drivers/can_serial/can_serial_hub.c
author Christian Taedcke
Fri, 28 Jan 2011 14:51:18 +0100
changeset 657 c0e68a63f600
parent 451 236c2e901e2e
permissions -rw-r--r--
FIX: - if a sdo transfer timeout occurres, reset the sdo line even if the callback function does not.
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/*
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This file is part of CanFestival, a library implementing CanOpen Stack. 
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Copyright (C): James Steward
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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*/
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/**
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	Pseudo CAN hub application.
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*/
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#define _GNU_SOURCE  //for asprintf()
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#include <stdio.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <string.h>
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#include <termios.h>
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#include <stdlib.h>
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#include <dlfcn.h>
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#define NEED_PRINT_MESSAGE
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#ifdef DLL_CALL
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#undef DLL_CALL
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#endif
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#define DLL_CALL(funcname) (* funcname##_driver)
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#include "canfestival.h"
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int DLL_CALL(canfd)(CAN_HANDLE)FCT_PTR_INIT;
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#ifdef DLL_CALL
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#undef DLL_CALL
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#endif
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#define DLL_CALL(funcname) funcname##_driver
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#define DLSYM(name)\
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        *(void **) (&name##_driver) = dlsym(handle, #name"_driver");\
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        if ((error = dlerror()) != NULL)  {\
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                fprintf (stderr, "%s\n", error);\
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                UnLoadCanDriver(handle);\
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                return NULL;\
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        }
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#define MAX_HUB_PORTS 16
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typedef struct {
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	int fd;
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	struct termios old_termio, new_termio;
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	char *name;
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} port;
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port hub_ports[MAX_HUB_PORTS + 1];  //An extra for a CAN driver port
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s_BOARD bus_if = { "/dev/ttyS0", "125K" };
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/* Receive a CAN message from a hub (pseudo) port */
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int hub_receive(port *p, Message *m)
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{
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	int rv, N, n = 0;
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	fd_set rfds;
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	struct timeval tv;
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	N = 4; //initially try to read 4 bytes, including the length byte
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retry:
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	rv = read(p->fd, &((char *)m)[n], N - n);
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	if (rv == -1) {
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		fprintf(stderr, "read: %d, %s\n", p->fd, strerror(errno));
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		return -1;
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	}
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	n += rv;
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	if (n == 4) {
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		N = (4 + m->len);
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		if (m->len > 8) {
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			fprintf(stderr, "Warning: invalid message length %d\n", 
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					m->len);
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			//try to resync
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			return 0;
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		}
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	}
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	if (n < N) {
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		FD_ZERO(&rfds);
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		FD_SET(p->fd, &rfds);
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		tv.tv_sec = 0;
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		tv.tv_usec=100000;
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		rv = select(p->fd + 1, &rfds, NULL, NULL, &tv);
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		if (rv == 0 || rv == -1) {
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			fprintf(stderr, "select: %s\n", strerror(errno));
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			return 0;
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		}
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		goto retry;	
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	}
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	return 1;
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}
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/* send a CAN message to one of the hub ports */
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UNS8 hub_send(port *p, Message *m)
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{
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	int rv;
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	rv = write(p->fd, m, 4 + m->len);
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	if (rv != 4 + m->len) {
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		return 1;
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	}
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   139
	return 0;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   140
}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   141
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   142
/* Open a hub port */
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   143
int hub_open(port *p)
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   144
{
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   145
	if (p->fd != -1) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   146
		fprintf(stderr, "Warning, port %s is already open, fd %d!\n", 
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   147
					p->name, p->fd);	
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   148
	}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   149
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
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diff changeset
   150
	p->fd = open(p->name, O_RDWR);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   151
	
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   152
	if (p->fd < 0) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   153
		fprintf(stderr, "open: %s, %s\n", p->name, strerror(errno));
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   154
		goto exit_here;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   155
	}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   156
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
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diff changeset
   157
	if (tcgetattr(p->fd, &p->old_termio) != 0) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   158
		fprintf(stderr, "tcgetattr: %s, %s\n", 
