From 2456e528b7c46abb72ad686b8184e6d71f13e282 Mon Sep 17 00:00:00 2001
From: nanitsuku <nanitsuku@outlook.jp>
Date: Mon, 7 Oct 2024 00:14:58 +0900
Subject: [PATCH 01/10] support canfd

---
 src/socketcandcl.c |  86 +++++++++++++++++++++++++-----
 src/state_bcm.c    |  64 +++++++++++-----------
 src/state_raw.c    | 130 +++++++++++++++++++++++++++++++++++++++------
 3 files changed, 219 insertions(+), 61 deletions(-)

diff --git a/src/socketcandcl.c b/src/socketcandcl.c
index 50716eb..d049956 100644
--- a/src/socketcandcl.c
+++ b/src/socketcandcl.c
@@ -34,6 +34,7 @@
 #include <arpa/inet.h>
 
 #include <linux/can.h>
+#include <linux/can/raw.h>
 
 #define MAXLEN 4000
 #define PORT 29536
@@ -266,7 +267,7 @@ int main(int argc, char **argv)
 inline void state_connected()
 {
 	int ret;
-	static struct can_frame frame;
+	static struct canfd_frame frame;
 	static struct ifreq ifr;
 	static struct sockaddr_can addr;
 	fd_set readfds;
@@ -296,6 +297,25 @@ inline void state_connected()
 			state = STATE_SHUTDOWN;
 			return;
 		}
+
+		if(ioctl(raw_socket,SIOCGIFMTU,&ifr) < 0) {
+			PRINT_ERROR("Error while searching for bus MTU %s\n", strerror(errno));
+			state = STATE_SHUTDOWN;
+			return;
+		}
+
+		if (ifr.ifr_mtu == CANFD_MTU) {
+			const int canfd_on = 1;
+			if(setsockopt(raw_socket, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0) {
+				PRINT_ERROR("Could not enable CAN FD support\n");
+				state = STATE_SHUTDOWN;
+				return;
+			}
+		}
+
+//		fprintf(stderr, "MTU of %s is %d\n", ldev, ifr.ifr_mtu);
+
+
 		/* bind socket */
 		if (bind(raw_socket, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 			PRINT_ERROR("Error while binding RAW socket %s\n", strerror(errno));
@@ -342,7 +362,9 @@ inline void state_connected()
 						if ((s - buf - 7) > 4)
 							frame.can_id |= CAN_EFF_FLAG;
 
-						frame.can_dlc = strlen(data_str) / 2;
+						frame.len = strlen(data_str) / 2;
+
+//						fprintf(stderr, "frame.can_id: %d  frame.flags: %d  frame.len: %d\n", frame.can_id, frame.flags, frame.len);
 
 						sscanf(data_str, "%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx",
 						       &frame.data[0], &frame.data[1],
@@ -351,7 +373,34 @@ inline void state_connected()
 						       &frame.data[6], &frame.data[7]);
 
 						ret = write(raw_socket, &frame, sizeof(struct can_frame));
-						if (ret < sizeof(struct can_frame)) {
+						if(ret != sizeof(struct can_frame)) {
+							perror("Writing CAN frame to can socket\n");
+						}
+					} else if(!strncmp("< fdframe", buf, 9)) {
+						char data_str[2*64];
+
+						sscanf(buf, "< fdframe %x %hhx %*d.%*d %s >", &frame.can_id, &frame.flags,
+						       data_str);
+
+						char* s = buf + 9;
+						for(; ++s;) {
+							if(*s== ' ') {
+								break;
+							}
+						}
+						if((s - buf - 9) > 4)
+							frame.can_id |= CAN_EFF_FLAG;
+
+						frame.len = strlen(data_str) / 2;
+
+						sscanf(data_str, "%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx",
+						       &frame.data[0], &frame.data[1],
+						       &frame.data[2], &frame.data[3],
+						       &frame.data[4], &frame.data[5],
+						       &frame.data[6], &frame.data[7]);
+
+						ret = write(raw_socket, &frame, sizeof(struct canfd_frame));
+						if(ret != sizeof(struct canfd_frame)) {
 							perror("Writing CAN frame to can socket\n");
 						}
 					}
@@ -388,17 +437,30 @@ inline void state_connected()
 						/* TODO implement */
 					} else {
 						int i;
-						if (frame.can_id & CAN_EFF_FLAG) {
-							ret = sprintf(buf, "< send %08X %d ",
-								      frame.can_id & CAN_EFF_MASK, frame.can_dlc);
-						} else {
-							ret = sprintf(buf, "< send %03X %d ",
-								      frame.can_id & CAN_SFF_MASK, frame.can_dlc);
+
+//						fprintf(stderr, "frame.can_id: %d  frame.flags: %d  frame.len: %d\n", frame.can_id, frame.flags, frame.len);
+
+						if(ret == sizeof(struct can_frame)) {
+							if(frame.can_id & CAN_EFF_FLAG) {
+								ret = sprintf(buf, "< send %08X %d ",
+									      frame.can_id & CAN_EFF_MASK, frame.len);
+							} else {
+								ret = sprintf(buf, "< send %03X %d ",
+									      frame.can_id & CAN_SFF_MASK, frame.len);
+							}
+						} else if(ret == sizeof(struct canfd_frame)) {
+							if(frame.can_id & CAN_EFF_FLAG) {
+								ret = sprintf(buf, "< fdsend %08X %02X %d ",
+									      frame.can_id & CAN_EFF_MASK, frame.flags, frame.len);
+							} else {
+								ret = sprintf(buf, "< fdsend %03X %02X %d ",
+									      frame.can_id & CAN_SFF_MASK, frame.flags, frame.len);
+							}
 						}
-						for (i = 0; i < frame.can_dlc; i++) {
-							ret += sprintf(buf + ret, "%02x ", frame.data[i]);
+						for(i=0; i<frame.len; i++) {
+							ret += sprintf(buf+ret, "%02x ", frame.data[i]);
 						}
-						sprintf(buf + ret, " >");
+						sprintf(buf+ret, ">");
 
 						const size_t len = strlen(buf);
 						ret = send(server_socket, buf, len, 0);
diff --git a/src/state_bcm.c b/src/state_bcm.c
index 993e66f..d1c9a84 100644
--- a/src/state_bcm.c
+++ b/src/state_bcm.c
@@ -41,12 +41,12 @@ void state_bcm()
 
 	struct {
 		struct bcm_msg_head msg_head;
-		struct can_frame frame;
+		struct canfd_frame frame;
 	} msg;
 
 	struct {
 		struct bcm_msg_head msg_head;
-		struct can_frame frame[257]; /* MAX_NFRAMES + MUX MASK */
+		struct canfd_frame frame[257]; /* MAX_NFRAMES + MUX MASK */
 	} muxmsg;
 
 	if (previous_state != STATE_BCM) {
@@ -102,13 +102,13 @@ void state_bcm()
 		}
 
 		/* Check if this is an error frame */
-		if (msg.msg_head.can_id & CAN_ERR_FLAG) {
-			if (msg.frame.can_dlc != CAN_ERR_DLC) {
-				PRINT_ERROR("Error frame has a wrong DLC!\n");
-			} else {
+		if(msg.msg_head.can_id & CAN_ERR_FLAG) {
+			if(msg.frame.len != CAN_ERR_DLC) {
+				PRINT_ERROR("Error frame has a wrong DLC!\n")
+					} else {
 				snprintf(rxmsg, RXLEN, "< error %03X %ld.%06ld ", msg.msg_head.can_id, tv.tv_sec, tv.tv_usec);
 
-				for (i = 0; i < msg.frame.can_dlc; i++)
+				for ( i = 0; i < msg.frame.len; i++)
 					snprintf(rxmsg + strlen(rxmsg), RXLEN - strlen(rxmsg), "%02X ",
 						 msg.frame.data[i]);
 
@@ -125,7 +125,7 @@ void state_bcm()
 					 msg.msg_head.can_id & CAN_SFF_MASK, tv.tv_sec, tv.tv_usec);
 			}
 
-			for (i = 0; i < msg.frame.can_dlc; i++)
+			for ( i = 0; i < msg.frame.len; i++)
 				snprintf(rxmsg + strlen(rxmsg), RXLEN - strlen(rxmsg), "%02X ",
 					 msg.frame.data[i]);
 
@@ -172,7 +172,7 @@ void state_bcm()
 				       "%hhx %hhx %hhx %hhx %hhx %hhx "
 				       "%hhx %hhx >",
 				       &msg.msg_head.can_id,
-				       &msg.frame.can_dlc,
+				       &msg.frame.len,
 				       &msg.frame.data[0],
 				       &msg.frame.data[1],
 				       &msg.frame.data[2],
@@ -182,11 +182,11 @@ void state_bcm()
 				       &msg.frame.data[6],
 				       &msg.frame.data[7]);
 
