SEND with correct can_id <%03X> ",
	       txmsg.frame[0].can_id);
	printf("no changed data\n");

	if (write(s, &txmsg, MHSIZ + CFSIZ) < 0)
		perror("write");

	/* no change here */

	txmsg.msg_head.opcode  = TX_SEND;
	txmsg.msg_head.nframes = 1;
	txmsg.frame[0].can_id    = 0x42;
	txmsg.frame[0].can_dlc   = 8;
	U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;

	printf("<7>Writing TX_SEND with correct can_id <%03X> ",
	       txmsg.frame[0].can_id);
	printf("changed relevant msgbits\n");

	if (write(s, &txmsg, MHSIZ + CFSIZ) < 0)
		perror("write");

	if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
		perror("read");

	ioctl(s, SIOCGSTAMP, &tv);
	printf("(%ld.%06ld)   ", tv.tv_sec, tv.tv_usec);

	if (rxmsg.msg_head.opcode == RX_CHANGED &&
	    nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
	    rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
		printf("<7>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
		       rxmsg.frame[0].can_id);
	}

	txmsg.msg_head.opcode  = TX_SEND;
	txmsg.msg_head.nframes = 1;
	txmsg.frame[0].can_id    = 0x42;
	txmsg.frame[0].can_dlc   = 8;
	U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;

	printf("<8>Writing TX_SEND with correct can_id <%03X> ",
	       txmsg.frame[0].can_id);
	printf("changed irrelevant msgbits\n");

	if (write(s, &txmsg, MHSIZ + CFSIZ) < 0)
		perror("write");

	txmsg.msg_head.opcode  = TX_SEND;
	txmsg.msg_head.nframes = 1;
	txmsg.frame[0].can_id    = 0x42;
	txmsg.frame[0].can_dlc   = 7;
	U64_DATA(&txmsg.frame[0]) = (__u64) 0xdeadbeefdeadbeefULL;

	printf("<9>Writing TX_SEND with correct can_id <%03X> ",
	       txmsg.frame[0].can_id);
	printf("changed Data Length Code DLC\n");

	if (write(s, &txmsg, MHSIZ + CFSIZ) < 0)
		perror("write");

	if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
		perror("read");

	ioctl(s, SIOCGSTAMP, &tv);
	printf("(%ld.%06ld)   ", tv.tv_sec, tv.tv_usec);

	if (rxmsg.msg_head.opcode == RX_CHANGED &&
	    nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
	    rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
		printf("<9>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
		       rxmsg.frame[0].can_id);
	}

	txmsg.msg_head.opcode  = RX_DELETE;
	txmsg.msg_head.can_id  = 0x042; /* everything we need for RX_DELETE */

	printf("<*>Writing RX_DELETE for can_id <%03X> for RX_SETUP with growing nframes\n",
	       txmsg.msg_head.can_id);

	if (write(s, &txmsg, sizeof(txmsg)) < 0)
		perror("write");

	/* no problems ;-) but NOW we try MUX messages ... and timeouts */

	txmsg.msg_head.opcode  = RX_SETUP;
	txmsg.msg_head.can_id  = 0x042;
	txmsg.msg_head.flags   = SETTIMER|RX_CHECK_DLC;
	txmsg.msg_head.ival1.tv_sec = 1;
	txmsg.msg_head.ival1.tv_usec = 0;
	txmsg.msg_head.nframes = 3;
	U64_DATA(&txmsg.frame[0]) = (__u64) 0xFF00000000000000ULL;
	U64_DATA(&txmsg.frame[1]) = (__u64) 0x01000000000000FFULL;
	U64_DATA(&txmsg.frame[2]) = (__u64) 0x02000000000000FFULL;

	printf("<*>Writing multiplex RX_SETUP for can_id <%03X>\n",
	       txmsg.msg_head.can_id);

	if (write(s, &txmsg, sizeof(txmsg)) < 0)
		perror("write");


	txmsg.msg_head.opcode  = TX_SEND;
	txmsg.msg_head.nframes = 1;
	txmsg.frame[0].can_id    = 0x42;
	txmsg.frame[0].can_dlc   = 8;
	U64_DATA(&txmsg.frame[0]) = (__u64) 0x4200000000000000ULL;

	printf("<A>Writing TX_SEND with wrong MUX ID 42\n");

	if (write(s, &txmsg, MHSIZ + CFSIZ) < 0)
		perror("write");

	txmsg.msg_head.opcode  = TX_SEND;
	txmsg.msg_head.nframes = 1;
	txmsg.frame[0].can_id    = 0x42;
	txmsg.frame[0].can_dlc   = 8;
	U64_DATA(&txmsg.frame[0]) = (__u64) 0x0100000000000000ULL;

	printf("<B>Writing TX_SEND with correct MUX ID 01\n");

	if (write(s, &txmsg, MHSIZ + CFSIZ) < 0)
		perror("write");

	if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
		perror("read");

	ioctl(s, SIOCGSTAMP, &tv);
	printf("(%ld.%06ld)   ", tv.tv_sec, tv.tv_usec);

	if (rxmsg.msg_head.opcode == RX_CHANGED &&
	    nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
	    rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
		printf("<B>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
		       rxmsg.frame[0].can_id);
	}

	txmsg.msg_head.opcode  = TX_SEND;
	txmsg.msg_head.nframes = 1;
	txmsg.frame[0].can_id    = 0x42;
	txmsg.frame[0].can_dlc   = 8;
	U64_DATA(&txmsg.frame[0]) = (__u64) 0x0100000000000000ULL;