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   159
					p->name, strerror(errno));
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   160
		close(p->fd);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   161
		p->fd = -1;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   162
		goto exit_here;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   163
	}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   164
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
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diff changeset
   165
	memcpy(&p->new_termio, &p->old_termio, sizeof(p->old_termio));
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   166
	cfmakeraw(&p->new_termio);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   167
	cfsetispeed(&p->new_termio, B115200);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   168
	cfsetospeed(&p->new_termio, B115200);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   169
	tcsetattr(p->fd, TCSANOW, &p->new_termio);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   170
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
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diff changeset
   171
exit_here:
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
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diff changeset
   172
	return p->fd;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   173
}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   174
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   175
/* Close a hub port*/
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   176
int hub_close(port *p)
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   177
{
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
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diff changeset
   178
	if (p->fd >= 0) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
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diff changeset
   179
		tcsetattr(p->fd, TCSANOW, &p->old_termio);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
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   180
		close(p->fd);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   181
		p->fd = -1;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   182
	}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   183
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   184
	return 0;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   185
}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   186
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   187
/** Read from the port index rd_port, and write to all other ports. */
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   188
int read_write(int rd_port, port *p, CAN_HANDLE h, fd_set *wfds, int max_fd)
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   189
{
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   190
	Message m;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   191
	int rv, i;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
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diff changeset
   192
	fd_set wfds_copy;
451
236c2e901e2e Serial Hub fixes... Thanks James.
etisserant
parents: 448
diff changeset
   193
	struct timeval tv = {.tv_sec = 0, .tv_usec = 0}; //wait 0 msec
448
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   194
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
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diff changeset
   195
	if (rd_port == MAX_HUB_PORTS) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   196
		rv = DLL_CALL(canReceive)(h, &m);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   197
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   198
		if (rv == 1) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   199
			return 0;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   200
		}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   201
	} else {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   202
		rv = hub_receive(&p[rd_port], &m);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   203
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   204
		if (rv != 1) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   205
			return rv;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   206
		}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   207
	}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   208
	
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   209
	memcpy(&wfds_copy, wfds, sizeof(fd_set));
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   210
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
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diff changeset
   211
	rv = select(max_fd + 1, NULL, &wfds_copy, NULL, &tv);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   212
	
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   213
	if (rv <= 0) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
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diff changeset
   214
		return 0;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   215
	}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   216
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   217
	for (i = 0; i < MAX_HUB_PORTS + 1; i++) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   218
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
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diff changeset
   219
		if (i == rd_port) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   220
			fprintf(stderr, "[%d] ", i);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   221
			continue;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   222
		}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   223
451
236c2e901e2e Serial Hub fixes... Thanks James.
etisserant
parents: 448
diff changeset
   224
		if (p[i].fd < 0 || !FD_ISSET(p[i].fd, &wfds_copy)) {
448
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   225
			fprintf(stderr, "{%d} ", i);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   226
			continue;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   227
		}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   228
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   229
		fprintf(stderr, "<%d> ", i);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   230
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   231
		if (i == MAX_HUB_PORTS && h) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   232
			DLL_CALL(canSend)(h, &m);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   233
		} else {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   234
			hub_send(&p[i], &m);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   235
		}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   236
	}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   237
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   238
	print_message(&m);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   239
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   240
	return 0;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   241
}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   242
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   243
void help(void)
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   244
{
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   245
	printf("\n\n");
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   246
	printf("This is a software hub for the CANFestival library, \n");
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   247
	printf("based on the *nix pseudo tty.  It supports up to 16\n");
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   248
	printf("connections from clients, and a connection to a CANFestival\n");
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   249
	printf("driver, for connection to the outside world.\n");
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   250
	printf("\n");
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   251
	printf("Basic use is simply to run can_hub.  Without arguments, it\n");
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   252
	printf("will use /dev/ptya[0..f] ptys.  You should then run your\n");
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   253
	printf("linux CANFestival app using libcanfestival_can_serial.so\n");
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   254