-			if ((items < 2) ||
-			    (msg.frame.can_dlc > 8) ||
-			    (items != 2 + msg.frame.can_dlc)) {
-				PRINT_ERROR("Syntax error in send command\n");
-				return;
+			if ( (items < 2) ||
+			     (msg.frame.len > 64) ||
+			     (items != 2 + msg.frame.len)) {
+				PRINT_ERROR("Syntax error in send command\n")
+					return;
 			}
 
 			/* < send XXXXXXXX ... > check for extended identifier */
@@ -209,7 +209,7 @@ void state_bcm()
 				       &msg.msg_head.ival2.tv_sec,
 				       &msg.msg_head.ival2.tv_usec,
 				       &msg.msg_head.can_id,
-				       &msg.frame.can_dlc,
+				       &msg.frame.len,
 				       &msg.frame.data[0],
 				       &msg.frame.data[1],
 				       &msg.frame.data[2],
@@ -219,9 +219,9 @@ void state_bcm()
 				       &msg.frame.data[6],
 				       &msg.frame.data[7]);
 
-			if ((items < 4) ||
-			    (msg.frame.can_dlc > 8) ||
-			    (items != 4 + msg.frame.can_dlc)) {
+			if( (items < 4) ||
+			    (msg.frame.len > 64) ||
+			    (items != 4 + msg.frame.len) ) {
 				PRINT_ERROR("Syntax error in add command.\n");
 				return;
 			}
@@ -245,7 +245,7 @@ void state_bcm()
 				       "%hhx %hhx %hhx %hhx %hhx %hhx "
 				       "%hhx %hhx >",
 				       &msg.msg_head.can_id,
-				       &msg.frame.can_dlc,
+				       &msg.frame.len,
 				       &msg.frame.data[0],
 				       &msg.frame.data[1],
 				       &msg.frame.data[2],
@@ -255,11 +255,11 @@ void state_bcm()
 				       &msg.frame.data[6],
 				       &msg.frame.data[7]);
 
-			if ((items < 2) ||
-			    (msg.frame.can_dlc > 8) ||
-			    (items != 2 + msg.frame.can_dlc)) {
-				PRINT_ERROR("Syntax error in update send job command\n");
-				return;
+			if ( (items < 2) ||
+			     (msg.frame.len > 64) ||
+			     (items != 2 + msg.frame.len)) {
+				PRINT_ERROR("Syntax error in update send job command\n")
+					return;
 			}
 
 			/* < update XXXXXXXX ... > check for extended identifier */
@@ -305,7 +305,7 @@ void state_bcm()
 				       &msg.msg_head.ival2.tv_sec,
 				       &msg.msg_head.ival2.tv_usec,
 				       &msg.msg_head.can_id,
-				       &msg.frame.can_dlc,
+				       &msg.frame.len,
 				       &msg.frame.data[0],
 				       &msg.frame.data[1],
 				       &msg.frame.data[2],
@@ -315,11 +315,11 @@ void state_bcm()
 				       &msg.frame.data[6],
 				       &msg.frame.data[7]);
 
-			if ((items < 4) ||
-			    (msg.frame.can_dlc > 8) ||
-			    (items != 4 + msg.frame.can_dlc)) {
-				PRINT_ERROR("syntax error in filter command.\n");
-				return;
+			if( (items < 4) ||
+			    (msg.frame.len > 64) ||
+			    (items != 4 + msg.frame.len) ) {
+				PRINT_ERROR("syntax error in filter command.\n")
+					return;
 			}
 
 			/* < filter sec usec XXXXXXXX ... > check for extended identifier */
@@ -399,8 +399,8 @@ void state_bcm()
 			if (!ioctl(sc, SIOCGIFINDEX, &ifr)) {
 				caddr.can_ifindex = ifr.ifr_ifindex;
 				sendto(sc, &muxmsg, sizeof(struct bcm_msg_head) +
-				       sizeof(struct can_frame) * muxmsg.msg_head.nframes,
-				       0, (struct sockaddr *)&caddr, sizeof(caddr));
+				       sizeof(struct canfd_frame) * muxmsg.msg_head.nframes,
+				       0, (struct sockaddr*)&caddr, sizeof(caddr));
 			}
 			/* Add a filter */
 		} else if (!strncmp("< subscribe ", buf, 12)) {
diff --git a/src/state_raw.c b/src/state_raw.c
index 8246f1f..a7733e1 100644
--- a/src/state_raw.c
+++ b/src/state_raw.c
@@ -21,12 +21,13 @@
 #include <syslog.h>
 
 #include <linux/can.h>
+#include <linux/can/raw.h>
 
 int raw_socket;
 struct ifreq ifr;
 struct sockaddr_can addr;
 struct msghdr msg;
-struct can_frame frame;
+struct canfd_frame frame;
 struct iovec iov;
 char ctrlmsg[CMSG_SPACE(sizeof(struct timeval)) + CMSG_SPACE(sizeof(__u32))];
 struct timeval tv;
@@ -62,7 +63,22 @@ void state_raw()
 			return;
 		}
 
-		if (bind(raw_socket, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+		if(ioctl(raw_socket,SIOCGIFMTU,&ifr) < 0) {
+			PRINT_ERROR("Error while searching for bus MTU %s\n", strerror(errno));
+			state = STATE_SHUTDOWN;
+			return;
+		}
+
+		if (ifr.ifr_mtu == CANFD_MTU) {
+			const int canfd_on = 1;
+			if(setsockopt(raw_socket, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0) {
+				PRINT_ERROR("Could not enable CAN FD support\n");
+				state = STATE_SHUTDOWN;
+				return;
+			}
+		}
+
+		if(bind(raw_socket, (struct sockaddr *) &addr, sizeof(addr)) < 0) {
 			PRINT_ERROR("Error while binding RAW socket %s\n", strerror(errno));
 			state = STATE_SHUTDOWN;
 			return;
@@ -104,9 +120,9 @@ void state_raw()
 		msg.msg_controllen = sizeof(ctrlmsg);
 
 		ret = recvmsg(raw_socket, &msg, 0);
-		if (ret < sizeof(struct can_frame)) {
-			PRINT_ERROR("Error reading frame from RAW socket\n");
-		} else {
+		if(ret != sizeof(struct canfd_frame) && ret != sizeof(struct can_frame)) {
+			PRINT_ERROR("Error reading frame from RAW socket\n")
+				} else {
 			/* read timestamp data */
 			for (cmsg = CMSG_FIRSTHDR(&msg);
 			     cmsg && (cmsg->cmsg_level == SOL_SOCKET);
@@ -124,13 +140,24 @@ void state_raw()
 			} else if (frame.can_id & CAN_RTR_FLAG) {
 				/* TODO implement */
 			} else {
-				if (frame.can_id & CAN_EFF_FLAG) {
-					ret = sprintf(buf, "< frame %08X %ld.%06ld ", frame.can_id & CAN_EFF_MASK, tv.tv_sec, tv.tv_usec);
-				} else {
-					ret = sprintf(buf, "< frame %03X %ld.%06ld ", frame.can_id & CAN_SFF_MASK, tv.tv_sec, tv.tv_usec);
+				switch(ret) {
+					case sizeof(struct can_frame):
+						if(frame.can_id & CAN_EFF_FLAG) {
+							ret = sprintf(buf, "< frame %08X %ld.%06ld ", frame.can_id & CAN_EFF_MASK, tv.tv_sec, tv.tv_usec);
+						} else {
+							ret = sprintf(buf, "< frame %03X %ld.%06ld ", frame.can_id & CAN_SFF_MASK, tv.tv_sec, tv.tv_usec);
+						}
+					break;
+					case sizeof(struct canfd_frame):
+						if(frame.can_id & CAN_EFF_FLAG) {
+							ret = sprintf(buf, "< fdframe %08X %02X %ld.%06ld ", frame.can_id & CAN_EFF_MASK, frame.flags, tv.tv_sec, tv.tv_usec);
+						} else {
+							ret = sprintf(buf, "< fdframe %03X %02X %ld.%06ld ", frame.can_id & CAN_SFF_MASK, frame.flags, tv.tv_sec, tv.tv_usec);
+						}
 				}
-				for (i = 0; i < frame.can_dlc; i++) {
-					ret += sprintf(buf + ret, "%02X", frame.data[i]);
+
+				for(i=0;i<frame.len;i++) {
+					ret += sprintf(buf+ret, "%02X", frame.data[i]);
 				}
 				sprintf(buf + ret, " >");
 				send(client_socket, buf, strlen(buf), 0);
@@ -163,7 +190,7 @@ void state_raw()
 					       "%hhx %hhx %hhx %hhx %hhx %hhx "
 					       "%hhx %hhx >",
 					       &frame.can_id,
-					       &frame.can_dlc,
+					       &frame.len,
 					       &frame.data[0],
 					       &frame.data[1],
 					       &frame.data[2],
@@ -173,11 +200,13 @@ void state_raw()
 					       &frame.data[6],
 					       &frame.data[7]);
 
