socketcand.c

/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
/*
 * Authors:
 * Andre Naujoks (the socket server stuff)
 * Oliver Hartkopp (the rest)
 * Jan-Niklas Meier (extensions for use with kayak)
 *
 * 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 <linux-can@vger.kernel.org>
 *
 */

#include "config.h"
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <signal.h>
#include <errno.h>
#include <pthread.h>
#include <getopt.h>

#include <sys/types.h>
#include <sys/wait.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <sys/uio.h>
#include <sys/un.h>
#include <net/if.h>
#include <netinet/in.h>
#include <netinet/tcp.h>
#include <arpa/inet.h>
#include <syslog.h>
#ifdef HAVE_LIBCONFIG
#include <libconfig.h>
#endif

#include "socketcand.h"
#include "statistics.h"
#include "beacon.h"

void print_usage(void);
void sigint();
void childdied();
void determine_adress();
int receive_command(int socket, char *buf);

int sl, client_socket;
pthread_t beacon_thread, statistics_thread;
char **interface_names;
int interface_count=0;
int port;
int verbose_flag=0;
int daemon_flag=0;
int disable_beacon=0;
int state = STATE_NO_BUS;
int previous_state = -1;
char bus_name[MAX_BUSNAME];
char cmd_buffer[MAXLEN];
int cmd_index=0;
char* description;
char* afuxname;
int more_elements = 0;
struct sockaddr_in saddr, broadcast_addr;
struct sockaddr_un unaddr;
socklen_t unaddrlen;
struct sockaddr_un remote_unaddr;
socklen_t remote_unaddrlen;
char* interface_string;

int state_changed(char *buf, int current_state)
{
	if(!strcmp("< rawmode >", buf))
		state = STATE_RAW;
	else if(!strcmp("< bcmmode >", buf))
		state = STATE_BCM;
	else if(!strcmp("< isotpmode >", buf))
		state = STATE_ISOTP;
	else if(!strcmp("< controlmode >", buf))
		state = STATE_CONTROL;

	if (current_state != state)
		PRINT_INFO("state changed to %d\n", state);

	return (current_state != state);
}

char *element_start(char *buf, int element)
{
	int len = strlen(buf);
	int elem, i;

	/*
	 * < elem1 elem2 elem3 >
	 *
	 * get the position of the requested element as char pointer
	 */

	for (i=0, elem=0; i<len; i++) {

		if (buf[i] == ' ') {
			elem++;

			/* step to next non-space */
			while (buf[i] == ' ')
				i++;

			if (i >= len)
				return NULL;
		}

		if (elem == element)
			return &buf[i];
	}
	return NULL;
}

int element_length(char *buf, int element)
{
	int len;
	int j = 0;
	char *elembuf;

	/*
	 * < elem1 elem2 elem3 >
	 *
	 * get the length of the requested element in bytes
	 */

	elembuf = element_start(buf, element);
	if (elembuf == NULL)
		return 0;

	len = strlen(elembuf);

	while (j < len && elembuf[j] != ' ')
		j++;

	return j;
}

int asc2nibble(char c)
{
	if ((c >= '0') && (c <= '9'))
		return c - '0';

	if ((c >= 'A') && (c <= 'F'))
		return c - 'A' + 10;

	if ((c >= 'a') && (c <= 'f'))
		return c - 'a' + 10;

	return 16; /* error */
}

int main(int argc, char **argv)
{
	int i, found;
	struct sockaddr_in clientaddr;
	socklen_t sin_size = sizeof(clientaddr);
	struct sigaction signalaction, sigint_action;
	sigset_t sigset;
	char buf[MAXLEN];
	int c;
	char* busses_string;
#ifdef HAVE_LIBCONFIG
	config_t config;
#endif

	/* set default config settings */
	port = PORT;
	description = malloc(sizeof(BEACON_DESCRIPTION));
	strcpy(description, BEACON_DESCRIPTION);
	interface_string = malloc(strlen(DEFAULT_INTERFACE)+ 1);
	strcpy(interface_string, DEFAULT_INTERFACE);
	busses_string = malloc(strlen(DEFAULT_BUSNAME)+ 1);
	strcpy(busses_string, DEFAULT_BUSNAME);
	afuxname = NULL;