	printf("with the bus name /dev/ttyaX, where X is 0..f and unused.\n");
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   255
	printf("\n");
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   256
	printf("You can alter the pty base with -p /dev/ptyx .\n");
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   257
	printf("\n");
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   258
	printf("If you want to interface with some other CAN driver, supply\n");
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   259
	printf("the option -l /path/to/libcanfestival_can_foo.so .\n");
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   260
	printf("The default bus name and baud are /dev/ttyS0 and 125k.\n");
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   261
	printf("These can be overridden with -b /dev/{bus name} and -s {baud}.\n");
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   262
}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   263
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   264
/*UnLoads the dll*/
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   265
UNS8 UnLoadCanDriver(LIB_HANDLE handle)
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   266
{
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   267
        if(handle!=NULL)
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   268
        {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   269
                dlclose(handle);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   270
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   271
                handle=NULL;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   272
                return 0;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   273
        }
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   274
        return -1;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   275
}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   276
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   277
/*Loads the dll and get funcs ptr*/
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   278
LIB_HANDLE LoadCanDriver(char* driver_name)
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   279
{
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   280
        LIB_HANDLE handle = NULL;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   281
        char *error;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   282
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   283
        if(handle==NULL)
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   284
        {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   285
                handle = dlopen(driver_name, RTLD_LAZY);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   286
        }
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   287
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   288
        if (!handle) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   289
                fprintf (stderr, "%s\n", dlerror());
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   290
                return NULL;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   291
        }
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   292
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   293
        /*Get function ptr*/
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   294
        DLSYM(canReceive)
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   295
        DLSYM(canSend)
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   296
        DLSYM(canOpen)
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   297
        DLSYM(canChangeBaudRate)
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   298
        DLSYM(canClose)
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   299
	DLSYM(canfd)
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   300
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   301
        return handle;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   302
}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   303
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   304
/**
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   305
*/
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   306
int main(int argc, char **argv)
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   307
{
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   308
	int i, rv, max_fd = 0, ret = 0;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   309
	fd_set rfds, rfds_copy;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   310
	CAN_HANDLE can_h = NULL;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   311
        LIB_HANDLE lib_h = NULL;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   312
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   313
	int c;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   314
	extern char *optarg;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   315
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   316
	char *can_drv = NULL;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   317
	char *pty_base = "/dev/ptya";
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   318
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   319
	while ((c = getopt(argc, argv, "-b:s:l:p:h")) != EOF) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   320
		switch (c) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   321
		case 'b':
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   322
			if (optarg[0] == 0) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   323
				help();
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   324
				exit(1);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   325
			}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   326
			bus_if.busname = optarg;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   327
			break;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   328
		case 's':
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   329
			if (optarg[0] == 0) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   330
				help();
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   331
				exit(1);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   332
			}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   333
			bus_if.baudrate = optarg;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   334
			break;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   335
		case 'l':
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   336
			if (optarg[0] == 0) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   337
				help();
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   338
				exit(1);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   339
			}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   340
			can_drv = optarg;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   341
			break;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   342
		case 'p':
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   343
			if (optarg[0] == 0) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   344
				help();
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   345
				exit(1);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   346
			}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   347
			pty_base = optarg;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   348
			break;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   349
		case 'h':
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   350
			help();
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   351
			exit(1);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   352
			break;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   353
		default:
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   354
			help();
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   355
			exit(1);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   356
		}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   357
	}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   358
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   359
	FD_ZERO(&rfds);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   360
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   361
	hub_ports[MAX_HUB_PORTS].fd = -1;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   362