-				if ((items < 2) ||
-				    (frame.can_dlc > 8) ||
-				    (items != 2 + frame.can_dlc)) {
-					PRINT_ERROR("Syntax error in send command\n");
-					return;
+//				fprintf(stderr, "%s\n", buf);
+
+				if ( (items < 2) ||
+				     (frame.len > 8) ||
+				     (items != 2 + frame.len)) {
+					PRINT_ERROR("Syntax error in send command\n")
+						return;
 				}
 
 				/* < send XXXXXXXX ... > check for extended identifier */
@@ -189,6 +218,73 @@ void state_raw()
 					state = STATE_SHUTDOWN;
 					return;
 				}
+			} else if(!strncmp("< fdsend ", buf, 9)) {
+		    // First, read the fixed part of the frame
+		    items = sscanf(buf, "< %*s %x %hhx %hhu",
+		                   &frame.can_id,
+		                   &frame.flags,
+		                   &frame.len);
+
+		    if (items != 3) {
+		        PRINT_ERROR("Syntax error in fdsend command\n");
+		        return;
+		    }
+
+		    // Ensure frame.len does not exceed the maximum allowed length
+		    if (frame.len > 64) {
+		        PRINT_ERROR("Frame length exceeds maximum allowed length\n");
+		        return;
+		    }
+
+		    // Construct the format string dynamically based on frame.len
+		    char format[256];
+		    snprintf(format, sizeof(format), "< %%*s %%x %%hhx %%hhu");
+		    for (int i = 0; i < frame.len; i++) {
+		        strncat(format, " %hhx", sizeof(format) - strlen(format) - 1);
+		    }
+		    strncat(format, " >", sizeof(format) - strlen(format) - 1);
+
+		    // Read the variable-length frame.data
+		    items = sscanf(buf, format,
+		                   &frame.can_id,
+		                   &frame.flags,
+		                   &frame.len,
+		                   &frame.data[0], &frame.data[1], &frame.data[2], &frame.data[3],
+		                   &frame.data[4], &frame.data[5], &frame.data[6], &frame.data[7],
+		                   &frame.data[8], &frame.data[9], &frame.data[10], &frame.data[11],
+		                   &frame.data[12], &frame.data[13], &frame.data[14], &frame.data[15],
+		                   &frame.data[16], &frame.data[17], &frame.data[18], &frame.data[19],
+		                   &frame.data[20], &frame.data[21], &frame.data[22], &frame.data[23],
+		                   &frame.data[24], &frame.data[25], &frame.data[26], &frame.data[27],
+		                   &frame.data[28], &frame.data[29], &frame.data[30], &frame.data[31],
+		                   &frame.data[32], &frame.data[33], &frame.data[34], &frame.data[35],
+		                   &frame.data[36], &frame.data[37], &frame.data[38], &frame.data[39],
+		                   &frame.data[40], &frame.data[41], &frame.data[42], &frame.data[43],
+		                   &frame.data[44], &frame.data[45], &frame.data[46], &frame.data[47],
+		                   &frame.data[48], &frame.data[49], &frame.data[50], &frame.data[51],
+		                   &frame.data[52], &frame.data[53], &frame.data[54], &frame.data[55],
+		                   &frame.data[56], &frame.data[57], &frame.data[58], &frame.data[59],
+		                   &frame.data[60], &frame.data[61], &frame.data[62], &frame.data[63]);
+
+//				fprintf(stderr, "items: %d frames: %d\n", items, frame.len);
+//				fprintf(stderr, "%s %s\n", buf, format);
+
+				if ( (items < 2) ||
+				     (frame.len > 64) ||
+				     (items != 3 + frame.len)) {
+					PRINT_ERROR("Syntax error in send command\n")
+						return;
+				}
+
+				/* < send XXXXXXXX ... > check for extended identifier */
+				if(element_length(buf, 2) == 8)
+					frame.can_id |= CAN_EFF_FLAG;
+
+				ret = send(raw_socket, &frame, sizeof(struct canfd_frame), 0);
+				if(ret==-1) {
+					state = STATE_SHUTDOWN;
+					return;
+				}
 
 			} else {
 				PRINT_ERROR("unknown command '%s'\n", buf);

From 1ab74cc95246f8a16d27a9eaeb2cad70cf3bfc6a Mon Sep 17 00:00:00 2001
From: nanitsuku <nanitsuku@outlook.jp>
Date: Sat, 12 Oct 2024 21:20:41 +0900
Subject: [PATCH 02/10] update comments

---
 src/state_raw.c | 14 ++++++++------
 1 file changed, 8 insertions(+), 6 deletions(-)

diff --git a/src/state_raw.c b/src/state_raw.c
index a7733e1..c8383cb 100644
--- a/src/state_raw.c
+++ b/src/state_raw.c
@@ -69,6 +69,10 @@ void state_raw()
 			return;
 		}
 
+		/*
+		 *if the device supports CAN FD, use it
+		 * if you don't want to use CAN FD, you should initialize the device as classic CAN
+		*/
 		if (ifr.ifr_mtu == CANFD_MTU) {
 			const int canfd_on = 1;
 			if(setsockopt(raw_socket, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0) {
@@ -141,6 +145,7 @@ void state_raw()
 				/* TODO implement */
 			} else {
 				switch(ret) {
+					// if the frame is a classic CAN frame
 					case sizeof(struct can_frame):
 						if(frame.can_id & CAN_EFF_FLAG) {
 							ret = sprintf(buf, "< frame %08X %ld.%06ld ", frame.can_id & CAN_EFF_MASK, tv.tv_sec, tv.tv_usec);
@@ -148,6 +153,7 @@ void state_raw()
 							ret = sprintf(buf, "< frame %03X %ld.%06ld ", frame.can_id & CAN_SFF_MASK, tv.tv_sec, tv.tv_usec);
 						}
 					break;
+					// if the frame is a CAN FD frame
 					case sizeof(struct canfd_frame):
 						if(frame.can_id & CAN_EFF_FLAG) {
 							ret = sprintf(buf, "< fdframe %08X %02X %ld.%06ld ", frame.can_id & CAN_EFF_MASK, frame.flags, tv.tv_sec, tv.tv_usec);
@@ -200,8 +206,6 @@ void state_raw()
 					       &frame.data[6],
 					       &frame.data[7]);
 
-//				fprintf(stderr, "%s\n", buf);
-
 				if ( (items < 2) ||
 				     (frame.len > 8) ||
 				     (items != 2 + frame.len)) {
@@ -218,6 +222,7 @@ void state_raw()
 					state = STATE_SHUTDOWN;
 					return;
 				}
+				/* Send a single CANFD frame */
 			} else if(!strncmp("< fdsend ", buf, 9)) {
 		    // First, read the fixed part of the frame
 		    items = sscanf(buf, "< %*s %x %hhx %hhu",
@@ -266,9 +271,6 @@ void state_raw()
 		                   &frame.data[56], &frame.data[57], &frame.data[58], &frame.data[59],
 		                   &frame.data[60], &frame.data[61], &frame.data[62], &frame.data[63]);
 
-//				fprintf(stderr, "items: %d frames: %d\n", items, frame.len);
-//				fprintf(stderr, "%s %s\n", buf, format);
-
 				if ( (items < 2) ||
 				     (frame.len > 64) ||
 				     (items != 3 + frame.len)) {
@@ -276,7 +278,7 @@ void state_raw()
 						return;
 				}
 
-				/* < send XXXXXXXX ... > check for extended identifier */
+				/* < fdsend XXXXXXXX ... > check for extended identifier */
 				if(element_length(buf, 2) == 8)
 					frame.can_id |= CAN_EFF_FLAG;
 

From 47540785cc60c32c967ed45680e456ff6c26c8b2 Mon Sep 17 00:00:00 2001
From: nanitsuku <nanitsuku@outlook.jp>
Date: Sun, 13 Oct 2024 06:03:49 +0900
Subject: [PATCH 03/10] update message

---
 src/state_raw.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/state_raw.c b/src/state_raw.c
index c8383cb..cfa765a 100644
--- a/src/state_raw.c
+++ b/src/state_raw.c
@@ -274,7 +274,7 @@ void state_raw()
 				if ( (items < 2) ||
 				     (frame.len > 64) ||
 				     (items != 3 + frame.len)) {
-					PRINT_ERROR("Syntax error in send command\n")
+					PRINT_ERROR("Syntax error in fdsend command\n")
 						return;
 				}
 