#ifdef HAVE_LIBCONFIG
	/* Read config file before parsing commandline arguments */
	config_init(&config);
	if(CONFIG_TRUE == config_read_file(&config, "/etc/socketcand.conf")) {
		config_lookup_int(&config, "port", (int*) &port);
		config_lookup_string(&config, "description", (const char**) &description);
		config_lookup_string(&config, "afuxname", (const char**) &afuxname);
		config_lookup_string(&config, "busses", (const char**) &busses_string);
		config_lookup_string(&config, "listen", (const char**) &interface_string);
	}
#endif

	/* Parse commandline arguments */
	while (1) {
		/* getopt_long stores the option index here. */
		int option_index = 0;
		static struct option long_options[] = {
			{"verbose", no_argument, 0, 'v'},
			{"interfaces",  required_argument, 0, 'i'},
			{"port", required_argument, 0, 'p'},
			{"afuxname", required_argument, 0, 'u'},
			{"listen", required_argument, 0, 'l'},
			{"daemon", no_argument, 0, 'd'},
			{"version", no_argument, 0, 'z'},
			{"no-beacon", no_argument, 0, 'n'},
			{"help", no_argument, 0, 'h'},
			{0, 0, 0, 0}
		};

		c = getopt_long (argc, argv, "vi:p:u:l:dznh", long_options, &option_index);

		if (c == -1)
			break;

		switch (c) {
		case 0:
			/* If this option set a flag, do nothing else now. */
			if (long_options[option_index].flag != 0)
				break;
			break;

		case 'v':
			puts ("Verbose output activated\n");
			verbose_flag = 1;
			break;

		case 'i':
			busses_string = realloc(busses_string, strlen(optarg)+1);
			strcpy(busses_string, optarg);
			break;

		case 'p':
			port = atoi(optarg);
			break;

		case 'u':
			afuxname = realloc(afuxname, strlen(optarg)+1);
			strcpy(afuxname, optarg);
			break;

		case 'l':
			interface_string = realloc(interface_string, strlen(optarg)+1);
			strcpy(interface_string, optarg);
			break;

		case 'd':
			daemon_flag=1;
			break;

		case 'z':
			printf("socketcand version '%s'\n", PACKAGE_VERSION);
			return 0;

		case 'n':
			disable_beacon=1;
			break;

		case 'h':
			print_usage();
			return 0;

		case '?':
			print_usage();
			return 0;

		default:
			print_usage();
			return -1;
		}
	}



	/* parse busses */
	for(i=0;;i++) {
		if(busses_string[i] == '\0')
			break;
		if(busses_string[i] == ',')
			interface_count++;
	}
	interface_count++;

	interface_names = malloc(sizeof(char *) * interface_count);

	interface_names[0] = strtok(busses_string, ",");

	for(i=1;i<interface_count;i++) {
		interface_names[i] = strtok(NULL, ",");
	}

	/* if daemon mode was activated the syslog must be opened */
	if(daemon_flag) {
		openlog("socketcand", 0, LOG_DAEMON);
	}


	sigemptyset(&sigset);
	signalaction.sa_handler = &childdied;
	signalaction.sa_mask = sigset;
	signalaction.sa_flags = 0;
	sigaction(SIGCHLD, &signalaction, NULL);  /* signal for dying child */

	sigint_action.sa_handler = &sigint;
	sigint_action.sa_mask = sigset;
	sigint_action.sa_flags = 0;
	sigaction(SIGINT, &sigint_action, NULL);

	determine_adress();

	if(!disable_beacon) {
		PRINT_VERBOSE("creating broadcast thread...\n");
		i = pthread_create(&beacon_thread, NULL, &beacon_loop, NULL);
		if(i)
			PRINT_ERROR("could not create broadcast thread.\n");
	} else {
		PRINT_VERBOSE("Discovery beacon disabled\n");
	}

	if (afuxname) {

		/* create PF_UNIX socket */
		if((sl = socket(PF_UNIX, SOCK_STREAM, 0)) < 0) {
			perror("unixsocket");
			exit(1);
		}

		unaddr.sun_family = AF_UNIX;
		if (strlen(afuxname) > sizeof(unaddr.sun_path)-3) {
			printf("afuxname is too long.\n");
			exit(1);
		}