	printf("<C>Writing TX_SEND with correct MUX ID 01 but no data change\n");

	if (write(s, &txmsg, MHSIZ + CFSIZ) < 0)
		perror("write");

	txmsg.msg_head.opcode  = TX_SEND;
	txmsg.msg_head.nframes = 1;
	txmsg.frame[0].can_id    = 0x42;
	txmsg.frame[0].can_dlc   = 8;
	U64_DATA(&txmsg.frame[0]) = (__u64) 0x0100001234567800ULL;

	printf("<D>Writing TX_SEND with correct MUX ID 01 but no relevant data change\n");

	if (write(s, &txmsg, MHSIZ + CFSIZ) < 0)
		perror("write");

	txmsg.msg_head.opcode  = TX_SEND;
	txmsg.msg_head.nframes = 1;
	txmsg.frame[0].can_id    = 0x42;
	txmsg.frame[0].can_dlc   = 8;
	U64_DATA(&txmsg.frame[0]) = (__u64) 0x0100001234567801ULL;

	printf("<E>Writing TX_SEND with correct MUX ID 01 with relevant data change\n");

	if (write(s, &txmsg, MHSIZ + CFSIZ) < 0)
		perror("write");

	if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
		perror("read");

	ioctl(s, SIOCGSTAMP, &tv);
	printf("(%ld.%06ld)   ", tv.tv_sec, tv.tv_usec);

	if (rxmsg.msg_head.opcode == RX_CHANGED &&
	    nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
	    rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
		printf("<E>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
		       rxmsg.frame[0].can_id);
	}

	txmsg.msg_head.opcode  = TX_SEND;
	txmsg.msg_head.nframes = 1;
	txmsg.frame[0].can_id    = 0x42;
	txmsg.frame[0].can_dlc   = 8;
	U64_DATA(&txmsg.frame[0]) = (__u64) 0x0200000000000000ULL;

	printf("<F>Writing TX_SEND with correct MUX ID 02\n");

	if (write(s, &txmsg, MHSIZ + CFSIZ) < 0)
		perror("write");

	if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
		perror("read");

	ioctl(s, SIOCGSTAMP, &tv);
	printf("(%ld.%06ld)   ", tv.tv_sec, tv.tv_usec);

	if (rxmsg.msg_head.opcode == RX_CHANGED &&
	    nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
	    rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
		printf("<F>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
		       rxmsg.frame[0].can_id);
	}

	txmsg.msg_head.opcode  = TX_SEND;
	txmsg.msg_head.nframes = 1;
	txmsg.frame[0].can_id    = 0x42;
	txmsg.frame[0].can_dlc   = 8;
	U64_DATA(&txmsg.frame[0]) = (__u64) 0x0200000000000001ULL;

	printf("<10>Writing TX_SEND with correct MUX ID 02 with relevant data change\n");

	if (write(s, &txmsg, MHSIZ + CFSIZ) < 0)
		perror("write");

	if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
		perror("read");

	ioctl(s, SIOCGSTAMP, &tv);
	printf("(%ld.%06ld)   ", tv.tv_sec, tv.tv_usec);

	if (rxmsg.msg_head.opcode == RX_CHANGED &&
	    nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
	    rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
		printf("<10>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
		       rxmsg.frame[0].can_id);
	}

	txmsg.msg_head.opcode  = TX_SEND;
	txmsg.msg_head.nframes = 1;
	txmsg.frame[0].can_id    = 0x42;
	txmsg.frame[0].can_dlc   = 7;
	U64_DATA(&txmsg.frame[0]) = (__u64) 0x0200000000000001ULL;

	printf("<11>Writing TX_SEND with correct MUX ID 02 no data change but DLC\n");

	if (write(s, &txmsg, MHSIZ + CFSIZ) < 0)
		perror("write");

	if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
		perror("read");

	if (rxmsg.msg_head.opcode == RX_CHANGED &&
	    nbytes == sizeof(struct bcm_msg_head) + sizeof(struct can_frame) &&
	    rxmsg.msg_head.can_id == 0x42 && rxmsg.frame[0].can_id == 0x42) {
		printf("<11>Received correct RX_CHANGED message for can_id <%03X> >> OK!\n",
		       rxmsg.frame[0].can_id);
	}

	txmsg.msg_head.opcode  = TX_SEND;
	txmsg.msg_head.nframes = 1;
	txmsg.frame[0].can_id    = 0x42;
	txmsg.frame[0].can_dlc   = 7;
	U64_DATA(&txmsg.frame[0]) = (__u64) 0x0300000000000001ULL;

	printf("<12>Writing TX_SEND with wrong MUX ID 03\n");

	if (write(s, &txmsg, MHSIZ + CFSIZ) < 0)
		perror("write");

	if ((nbytes = read(s, &rxmsg, sizeof(rxmsg))) < 0)
		perror("read");

	ioctl(s, SIOCGSTAMP, &tv);
	printf("(%ld.%06ld)   ", tv.tv_sec, tv.tv_usec);

	if (rxmsg.msg_head.opcode == RX_TIMEOUT &&
	    nbytes == sizeof(struct bcm_msg_head) &&
	    rxmsg.msg_head.can_id == 0x42) {
		printf("<-->Received correct RX_TIMEOUT message for can_id <%03X> >> OK!\n",
		       rxmsg.msg_head.can_id);
	}

	close(s);

	return 0;
}