From 01700ea2eca993ed8c4e195c3df0720808d5f80f Mon Sep 17 00:00:00 2001
From: nanitsuku <nanitsuku@outlook.jp>
Date: Sun, 13 Oct 2024 06:08:10 +0900
Subject: [PATCH 04/10] support canfd for can raw

---
 src/state_bcm.c | 36 ++++++++++++++++++------------------
 1 file changed, 18 insertions(+), 18 deletions(-)

diff --git a/src/state_bcm.c b/src/state_bcm.c
index d1c9a84..aa2343f 100644
--- a/src/state_bcm.c
+++ b/src/state_bcm.c
@@ -41,12 +41,12 @@ void state_bcm()
 
 	struct {
 		struct bcm_msg_head msg_head;
-		struct canfd_frame frame;
+		struct can_frame frame;
 	} msg;
 
 	struct {
 		struct bcm_msg_head msg_head;
-		struct canfd_frame frame[257]; /* MAX_NFRAMES + MUX MASK */
+		struct can_frame frame[257]; /* MAX_NFRAMES + MUX MASK */
 	} muxmsg;
 
 	if (previous_state != STATE_BCM) {
@@ -103,12 +103,12 @@ void state_bcm()
 
 		/* Check if this is an error frame */
 		if(msg.msg_head.can_id & CAN_ERR_FLAG) {
-			if(msg.frame.len != CAN_ERR_DLC) {
+			if(msg.frame.can_dlc != CAN_ERR_DLC) {
 				PRINT_ERROR("Error frame has a wrong DLC!\n")
 					} else {
 				snprintf(rxmsg, RXLEN, "< error %03X %ld.%06ld ", msg.msg_head.can_id, tv.tv_sec, tv.tv_usec);
 
-				for ( i = 0; i < msg.frame.len; i++)
+				for ( i = 0; i < msg.frame.can_dlc; i++)
 					snprintf(rxmsg + strlen(rxmsg), RXLEN - strlen(rxmsg), "%02X ",
 						 msg.frame.data[i]);
 
@@ -125,7 +125,7 @@ void state_bcm()
 					 msg.msg_head.can_id & CAN_SFF_MASK, tv.tv_sec, tv.tv_usec);
 			}
 
-			for ( i = 0; i < msg.frame.len; i++)
+			for ( i = 0; i < msg.frame.can_dlc; i++)
 				snprintf(rxmsg + strlen(rxmsg), RXLEN - strlen(rxmsg), "%02X ",
 					 msg.frame.data[i]);
 
@@ -172,7 +172,7 @@ void state_bcm()
 				       "%hhx %hhx %hhx %hhx %hhx %hhx "
 				       "%hhx %hhx >",
 				       &msg.msg_head.can_id,
-				       &msg.frame.len,
+				       &msg.frame.can_dlc,
 				       &msg.frame.data[0],
 				       &msg.frame.data[1],
 				       &msg.frame.data[2],
@@ -183,8 +183,8 @@ void state_bcm()
 				       &msg.frame.data[7]);
 
 			if ( (items < 2) ||
-			     (msg.frame.len > 64) ||
-			     (items != 2 + msg.frame.len)) {
+			     (msg.frame.can_dlc > 8) ||
+			     (items != 2 + msg.frame.can_dlc)) {
 				PRINT_ERROR("Syntax error in send command\n")
 					return;
 			}
@@ -209,7 +209,7 @@ void state_bcm()
 				       &msg.msg_head.ival2.tv_sec,
 				       &msg.msg_head.ival2.tv_usec,
 				       &msg.msg_head.can_id,
-				       &msg.frame.len,
+				       &msg.frame.can_dlc,
 				       &msg.frame.data[0],
 				       &msg.frame.data[1],
 				       &msg.frame.data[2],
@@ -220,8 +220,8 @@ void state_bcm()
 				       &msg.frame.data[7]);
 
 			if( (items < 4) ||
-			    (msg.frame.len > 64) ||
-			    (items != 4 + msg.frame.len) ) {
+			    (msg.frame.can_dlc > 8) ||
+			    (items != 4 + msg.frame.can_dlc) ) {
 				PRINT_ERROR("Syntax error in add command.\n");
 				return;
 			}
@@ -245,7 +245,7 @@ void state_bcm()
 				       "%hhx %hhx %hhx %hhx %hhx %hhx "
 				       "%hhx %hhx >",
 				       &msg.msg_head.can_id,
-				       &msg.frame.len,
+				       &msg.frame.can_dlc,
 				       &msg.frame.data[0],
 				       &msg.frame.data[1],
 				       &msg.frame.data[2],
@@ -256,8 +256,8 @@ void state_bcm()
 				       &msg.frame.data[7]);
 
 			if ( (items < 2) ||
-			     (msg.frame.len > 64) ||
-			     (items != 2 + msg.frame.len)) {
+			     (msg.frame.can_dlc > 8) ||
+			     (items != 2 + msg.frame.can_dlc)) {
 				PRINT_ERROR("Syntax error in update send job command\n")
 					return;
 			}
@@ -305,7 +305,7 @@ void state_bcm()
 				       &msg.msg_head.ival2.tv_sec,
 				       &msg.msg_head.ival2.tv_usec,
 				       &msg.msg_head.can_id,
-				       &msg.frame.len,
+				       &msg.frame.can_dlc,
 				       &msg.frame.data[0],
 				       &msg.frame.data[1],
 				       &msg.frame.data[2],
@@ -316,8 +316,8 @@ void state_bcm()
 				       &msg.frame.data[7]);
 
 			if( (items < 4) ||
-			    (msg.frame.len > 64) ||
-			    (items != 4 + msg.frame.len) ) {
+			    (msg.frame.can_dlc > 8) ||
+			    (items != 4 + msg.frame.can_dlc) ) {
 				PRINT_ERROR("syntax error in filter command.\n")
 					return;
 			}
@@ -399,7 +399,7 @@ void state_bcm()
 			if (!ioctl(sc, SIOCGIFINDEX, &ifr)) {
 				caddr.can_ifindex = ifr.ifr_ifindex;
 				sendto(sc, &muxmsg, sizeof(struct bcm_msg_head) +
-				       sizeof(struct canfd_frame) * muxmsg.msg_head.nframes,
+				       sizeof(struct can_frame) * muxmsg.msg_head.nframes,
 				       0, (struct sockaddr*)&caddr, sizeof(caddr));
 			}
 			/* Add a filter */

From 97947a817fbb6c9cd5b8a6352e63d34c92366809 Mon Sep 17 00:00:00 2001
From: nanitsuku <nanitsuku@outlook.jp>
Date: Sun, 13 Oct 2024 09:02:07 +0900
Subject: [PATCH 05/10] fix insufficient size of buffer

---
 src/state_bcm.c | 138 +++++++++++++++++++++++++++++++++++++++---------
 1 file changed, 112 insertions(+), 26 deletions(-)

diff --git a/src/state_bcm.c b/src/state_bcm.c
index aa2343f..402cdd1 100644
--- a/src/state_bcm.c
+++ b/src/state_bcm.c
@@ -25,7 +25,7 @@
 #include <linux/can/error.h>
 #include <linux/sockios.h>
 
-#define RXLEN 128
+#define RXLEN 256
 
 int sc = -1;
 
@@ -41,7 +41,7 @@ void state_bcm()
 
 	struct {
 		struct bcm_msg_head msg_head;
-		struct can_frame frame;
+		struct canfd_frame frame;
 	} msg;
 
 	struct {
@@ -57,7 +57,7 @@ void state_bcm()
 			return;
 		}
 
-		memset(&caddr, 0, sizeof(caddr));
+  	memset(&caddr, 0, sizeof(caddr));
 		caddr.can_family = PF_CAN;
 		/* can_ifindex is set to 0 (any device) => need for sendto() */
 
@@ -103,12 +103,12 @@ void state_bcm()
 
 		/* Check if this is an error frame */
 		if(msg.msg_head.can_id & CAN_ERR_FLAG) {
-			if(msg.frame.can_dlc != CAN_ERR_DLC) {
+			if(msg.frame.len != CAN_ERR_DLC) {
 				PRINT_ERROR("Error frame has a wrong DLC!\n")
 					} else {
 				snprintf(rxmsg, RXLEN, "< error %03X %ld.%06ld ", msg.msg_head.can_id, tv.tv_sec, tv.tv_usec);
 