		/* when the given afuxname starts with a '/' we assume the path name scheme, e.g.
		 * /var/run/socketcand or /tmp/socketcand-afunix-socket
		 * Without the leading '/' we use the string as abstract socket address.
		 */

		if (afuxname[0] == '/') {
			strcpy(&unaddr.sun_path[0], afuxname);
			/* due to the trailing \0 in path name definition we can write the entire struct */
			unaddrlen = sizeof(unaddr);
		} else {
			strcpy(&unaddr.sun_path[1], afuxname);
			unaddr.sun_path[0] = 0;
			/* abtract name length definition without trailing \0 but with leading \0 */
			unaddrlen = strlen(afuxname) + sizeof(unaddr.sun_family) + 1;
		}
		PRINT_VERBOSE("binding unix socket to '%s' with unaddrlen %d\n", afuxname, unaddrlen);
		if(bind(sl,(struct sockaddr*)&unaddr, unaddrlen) < 0) {
			perror("unixbind");
			exit(-1);
		}

		if (listen(sl,3) != 0) {
			perror("unixlisten");
			exit(1);
		}

		while (1) {
			remote_unaddrlen = sizeof(struct sockaddr_un);
			client_socket = accept(sl,(struct sockaddr *)&remote_unaddr, &remote_unaddrlen);
			if (client_socket > 0 ){
				if (fork())
					close(client_socket);
				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);
				}
			}
		}

		PRINT_VERBOSE("client connected\n");

	} else {

		/* create PF_INET socket */

		if((sl = socket(PF_INET, SOCK_STREAM, 0)) < 0) {
			perror("inetsocket");
			exit(1);
		}

#ifdef DEBUG
		if(verbose_flag)
			printf("setting SO_REUSEADDR\n");
		i = 1;
		if(setsockopt(sl, SOL_SOCKET, SO_REUSEADDR, &i, sizeof(i)) <0) {
			perror("setting SO_REUSEADDR failed");
		}
#endif

		PRINT_VERBOSE("binding socket to %s:%d\n", inet_ntoa(saddr.sin_addr), ntohs(saddr.sin_port));
		if(bind(sl,(struct sockaddr*)&saddr, sizeof(saddr)) < 0) {
			perror("bind");
			exit(-1);
		}

		if (listen(sl,3) != 0) {
			perror("listen");
			exit(1);
		}

		while (1) {
			client_socket = accept(sl,(struct sockaddr *)&clientaddr, &sin_size);
			if (client_socket > 0 ){
				int flag;
				flag = 1;
				setsockopt(client_socket, IPPROTO_TCP, TCP_NODELAY, (char *)&flag, sizeof(flag));
				if (fork())
					close(client_socket);
				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);
				}
			}
		}

		PRINT_VERBOSE("client connected\n");

#ifdef DEBUG
		PRINT_VERBOSE("setting SO_REUSEADDR\n");
		i = 1;
		if(setsockopt(client_socket, SOL_SOCKET, SO_REUSEADDR, &i, sizeof(i)) <0) {
			perror("setting SO_REUSEADDR failed");
		}
#endif
	}
	/* main loop with state machine */
	while(1) {
		switch(state) {
		case STATE_NO_BUS:
			if(previous_state != STATE_NO_BUS) {
				strcpy(buf, "< hi >");
				send(client_socket, buf, strlen(buf), 0);
				previous_state = STATE_NO_BUS;
			}
			/* client has to start with a command */
			i = receive_command(client_socket, (char *) &buf);
			if(i != 0) {
				PRINT_ERROR("Connection terminated while waiting for command.\n");
				state = STATE_SHUTDOWN;
				break;
			}

			if(!strncmp("< open ", buf, 7)) {
				sscanf(buf, "< open %s>", bus_name);