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   363
	if (can_drv) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   364
		lib_h = LoadCanDriver(can_drv);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   365
		if (lib_h == NULL) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   366
			printf("Unable to load library: %s\n", can_drv);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   367
			exit(1);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   368
		}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   369
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   370
	        can_h = DLL_CALL(canOpen)(&bus_if);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   371
        	if(!can_h) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   372
        	        fprintf(stderr,"canOpen : failed\n");
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   373
        	        exit(1);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   374
        	}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   375
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   376
		hub_ports[MAX_HUB_PORTS].fd = DLL_CALL(canfd)(can_h);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   377
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   378
		FD_SET(hub_ports[MAX_HUB_PORTS].fd, &rfds);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   379
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   380
		if (hub_ports[MAX_HUB_PORTS].fd > max_fd) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   381
			max_fd = hub_ports[MAX_HUB_PORTS].fd;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   382
		}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   383
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   384
	}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   385
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   386
	for (i = 0; i < MAX_HUB_PORTS; i++) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   387
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   388
		hub_ports[i].fd = -1;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   389
		hub_ports[i].name = NULL;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   390
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   391
		rv = asprintf(&hub_ports[i].name, "%s%x", pty_base, i);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   392
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   393
		if (rv < 0) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   394
			fprintf(stderr, "asprintf: %s\n", strerror(errno));
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   395
			ret = 1;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   396
			break;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   397
		}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   398
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   399
		rv = hub_open(&hub_ports[i]);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   400
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   401
		if (rv < 0) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   402
			ret = 1;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   403
			break;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   404
		}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   405
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   406
		FD_SET(rv, &rfds);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   407
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   408
		if (rv > max_fd) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   409
			max_fd = rv;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   410
		}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   411
	}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   412
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   413
	if (ret) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   414
		return ret;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   415
	}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   416
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   417
	while (!ret) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   418
		memcpy(&rfds_copy, &rfds, sizeof(rfds));
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   419
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   420
		rv = select(max_fd + 1, &rfds_copy, NULL, NULL, NULL);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   421
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   422
		if (rv < 0) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   423
			//select error
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   424
			fprintf(stderr, "select: %s\n", strerror(errno));
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   425
			ret = 1;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   426
			continue;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   427
		}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   428
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   429
		//as timeout is NULL, must be a rfds set.
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   430
		for (i = 0; i < MAX_HUB_PORTS + 1; i++) {
451
236c2e901e2e Serial Hub fixes... Thanks James.
etisserant
parents: 448
diff changeset
   431
			if (hub_ports[i].fd >= 0 && 
236c2e901e2e Serial Hub fixes... Thanks James.
etisserant
parents: 448
diff changeset
   432
					FD_ISSET(hub_ports[i].fd, &rfds_copy)) {
448
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   433
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   434
				rv = read_write(i, hub_ports, can_h, &rfds, max_fd);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   435
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   436
				if (rv < 0 && i < MAX_HUB_PORTS) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   437
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   438
					FD_CLR(hub_ports[i].fd, &rfds);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   439
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   440
					hub_close(&hub_ports[i]);
451
236c2e901e2e Serial Hub fixes... Thanks James.
etisserant
parents: 448
diff changeset
   441
				}						
236c2e901e2e Serial Hub fixes... Thanks James.
etisserant
parents: 448
diff changeset
   442
			}
236c2e901e2e Serial Hub fixes... Thanks James.
etisserant
parents: 448
diff changeset
   443
236c2e901e2e Serial Hub fixes... Thanks James.
etisserant
parents: 448
diff changeset
   444
			if (hub_ports[i].fd < 0 && i < MAX_HUB_PORTS) {
236c2e901e2e Serial Hub fixes... Thanks James.
etisserant
parents: 448
diff changeset
   445
				rv = hub_open(&hub_ports[i]);
236c2e901e2e Serial Hub fixes... Thanks James.
etisserant
parents: 448
diff changeset
   446
236c2e901e2e Serial Hub fixes... Thanks James.
etisserant
parents: 448
diff changeset
   447
				if (rv >= 0) {
448
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   448
					FD_SET(rv, &rfds);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   449
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   450
					if (rv > max_fd) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   451
						max_fd = rv;
451
236c2e901e2e Serial Hub fixes... Thanks James.
etisserant
parents: 448
diff changeset
   452
					}
236c2e901e2e Serial Hub fixes... Thanks James.
etisserant
parents: 448
diff changeset
   453
				}
448
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   454
			}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   455
		}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   456
	}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   457
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   458
	for (i = 0; i < MAX_HUB_PORTS; i++) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   459
		hub_close(&hub_ports[i]);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   460
	}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   461
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   462
	if (hub_ports[MAX_HUB_PORTS].fd >= 0) {
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   463
		DLL_CALL(canClose)(&bus_if);
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   464
	}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   465
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   466
	return ret;
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   467
}
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents:
diff changeset
   468