-				for ( i = 0; i < msg.frame.can_dlc; i++)
+				for ( i = 0; i < msg.frame.len; i++)
 					snprintf(rxmsg + strlen(rxmsg), RXLEN - strlen(rxmsg), "%02X ",
 						 msg.frame.data[i]);
 
@@ -117,15 +117,34 @@ void state_bcm()
 				tcp_quickack(client_socket);
 			}
 		} else {
-			if (msg.msg_head.can_id & CAN_EFF_FLAG) {
-				snprintf(rxmsg, RXLEN, "< frame %08X %ld.%06ld ",
-					 msg.msg_head.can_id & CAN_EFF_MASK, tv.tv_sec, tv.tv_usec);
-			} else {
-				snprintf(rxmsg, RXLEN, "< frame %03X %ld.%06ld ",
-					 msg.msg_head.can_id & CAN_SFF_MASK, tv.tv_sec, tv.tv_usec);
+//			fprintf(stderr, "msg.msg_head.can_id: %d ret size: %d\n", msg.msg_head.can_id, ret);
+			switch(ret) {
+				// if the frame is a classic CAN frame
+				case sizeof(struct can_frame):
+					if(msg.msg_head.can_id & CAN_EFF_FLAG) {
+						snprintf(rxmsg, RXLEN, "< frame %08X %ld.%06ld ",
+							 msg.msg_head.can_id & CAN_EFF_MASK, tv.tv_sec, tv.tv_usec);
+					} else {
+						snprintf(rxmsg, RXLEN, "< frame %03X %ld.%06ld ",
+							 msg.msg_head.can_id & CAN_SFF_MASK, tv.tv_sec, tv.tv_usec);
+					}
+					break;
+				// if the frame is a CAN FD frame
+				case sizeof(struct canfd_frame):
+					if(msg.msg_head.can_id & CAN_EFF_FLAG) {
+						snprintf(rxmsg, RXLEN, "< fdframe %08X %02X %ld.%06ld ",
+							 msg.msg_head.can_id & CAN_EFF_MASK, msg.msg_head.flags, tv.tv_sec, tv.tv_usec);
+					} else {
+						snprintf(rxmsg, RXLEN, "< fdframe %03X %02X %ld.%06ld ",
+							 msg.msg_head.can_id & CAN_SFF_MASK, msg.msg_head.flags, tv.tv_sec, tv.tv_usec);
+					}
+					break;
+				default:
+					PRINT_ERROR("Unknown frame size %d\n", ret);
+						return;
 			}
 
-			for ( i = 0; i < msg.frame.can_dlc; i++)
+			for ( i = 0; i < msg.frame.len; i++)
 				snprintf(rxmsg + strlen(rxmsg), RXLEN - strlen(rxmsg), "%02X ",
 					 msg.frame.data[i]);
 
@@ -140,7 +159,7 @@ void state_bcm()
 
 		ret = receive_command(client_socket, buf);
 
-		if (ret != 0) {
+		if(ret != 0) {
 			state = STATE_SHUTDOWN;
 			return;
 		}
@@ -172,7 +191,7 @@ void state_bcm()
 				       "%hhx %hhx %hhx %hhx %hhx %hhx "
 				       "%hhx %hhx >",
 				       &msg.msg_head.can_id,
-				       &msg.frame.can_dlc,
+				       &msg.frame.len,
 				       &msg.frame.data[0],
 				       &msg.frame.data[1],
 				       &msg.frame.data[2],
@@ -183,8 +202,8 @@ void state_bcm()
 				       &msg.frame.data[7]);
 
 			if ( (items < 2) ||
-			     (msg.frame.can_dlc > 8) ||
-			     (items != 2 + msg.frame.can_dlc)) {
+			     (msg.frame.len > 8) ||
+			     (items != 2 + msg.frame.len)) {
 				PRINT_ERROR("Syntax error in send command\n")
 					return;
 			}
@@ -202,14 +221,81 @@ void state_bcm()
 				       (struct sockaddr *)&caddr, sizeof(caddr));
 			}
 			/* Add a send job */
-		} else if (!strncmp("< add ", buf, 6)) {
+		} else if(!strncmp("< fdsend ", buf, 9)) {
+			// First, read the fixed part of the frame
+			items = sscanf(buf, "< %*s %x %hhx %hhu",
+				       &msg.msg_head.can_id,
+				       &msg.frame.flags,
+				       &msg.frame.len);
+
+			if (items != 3) {
+				PRINT_ERROR("Syntax error in fdsend command\n");
+				return;
+			}
+
+			// Ensure frame.len does not exceed the maximum allowed length
+			if (msg.frame.len > 64) {
+				PRINT_ERROR("Frame length exceeds maximum allowed length\n");
+				return;
+			}
+
+			// Construct the format string for the dynamically based on frame.len
+			char format[256];
+			snprintf(format, sizeof(format), "< %%*s %%x %%hhx %%hhu");
+			for (int i = 0; i < msg.frame.len; i++) {
+				strncat(format, " %hhx", sizeof(format) - strlen(format) - 1);
+			}
+			strncat(format, " >", sizeof(format) - strlen(format) - 1);
+
+			// Read the variable-length frame.data
+			items = sscanf(buf, format,
+				       &msg.msg_head.can_id,
+				       &msg.frame.flags,
+				       &msg.frame.len,
+		           &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],
+		           &msg.frame.data[8],  &msg.frame.data[9],  &msg.frame.data[10], &msg.frame.data[11],
+		           &msg.frame.data[12], &msg.frame.data[13], &msg.frame.data[14], &msg.frame.data[15],
+		           &msg.frame.data[16], &msg.frame.data[17], &msg.frame.data[18], &msg.frame.data[19],
+		           &msg.frame.data[20], &msg.frame.data[21], &msg.frame.data[22], &msg.frame.data[23],
+		           &msg.frame.data[24], &msg.frame.data[25], &msg.frame.data[26], &msg.frame.data[27],
+		           &msg.frame.data[28], &msg.frame.data[29], &msg.frame.data[30], &msg.frame.data[31],
+		           &msg.frame.data[32], &msg.frame.data[33], &msg.frame.data[34], &msg.frame.data[35],
+		           &msg.frame.data[36], &msg.frame.data[37], &msg.frame.data[38], &msg.frame.data[39],
+		           &msg.frame.data[40], &msg.frame.data[41], &msg.frame.data[42], &msg.frame.data[43],
+		           &msg.frame.data[44], &msg.frame.data[45], &msg.frame.data[46], &msg.frame.data[47],
+		           &msg.frame.data[48], &msg.frame.data[49], &msg.frame.data[50], &msg.frame.data[51],
+		           &msg.frame.data[52], &msg.frame.data[53], &msg.frame.data[54], &msg.frame.data[55],
+		           &msg.frame.data[56], &msg.frame.data[57], &msg.frame.data[58], &msg.frame.data[59],
+		           &msg.frame.data[60], &msg.frame.data[61], &msg.frame.data[62], &msg.frame.data[63]);
+
+			if ( (items < 2) ||
+					 (msg.frame.len > 64) ||
+			     (items != 3 + msg.frame.len)) {
+				PRINT_ERROR("Syntax error in fdsend command\n")
+					return;
+			}
+
+			/* < fdsend XXXXXXXX ... > check for extended identifier */
+			if(element_length(buf, 2) == 8)
+				msg.msg_head.can_id |= CAN_EFF_FLAG;
+
+			msg.msg_head.opcode = TX_SEND;
+			msg.frame.can_id = msg.msg_head.can_id;
+
+			if (!ioctl(sc, SIOCGIFINDEX, &ifr)) {
+				caddr.can_ifindex = ifr.ifr_ifindex;
+				sendto(sc, &msg, sizeof(msg), 0, (struct sockaddr*)&caddr, sizeof(caddr));
+			}
+		} else if(!strncmp("< add ", buf, 6)) {
+			fprintf(stderr, "%s\n", buf);
 			items = sscanf(buf, "< %*s %lu %lu %x %hhu "
 				       "%hhx %hhx %hhx %hhx %hhx %hhx "
 				       "%hhx %hhx >",
 				       &msg.msg_head.ival2.tv_sec,
 				       &msg.msg_head.ival2.tv_usec,
 				       &msg.msg_head.can_id,
-				       &msg.frame.can_dlc,
+				       &msg.frame.len,
 				       &msg.frame.data[0],
 				       &msg.frame.data[1],
 				       &msg.frame.data[2],
@@ -220,8 +306,8 @@ void state_bcm()
 				       &msg.frame.data[7]);
 