				/* check if access to this bus is allowed */
				found = 0;
				for(i=0;i<interface_count;i++) {
					if(!strcmp(interface_names[i], bus_name))
						found = 1;
				}

				if(found) {
					strcpy(buf, "< ok >");
					send(client_socket, buf, strlen(buf), 0);
					state = STATE_BCM;
					break;
				} else {
					PRINT_INFO("client tried to access unauthorized bus.\n");
					strcpy(buf, "< error could not open bus >");
					send(client_socket, buf, strlen(buf), 0);
					state = STATE_SHUTDOWN;
				}
			} else {
				PRINT_ERROR("unknown command '%s'.\n", buf);
				strcpy(buf, "< error unknown command >");
				send(client_socket, buf, strlen(buf), 0);
			}
			break;

		case STATE_BCM:
			state_bcm();
			break;
		case STATE_RAW:
			state_raw();
			break;
		case STATE_ISOTP:
			state_isotp();
			break;
		case STATE_CONTROL:
			state_control();
			break;

		case STATE_SHUTDOWN:
			PRINT_VERBOSE("Closing client connection.\n");
			close(client_socket);
			return 0;
		}
	}
	return 0;
}

/* reads all available data from the socket into the command buffer.
 * returns '-1' if no command could be received.
 */
int receive_command(int socket, char *buffer) {
	int i, start, stop;

	/* if there are no more elements in the buffer read more data from the
	 * socket.
	 */
	if(!more_elements) {
		cmd_index += read(socket, cmd_buffer+cmd_index, MAXLEN-cmd_index);
#ifdef DEBUG_RECEPTION
		PRINT_VERBOSE("\tRead from socket\n");
#endif
	}

#ifdef DEBUG_RECEPTION
	PRINT_VERBOSE("\tcmd_index now %d\n", cmd_index);
#endif

	more_elements = 0;

	/* find first '<' in string */
	start = -1;
	for(i=0;i<cmd_index;i++) {
		if(cmd_buffer[i] == '<') {
			start = i;
			break;
		}
	}

	/*
	 * if there is no '<' in string it makes no sense to keep data because
	 * we will never be able to construct a command of it
	 */
	if(start == -1) {
		cmd_index = 0;
#ifdef DEBUG_RECEPTION
		PRINT_VERBOSE("\tBad data. No element found\n");
#endif
		return -1;
	}

	/* check whether the command is completely in the buffer */
	stop = -1;
	for(i=1;i<cmd_index;i++) {
		if(cmd_buffer[i] == '>') {
			stop = i;
			break;
		}
	}

	/* if no '>' is in the string we have to wait for more data */
	if(stop == -1) {
#ifdef DEBUG_RECEPTION
		PRINT_VERBOSE("\tNo full element in the buffer\n");
#endif
		return -1;
	}

#ifdef DEBUG_RECEPTION
	PRINT_VERBOSE("\tElement between %d and %d\n", start, stop);
#endif

	/* copy string to new destination and correct cmd_buffer */
	for(i=start;i<=stop;i++) {
		buffer[i-start] = cmd_buffer[i];
	}
	buffer[i-start] = '\0';

#ifdef DEBUG_RECEPTION
	PRINT_VERBOSE("\tElement is '%s'\n", buffer);
#endif

	/* if only this message was in the buffer we're done */
	if(stop == cmd_index-1) {
		cmd_index = 0;
	} else {
		/* check if there is a '<' after the stop */
		start = -1;
		for(i=stop;i<cmd_index;i++) {
			if(cmd_buffer[i] == '<') {
				start = i;
				break;
			}
		}

		/* if there is none it is only garbage we can remove */
		if(start == -1) {
			cmd_index = 0;
#ifdef DEBUG_RECEPTION
			PRINT_VERBOSE("\tGarbage after the first element in the buffer\n");
#endif
			return 0;
			/* otherwise we copy the valid data to the beginning of the buffer */
		} else {
			for(i=start;i<cmd_index;i++) {
				cmd_buffer[i-start] = cmd_buffer[i];
			}
			cmd_index -= start;