 			if( (items < 4) ||
-			    (msg.frame.can_dlc > 8) ||
-			    (items != 4 + msg.frame.can_dlc) ) {
+			    (msg.frame.len > 8) ||
+			    (items != 4 + msg.frame.len) ) {
 				PRINT_ERROR("Syntax error in add command.\n");
 				return;
 			}
@@ -245,7 +331,7 @@ void state_bcm()
 				       "%hhx %hhx %hhx %hhx %hhx %hhx "
 				       "%hhx %hhx >",
 				       &msg.msg_head.can_id,
-				       &msg.frame.can_dlc,
+				       &msg.frame.len,
 				       &msg.frame.data[0],
 				       &msg.frame.data[1],
 				       &msg.frame.data[2],
@@ -256,8 +342,8 @@ void state_bcm()
 				       &msg.frame.data[7]);
 
 			if ( (items < 2) ||
-			     (msg.frame.can_dlc > 8) ||
-			     (items != 2 + msg.frame.can_dlc)) {
+			     (msg.frame.len > 8) ||
+			     (items != 2 + msg.frame.len)) {
 				PRINT_ERROR("Syntax error in update send job command\n")
 					return;
 			}
@@ -305,7 +391,7 @@ void state_bcm()
 				       &msg.msg_head.ival2.tv_sec,
 				       &msg.msg_head.ival2.tv_usec,
 				       &msg.msg_head.can_id,
-				       &msg.frame.can_dlc,
+				       &msg.frame.len,
 				       &msg.frame.data[0],
 				       &msg.frame.data[1],
 				       &msg.frame.data[2],
@@ -316,8 +402,8 @@ void state_bcm()
 				       &msg.frame.data[7]);
 
 			if( (items < 4) ||
-			    (msg.frame.can_dlc > 8) ||
-			    (items != 4 + msg.frame.can_dlc) ) {
+			    (msg.frame.len > 8) ||
+			    (items != 4 + msg.frame.len) ) {
 				PRINT_ERROR("syntax error in filter command.\n")
 					return;
 			}

From 02231251bb93152006c19022756eaf11dc58bfa2 Mon Sep 17 00:00:00 2001
From: nanitsuku <nanitsuku@outlook.jp>
Date: Fri, 27 Dec 2024 10:03:57 +0900
Subject: [PATCH 06/10] fix cannot handle data size larger than length 8

---
 src/socketcandcl.c | 35 ++++++++++++++++++++++++++++++-----
 1 file changed, 30 insertions(+), 5 deletions(-)

diff --git a/src/socketcandcl.c b/src/socketcandcl.c
index d049956..df461f2 100644
--- a/src/socketcandcl.c
+++ b/src/socketcandcl.c
@@ -393,11 +393,32 @@ inline void state_connected()
 
 						frame.len = strlen(data_str) / 2;
 
-						sscanf(data_str, "%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx",
-						       &frame.data[0], &frame.data[1],
-						       &frame.data[2], &frame.data[3],
-						       &frame.data[4], &frame.data[5],
-						       &frame.data[6], &frame.data[7]);
+						sscanf(data_str,
+									"%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx"
+									"%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx"
+									"%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx"
+									"%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx"
+									"%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx"
+									"%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx"
+									"%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx"
+									"%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx",
+						       &frame.data[0], &frame.data[1], &frame.data[2], &frame.data[3],
+						       &frame.data[4], &frame.data[5], &frame.data[6], &frame.data[7],
+						       &frame.data[8], &frame.data[9], &frame.data[10], &frame.data[11],
+						       &frame.data[12], &frame.data[13], &frame.data[14], &frame.data[15],
+						       &frame.data[16], &frame.data[17], &frame.data[18], &frame.data[19],
+						       &frame.data[20], &frame.data[21], &frame.data[22], &frame.data[23],
+						       &frame.data[24], &frame.data[25], &frame.data[26], &frame.data[27],
+						       &frame.data[28], &frame.data[29], &frame.data[30], &frame.data[31],
+						       &frame.data[32], &frame.data[33], &frame.data[34], &frame.data[35],
+						       &frame.data[36], &frame.data[37], &frame.data[38], &frame.data[39],
+						       &frame.data[40], &frame.data[41], &frame.data[42], &frame.data[43],
+						       &frame.data[44], &frame.data[45], &frame.data[46], &frame.data[47],
+						       &frame.data[48], &frame.data[49], &frame.data[50], &frame.data[51],
+						       &frame.data[52], &frame.data[53], &frame.data[54], &frame.data[55],
+						       &frame.data[56], &frame.data[57], &frame.data[58], &frame.data[59],
+						       &frame.data[60], &frame.data[61], &frame.data[62], &frame.data[63]
+									);
 
 						ret = write(raw_socket, &frame, sizeof(struct canfd_frame));
 						if(ret != sizeof(struct canfd_frame)) {
@@ -462,6 +483,10 @@ inline void state_connected()
 						}
 						sprintf(buf+ret, ">");
 
+#ifdef DEBUG
+						PRINT_VERBOSE("%s\n", buf);
+#endif
+
 						const size_t len = strlen(buf);
 						ret = send(server_socket, buf, len, 0);
 						if (ret < sizeof(len)) {

From e8196b2b8b2484bf6ac9f61a36aa7712c5e981ff Mon Sep 17 00:00:00 2001
From: nanitsuku <nanitsuku@outlook.jp>
Date: Fri, 27 Dec 2024 12:44:02 +0900
Subject: [PATCH 07/10] fix should be canfd_frame

---
 src/socketcandcl.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/socketcandcl.c b/src/socketcandcl.c
index df461f2..68d310d 100644
--- a/src/socketcandcl.c
+++ b/src/socketcandcl.c
@@ -447,7 +447,7 @@ inline void state_connected()
 			}
 
 			if (FD_ISSET(raw_socket, &readfds)) {
-				ret = recv(raw_socket, &frame, sizeof(struct can_frame), MSG_WAITALL);
+				ret = recv(raw_socket, &frame, sizeof(struct canfd_frame), MSG_WAITALL);
 				if (ret < sizeof(struct can_frame)) {
 					PRINT_ERROR("Error reading frame from RAW socket\n");
 					perror("Reading CAN socket\n");

From 41ce96b259a5ec13f5d4310a0e9a405a7dc6cbdb Mon Sep 17 00:00:00 2001
From: nanitsuku <nanitsuku@outlook.jp>
Date: Fri, 27 Dec 2024 12:46:32 +0900
Subject: [PATCH 08/10] fix lack ";"

---
 src/state_bcm.c | 12 ++++++------
 src/state_raw.c |  8 ++++----
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/src/state_bcm.c b/src/state_bcm.c
index 402cdd1..4bdef73 100644
--- a/src/state_bcm.c
+++ b/src/state_bcm.c
@@ -104,8 +104,8 @@ void state_bcm()
 		/* Check if this is an error frame */
 		if(msg.msg_head.can_id & CAN_ERR_FLAG) {
 			if(msg.frame.len != CAN_ERR_DLC) {
-				PRINT_ERROR("Error frame has a wrong DLC!\n")
-					} else {
+				PRINT_ERROR("Error frame has a wrong DLC!\n");
+			} else {
 				snprintf(rxmsg, RXLEN, "< error %03X %ld.%06ld ", msg.msg_head.can_id, tv.tv_sec, tv.tv_usec);
 
 				for ( i = 0; i < msg.frame.len; i++)
@@ -204,7 +204,7 @@ void state_bcm()
 			if ( (items < 2) ||
 			     (msg.frame.len > 8) ||
 			     (items != 2 + msg.frame.len)) {
-				PRINT_ERROR("Syntax error in send command\n")
+				PRINT_ERROR("Syntax error in send command\n");
 					return;
 			}
 
@@ -272,7 +272,7 @@ void state_bcm()
 			if ( (items < 2) ||
 					 (msg.frame.len > 64) ||
 			     (items != 3 + msg.frame.len)) {
-				PRINT_ERROR("Syntax error in fdsend command\n")
+				PRINT_ERROR("Syntax error in fdsend command\n");
 					return;
 			}
 
@@ -344,7 +344,7 @@ void state_bcm()
 			if ( (items < 2) ||
 			     (msg.frame.len > 8) ||
 			     (items != 2 + msg.frame.len)) {
-				PRINT_ERROR("Syntax error in update send job command\n")
+				PRINT_ERROR("Syntax error in update send job command\n");
 					return;
 			}
 
@@ -404,7 +404,7 @@ void state_bcm()
 			if( (items < 4) ||
 			    (msg.frame.len > 8) ||
 			    (items != 4 + msg.frame.len) ) {
-				PRINT_ERROR("syntax error in filter command.\n")
+				PRINT_ERROR("syntax error in filter command.\n");
 					return;
 			}
 
diff --git a/src/state_raw.c b/src/state_raw.c
index cfa765a..83e8955 100644
--- a/src/state_raw.c
+++ b/src/state_raw.c
@@ -125,8 +125,8 @@ void state_raw()
 
 		ret = recvmsg(raw_socket, &msg, 0);
 		if(ret != sizeof(struct canfd_frame) && ret != sizeof(struct can_frame)) {
-			PRINT_ERROR("Error reading frame from RAW socket\n")
-				} else {
+			PRINT_ERROR("Error reading frame from RAW socket\n");
+		} else {
 			/* read timestamp data */
 			for (cmsg = CMSG_FIRSTHDR(&msg);
 			     cmsg && (cmsg->cmsg_level == SOL_SOCKET);
@@ -209,7 +209,7 @@ void state_raw()
 				if ( (items < 2) ||
 				     (frame.len > 8) ||
 				     (items != 2 + frame.len)) {
-					PRINT_ERROR("Syntax error in send command\n")
+					PRINT_ERROR("Syntax error in send command\n");
 						return;
 				}
 
@@ -274,7 +274,7 @@ void state_raw()
 				if ( (items < 2) ||
 				     (frame.len > 64) ||
 				     (items != 3 + frame.len)) {
-					PRINT_ERROR("Syntax error in fdsend command\n")
+					PRINT_ERROR("Syntax error in fdsend command\n");
 						return;
 				}
 

From 210e2c0f471c6044a8604b2b6bcd024025b991e6 Mon Sep 17 00:00:00 2001
From: nanitsuku <nanitsuku@outlook.jp>
Date: Fri, 27 Dec 2024 12:46:55 +0900
Subject: [PATCH 09/10] fix too short buffer size

---
 src/state_bcm.c | 2 +-
 src/state_raw.c | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/state_bcm.c b/src/state_bcm.c
index 4bdef73..32f68d0 100644
--- a/src/state_bcm.c
+++ b/src/state_bcm.c
@@ -240,7 +240,7 @@ void state_bcm()
 			}
 
 			// Construct the format string for the dynamically based on frame.len
-			char format[256];
+			char format[512];
 			snprintf(format, sizeof(format), "< %%*s %%x %%hhx %%hhu");
 			for (int i = 0; i < msg.frame.len; i++) {
 				strncat(format, " %hhx", sizeof(format) - strlen(format) - 1);
diff --git a/src/state_raw.c b/src/state_raw.c
index 83e8955..8b79cf4 100644
--- a/src/state_raw.c
+++ b/src/state_raw.c
@@ -242,7 +242,7 @@ void state_raw()
 		    }
 
 		    // Construct the format string dynamically based on frame.len
-		    char format[256];
+		    char format[512];
 		    snprintf(format, sizeof(format), "< %%*s %%x %%hhx %%hhu");
 		    for (int i = 0; i < frame.len; i++) {
 		        strncat(format, " %hhx", sizeof(format) - strlen(format) - 1);

From 427f76bde571caffa23381ae71cf07cbedc23211 Mon Sep 17 00:00:00 2001
From: nanitsuku <nanitsuku@outlook.jp>
Date: Fri, 27 Dec 2024 12:50:51 +0900
Subject: [PATCH 10/10] fix spacing & delete unnecessary lines

---
 src/socketcandcl.c | 41 +++++++++++++--------------------
 src/state_bcm.c    | 56 ++++++++++++++++++++++------------------------
 src/state_raw.c    | 12 +++++-----
 3 files changed, 48 insertions(+), 61 deletions(-)

diff --git a/src/socketcandcl.c b/src/socketcandcl.c
index 68d310d..183223d 100644
--- a/src/socketcandcl.c
+++ b/src/socketcandcl.c
@@ -298,7 +298,7 @@ inline void state_connected()
 			return;
 		}
 
-		if(ioctl(raw_socket,SIOCGIFMTU,&ifr) < 0) {
+		if (ioctl(raw_socket,SIOCGIFMTU,&ifr) < 0) {
 			PRINT_ERROR("Error while searching for bus MTU %s\n", strerror(errno));
 			state = STATE_SHUTDOWN;
 			return;
@@ -306,16 +306,13 @@ inline void state_connected()
 
 		if (ifr.ifr_mtu == CANFD_MTU) {
 			const int canfd_on = 1;
-			if(setsockopt(raw_socket, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0) {
+			if (setsockopt(raw_socket, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0) {
 				PRINT_ERROR("Could not enable CAN FD support\n");
 				state = STATE_SHUTDOWN;
 				return;
 			}
 		}
 
-//		fprintf(stderr, "MTU of %s is %d\n", ldev, ifr.ifr_mtu);
-
-
 		/* bind socket */
 		if (bind(raw_socket, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
 			PRINT_ERROR("Error while binding RAW socket %s\n", strerror(errno));
@@ -364,8 +361,6 @@ inline void state_connected()
 
 						frame.len = strlen(data_str) / 2;
 
-//						fprintf(stderr, "frame.can_id: %d  frame.flags: %d  frame.len: %d\n", frame.can_id, frame.flags, frame.len);
-
 						sscanf(data_str, "%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx%02hhx",
 						       &frame.data[0], &frame.data[1],
 						       &frame.data[2], &frame.data[3],
@@ -373,22 +368,22 @@ inline void state_connected()
 						       &frame.data[6], &frame.data[7]);
 
 						ret = write(raw_socket, &frame, sizeof(struct can_frame));
-						if(ret != sizeof(struct can_frame)) {
+						if (ret != sizeof(struct can_frame)) {
 							perror("Writing CAN frame to can socket\n");
 						}
-					} else if(!strncmp("< fdframe", buf, 9)) {
+					} else if (!strncmp("< fdframe", buf, 9)) {
 						char data_str[2*64];
 
 						sscanf(buf, "< fdframe %x %hhx %*d.%*d %s >", &frame.can_id, &frame.flags,
 						       data_str);
 
 						char* s = buf + 9;
-						for(; ++s;) {
-							if(*s== ' ') {
+						for (; ++s;) {
+							if (*s== ' ') {
 								break;
 							}
 						}
-						if((s - buf - 9) > 4)
+						if ((s - buf - 9) > 4)
 							frame.can_id |= CAN_EFF_FLAG;
 
 						frame.len = strlen(data_str) / 2;
@@ -421,7 +416,7 @@ inline void state_connected()
 									);
 
 						ret = write(raw_socket, &frame, sizeof(struct canfd_frame));
-						if(ret != sizeof(struct canfd_frame)) {
+						if (ret != sizeof(struct canfd_frame)) {
 							perror("Writing CAN frame to can socket\n");
 						}
 					}
@@ -459,18 +454,16 @@ inline void state_connected()
 					} else {
 						int i;
 
-//						fprintf(stderr, "frame.can_id: %d  frame.flags: %d  frame.len: %d\n", frame.can_id, frame.flags, frame.len);
-
-						if(ret == sizeof(struct can_frame)) {
-							if(frame.can_id & CAN_EFF_FLAG) {
+						if (ret == sizeof(struct can_frame)) {
+							if (frame.can_id & CAN_EFF_FLAG) {
 								ret = sprintf(buf, "< send %08X %d ",
 									      frame.can_id & CAN_EFF_MASK, frame.len);
 							} else {
 								ret = sprintf(buf, "< send %03X %d ",
 									      frame.can_id & CAN_SFF_MASK, frame.len);
 							}
-						} else if(ret == sizeof(struct canfd_frame)) {
-							if(frame.can_id & CAN_EFF_FLAG) {
+						} else if (ret == sizeof(struct canfd_frame)) {
+							if (frame.can_id & CAN_EFF_FLAG) {
 								ret = sprintf(buf, "< fdsend %08X %02X %d ",
 									      frame.can_id & CAN_EFF_MASK, frame.flags, frame.len);
 							} else {
@@ -478,14 +471,10 @@ inline void state_connected()
 									      frame.can_id & CAN_SFF_MASK, frame.flags, frame.len);
 							}
 						}
-						for(i=0; i<frame.len; i++) {
-							ret += sprintf(buf+ret, "%02x ", frame.data[i]);
+						for (i = 0; i < frame.len; i++) {
+							ret += sprintf(buf + ret, "%02x ", frame.data[i]);
 						}
-						sprintf(buf+ret, ">");
-
-#ifdef DEBUG
-						PRINT_VERBOSE("%s\n", buf);
-#endif
+						sprintf(buf + ret, " >");
 
 						const size_t len = strlen(buf);
 						ret = send(server_socket, buf, len, 0);
diff --git a/src/state_bcm.c b/src/state_bcm.c
index 32f68d0..ac4a712 100644
--- a/src/state_bcm.c
+++ b/src/state_bcm.c
@@ -57,7 +57,7 @@ void state_bcm()
 			return;
 		}
 