			/* check if there is at least one full element in the buffer */
			stop = -1;
			for(i=1;i<cmd_index;i++) {
				if(cmd_buffer[i] == '>') {
					stop = i;
					break;
				}
			}

			if(stop != -1) {
				more_elements = 1;
#ifdef DEBUG_RECEPTION
				PRINT_VERBOSE("\tMore than one full element in the buffer.\n");
#endif
			}
		}
	}
	return 0;
}

void determine_adress() {
	struct ifreq ifr, ifr_brd;

	int probe_socket = socket(AF_INET, SOCK_DGRAM, 0);

	if(probe_socket < 0) {
		PRINT_ERROR("Could not create socket!\n");
		exit(-1);
	}

	PRINT_VERBOSE("Using network interface '%s'\n", interface_string);

	ifr.ifr_addr.sa_family = AF_INET;
	strncpy(ifr.ifr_name, interface_string, IFNAMSIZ-1);
	ioctl(probe_socket, SIOCGIFADDR, &ifr);

	ifr_brd.ifr_addr.sa_family = AF_INET;
	strncpy(ifr_brd.ifr_name, interface_string, IFNAMSIZ-1);
	ioctl(probe_socket, SIOCGIFBRDADDR, &ifr_brd);
	close(probe_socket);

	PRINT_VERBOSE("Listen adress is %s\n", inet_ntoa(((struct sockaddr_in *)&ifr.ifr_addr)->sin_addr));
	PRINT_VERBOSE("Broadcast adress is %s\n", inet_ntoa(((struct sockaddr_in *)&ifr_brd.ifr_broadaddr)->sin_addr));

	/* set listen adress */
	saddr.sin_family = AF_INET;
	saddr.sin_addr = ((struct sockaddr_in *) &ifr.ifr_addr)->sin_addr;
	saddr.sin_port = htons(port);

	/* set broadcast adress */
	broadcast_addr.sin_family = AF_INET;
	broadcast_addr.sin_addr = ((struct sockaddr_in *) &ifr_brd.ifr_broadaddr)->sin_addr;
	broadcast_addr.sin_port = htons(BROADCAST_PORT);
}

void print_usage(void) {
	printf("%s Version %s\n", PACKAGE_NAME, PACKAGE_VERSION);
	printf("Report bugs to %s\n\n", PACKAGE_BUGREPORT);
	printf("Usage: socketcand [-v | --verbose] [-i interfaces | --interfaces interfaces]\n\t\t[-p port | --port port] [-l interface | --listen interface]\n\t\t[-u name | --afuxname name] [-n | --no-beacon] [-d | --daemon]\n\t\t[-h | --help]\n\n");
	printf("Options:\n");
	printf("\t-v (activates verbose output to STDOUT)\n");
	printf("\t-i <interfaces> (comma separated list of SocketCAN interfaces the daemon\n\t\tshall provide access to e.g. '-i can0,vcan1' - default: %s)\n", DEFAULT_BUSNAME);
	printf("\t-p <port> (changes the default port '%d' the daemon is listening at)\n", PORT);
	printf("\t-l <interface> (changes the default network interface the daemon will\n\t\tbind to - default: %s)\n", DEFAULT_INTERFACE);
	printf("\t-u <name> (the AF_UNIX socket path - abstract name when leading '/' is missing)\n\t\t(N.B. the AF_UNIX binding will supersede the port/interface settings)\n");
	printf("\t-n (deactivates the discovery beacon)\n");
	printf("\t-d (set this flag if you want log to syslog instead of STDOUT)\n");
	printf("\t-h (prints this message)\n");
}

void childdied() {
	wait(NULL);
}

void sigint() {
	if(verbose_flag)
		PRINT_ERROR("received SIGINT\n");

	if(sl != -1) {
		if(verbose_flag)
			PRINT_INFO("closing listening socket\n");
		if(!close(sl))
			sl = -1;
	}

	if(client_socket != -1) {
		if(verbose_flag)
			PRINT_INFO("closing client socket\n");
		if(!close(client_socket))
			client_socket = -1;
	}

	closelog();

	exit(0);
}