-  	memset(&caddr, 0, sizeof(caddr));
+		memset(&caddr, 0, sizeof(caddr));
 		caddr.can_family = PF_CAN;
 		/* can_ifindex is set to 0 (any device) => need for sendto() */
 
@@ -102,13 +102,13 @@ void state_bcm()
 		}
 
 		/* Check if this is an error frame */
-		if(msg.msg_head.can_id & CAN_ERR_FLAG) {
-			if(msg.frame.len != CAN_ERR_DLC) {
+		if (msg.msg_head.can_id & CAN_ERR_FLAG) {
+			if (msg.frame.len != CAN_ERR_DLC) {
 				PRINT_ERROR("Error frame has a wrong DLC!\n");
 			} else {
 				snprintf(rxmsg, RXLEN, "< error %03X %ld.%06ld ", msg.msg_head.can_id, tv.tv_sec, tv.tv_usec);
 
-				for ( i = 0; i < msg.frame.len; i++)
+				for (i = 0; i < msg.frame.len; i++)
 					snprintf(rxmsg + strlen(rxmsg), RXLEN - strlen(rxmsg), "%02X ",
 						 msg.frame.data[i]);
 
@@ -117,11 +117,10 @@ void state_bcm()
 				tcp_quickack(client_socket);
 			}
 		} else {
-//			fprintf(stderr, "msg.msg_head.can_id: %d ret size: %d\n", msg.msg_head.can_id, ret);
 			switch(ret) {
 				// if the frame is a classic CAN frame
 				case sizeof(struct can_frame):
-					if(msg.msg_head.can_id & CAN_EFF_FLAG) {
+					if (msg.msg_head.can_id & CAN_EFF_FLAG) {
 						snprintf(rxmsg, RXLEN, "< frame %08X %ld.%06ld ",
 							 msg.msg_head.can_id & CAN_EFF_MASK, tv.tv_sec, tv.tv_usec);
 					} else {
@@ -131,7 +130,7 @@ void state_bcm()
 					break;
 				// if the frame is a CAN FD frame
 				case sizeof(struct canfd_frame):
-					if(msg.msg_head.can_id & CAN_EFF_FLAG) {
+					if (msg.msg_head.can_id & CAN_EFF_FLAG) {
 						snprintf(rxmsg, RXLEN, "< fdframe %08X %02X %ld.%06ld ",
 							 msg.msg_head.can_id & CAN_EFF_MASK, msg.msg_head.flags, tv.tv_sec, tv.tv_usec);
 					} else {
@@ -144,7 +143,7 @@ void state_bcm()
 						return;
 			}
 
-			for ( i = 0; i < msg.frame.len; i++)
+			for (i = 0; i < msg.frame.len; i++)
 				snprintf(rxmsg + strlen(rxmsg), RXLEN - strlen(rxmsg), "%02X ",
 					 msg.frame.data[i]);
 
@@ -159,7 +158,7 @@ void state_bcm()
 
 		ret = receive_command(client_socket, buf);
 
-		if(ret != 0) {
+		if (ret != 0) {
 			state = STATE_SHUTDOWN;
 			return;
 		}
@@ -201,11 +200,11 @@ void state_bcm()
 				       &msg.frame.data[6],
 				       &msg.frame.data[7]);
 
-			if ( (items < 2) ||
-			     (msg.frame.len > 8) ||
-			     (items != 2 + msg.frame.len)) {
+			if ((items < 2) ||
+			    (msg.frame.len > 8) ||
+			    (items != 2 + msg.frame.len)) {
 				PRINT_ERROR("Syntax error in send command\n");
-					return;
+				return;
 			}
 
 			/* < send XXXXXXXX ... > check for extended identifier */
@@ -221,7 +220,7 @@ void state_bcm()
 				       (struct sockaddr *)&caddr, sizeof(caddr));
 			}
 			/* Add a send job */
-		} else if(!strncmp("< fdsend ", buf, 9)) {
+		} else if (!strncmp("< fdsend ", buf, 9)) {
 			// First, read the fixed part of the frame
 			items = sscanf(buf, "< %*s %x %hhx %hhu",
 				       &msg.msg_head.can_id,
@@ -269,15 +268,15 @@ void state_bcm()
 		           &msg.frame.data[56], &msg.frame.data[57], &msg.frame.data[58], &msg.frame.data[59],
 		           &msg.frame.data[60], &msg.frame.data[61], &msg.frame.data[62], &msg.frame.data[63]);
 
-			if ( (items < 2) ||
-					 (msg.frame.len > 64) ||
-			     (items != 3 + msg.frame.len)) {
+			if ((items < 2) ||
+					(msg.frame.len > 64) ||
+			    (items != 3 + msg.frame.len)) {
 				PRINT_ERROR("Syntax error in fdsend command\n");
-					return;
+				return;
 			}
 
 			/* < fdsend XXXXXXXX ... > check for extended identifier */
-			if(element_length(buf, 2) == 8)
+			if (element_length(buf, 2) == 8)
 				msg.msg_head.can_id |= CAN_EFF_FLAG;
 
 			msg.msg_head.opcode = TX_SEND;
@@ -287,8 +286,7 @@ void state_bcm()
 				caddr.can_ifindex = ifr.ifr_ifindex;
 				sendto(sc, &msg, sizeof(msg), 0, (struct sockaddr*)&caddr, sizeof(caddr));
 			}
-		} else if(!strncmp("< add ", buf, 6)) {
-			fprintf(stderr, "%s\n", buf);
+		} else if (!strncmp("< add ", buf, 6)) {
 			items = sscanf(buf, "< %*s %lu %lu %x %hhu "
 				       "%hhx %hhx %hhx %hhx %hhx %hhx "
 				       "%hhx %hhx >",
@@ -305,7 +303,7 @@ void state_bcm()
 				       &msg.frame.data[6],
 				       &msg.frame.data[7]);
 
-			if( (items < 4) ||
+			if ((items < 4) ||
 			    (msg.frame.len > 8) ||
 			    (items != 4 + msg.frame.len) ) {
 				PRINT_ERROR("Syntax error in add command.\n");
@@ -341,11 +339,11 @@ void state_bcm()
 				       &msg.frame.data[6],
 				       &msg.frame.data[7]);
 
-			if ( (items < 2) ||
-			     (msg.frame.len > 8) ||
-			     (items != 2 + msg.frame.len)) {
+			if ((items < 2) ||
+			    (msg.frame.len > 8) ||
+			    (items != 2 + msg.frame.len)) {
 				PRINT_ERROR("Syntax error in update send job command\n");
-					return;
+				return;
 			}
 
 			/* < update XXXXXXXX ... > check for extended identifier */
@@ -401,11 +399,11 @@ void state_bcm()
 				       &msg.frame.data[6],
 				       &msg.frame.data[7]);
 
-			if( (items < 4) ||
+			if ((items < 4) ||
 			    (msg.frame.len > 8) ||
 			    (items != 4 + msg.frame.len) ) {
 				PRINT_ERROR("syntax error in filter command.\n");
-					return;
+				return;
 			}
 
 			/* < filter sec usec XXXXXXXX ... > check for extended identifier */
@@ -486,7 +484,7 @@ void state_bcm()
 				caddr.can_ifindex = ifr.ifr_ifindex;
 				sendto(sc, &muxmsg, sizeof(struct bcm_msg_head) +
 				       sizeof(struct can_frame) * muxmsg.msg_head.nframes,
-				       0, (struct sockaddr*)&caddr, sizeof(caddr));
+				       0, (struct sockaddr *)&caddr, sizeof(caddr));
 			}
 			/* Add a filter */
 		} else if (!strncmp("< subscribe ", buf, 12)) {
diff --git a/src/state_raw.c b/src/state_raw.c
index 8b79cf4..7d4d335 100644
--- a/src/state_raw.c
+++ b/src/state_raw.c
@@ -162,8 +162,8 @@ void state_raw()
 						}
 				}
 
-				for(i=0;i<frame.len;i++) {
-					ret += sprintf(buf+ret, "%02X", frame.data[i]);
+				for (i = 0; i < frame.len; i++) {
+					ret += sprintf(buf + ret, "%02X", frame.data[i]);
 				}
 				sprintf(buf + ret, " >");
 				send(client_socket, buf, strlen(buf), 0);
@@ -206,11 +206,11 @@ void state_raw()
 					       &frame.data[6],
 					       &frame.data[7]);
 
-				if ( (items < 2) ||
-				     (frame.len > 8) ||
-				     (items != 2 + frame.len)) {
+				if ((items < 2) ||
+				    (frame.len > 8) ||
+				    (items != 2 + frame.len)) {
 					PRINT_ERROR("Syntax error in send command\n");
-						return;
+					return;
 				}
 
 				/* < send XXXXXXXX ... > check for extended identifier */