--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_serial/can_serial_hub.c Fri Apr 25 12:18:23 2008 +0200
@@ -0,0 +1,468 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): James Steward
+
+See COPYING file for copyrights details.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+
+/**
+ Pseudo CAN hub application.
+*/
+
+#define _GNU_SOURCE //for asprintf()
+
+#include <stdio.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <string.h>
+#include <termios.h>
+#include <stdlib.h>
+#include <dlfcn.h>
+
+#define NEED_PRINT_MESSAGE
+
+#ifdef DLL_CALL
+#undef DLL_CALL
+#endif
+
+#define DLL_CALL(funcname) (* funcname##_driver)
+
+#include "canfestival.h"
+
+int DLL_CALL(canfd)(CAN_HANDLE)FCT_PTR_INIT;
+
+#ifdef DLL_CALL
+#undef DLL_CALL
+#endif
+
+#define DLL_CALL(funcname) funcname##_driver
+
+#define DLSYM(name)\
+ *(void **) (&name##_driver) = dlsym(handle, #name"_driver");\
+ if ((error = dlerror()) != NULL) {\
+ fprintf (stderr, "%s\n", error);\
+ UnLoadCanDriver(handle);\
+ return NULL;\
+ }
+
+#define MAX_HUB_PORTS 16
+
+typedef struct {
+ int fd;
+ struct termios old_termio, new_termio;
+ char *name;
+} port;
+
+port hub_ports[MAX_HUB_PORTS + 1]; //An extra for a CAN driver port
+
+s_BOARD bus_if = { "/dev/ttyS0", "125K" };
+
+/* Receive a CAN message from a hub (pseudo) port */
+int hub_receive(port *p, Message *m)
+{
+ int rv, N, n = 0;
+ fd_set rfds;
+ struct timeval tv;
+
+ N = 4; //initially try to read 4 bytes, including the length byte
+
+retry:
+ rv = read(p->fd, &((char *)m)[n], N - n);
+
+ if (rv == -1) {
+ fprintf(stderr, "read: %d, %s\n", p->fd, strerror(errno));
+ return -1;
+ }
+
+ n += rv;
+
+ if (n == 4) {
+ N = (4 + m->len);
+
+ if (m->len > 8) {
+ fprintf(stderr, "Warning: invalid message length %d\n",
+ m->len);
+
+ //try to resync
+ return 0;
+ }
+
+ }
+
+ if (n < N) {
+
+ FD_ZERO(&rfds);
+ FD_SET(p->fd, &rfds);
+
+ tv.tv_sec = 0;
+ tv.tv_usec=100000;
+
+ rv = select(p->fd + 1, &rfds, NULL, NULL, &tv);
+ if (rv == 0 || rv == -1) {
+ fprintf(stderr, "select: %s\n", strerror(errno));
+ return 0;
+ }
+
+ goto retry;
+ }
+
+ return 1;
+}
+
+/* send a CAN message to one of the hub ports */
+UNS8 hub_send(port *p, Message *m)
+{
+ int rv;
+
+ rv = write(p->fd, m, 4 + m->len);
+
+ if (rv != 4 + m->len) {
+ return 1;
+ }
+
+ return 0;
+}
+
+/* Open a hub port */
+int hub_open(port *p)
+{
+ if (p->fd != -1) {
+ fprintf(stderr, "Warning, port %s is already open, fd %d!\n",
+ p->name, p->fd);
+ }
+
+ p->fd = open(p->name, O_RDWR);
+
+ if (p->fd < 0) {
+ fprintf(stderr, "open: %s, %s\n", p->name, strerror(errno));
+ goto exit_here;
+ }
+
+ if (tcgetattr(p->fd, &p->old_termio) != 0) {
+ fprintf(stderr, "tcgetattr: %s, %s\n",
+ p->name, strerror(errno));
+ close(p->fd);
+ p->fd = -1;
+ goto exit_here;
+ }
+
+ memcpy(&p->new_termio, &p->old_termio, sizeof(p->old_termio));
+ cfmakeraw(&p->new_termio);
+ cfsetispeed(&p->new_termio, B115200);
+ cfsetospeed(&p->new_termio, B115200);
+ tcsetattr(p->fd, TCSANOW, &p->new_termio);
+
+exit_here:
+ return p->fd;
+}
+
+/* Close a hub port*/
+int hub_close(port *p)
+{
+ if (p->fd >= 0) {
+ tcsetattr(p->fd, TCSANOW, &p->old_termio);
+ close(p->fd);
+ p->fd = -1;
+ }
+
+ return 0;
+}
+
+/** Read from the port index rd_port, and write to all other ports. */
+int read_write(int rd_port, port *p, CAN_HANDLE h, fd_set *wfds, int max_fd)
+{
+ Message m;
+ int rv, i;
+ fd_set wfds_copy;
+ struct timeval tv = {.tv_sec = 0, .tv_usec = 0}; //wait 1 msec
+
+ if (rd_port == MAX_HUB_PORTS) {
+ rv = DLL_CALL(canReceive)(h, &m);
+
+ if (rv == 1) {
+ return 0;
+ }
+ } else {
+ rv = hub_receive(&p[rd_port], &m);
+
+ if (rv != 1) {
+ return rv;
+ }
+ }
+
+ memcpy(&wfds_copy, wfds, sizeof(fd_set));
+
+ rv = select(max_fd + 1, NULL, &wfds_copy, NULL, &tv);
+
+ if (rv <= 0) {
+ return 0;
+ }
+
+ for (i = 0; i < MAX_HUB_PORTS + 1; i++) {
+
+ if (i == rd_port) {
+ fprintf(stderr, "[%d] ", i);
+ continue;
+ }
+
+ if (rv <= 0 || !FD_ISSET(p[i].fd, &wfds_copy)) {
+ fprintf(stderr, "{%d} ", i);
+ continue;
+ }
+
+ fprintf(stderr, "<%d> ", i);
+
+ if (i == MAX_HUB_PORTS && h) {
+ DLL_CALL(canSend)(h, &m);
+ } else {
+ hub_send(&p[i], &m);
+ }
+ }
+
+ print_message(&m);
+
+ return 0;
+}
+
+void help(void)
+{
+ printf("\n\n");
+ printf("This is a software hub for the CANFestival library, \n");
+ printf("based on the *nix pseudo tty. It supports up to 16\n");
+ printf("connections from clients, and a connection to a CANFestival\n");
+ printf("driver, for connection to the outside world.\n");
+ printf("\n");
+ printf("Basic use is simply to run can_hub. Without arguments, it\n");
+ printf("will use /dev/ptya[0..f] ptys. You should then run your\n");
+ printf("linux CANFestival app using libcanfestival_can_serial.so\n");
+ printf("with the bus name /dev/ttyaX, where X is 0..f and unused.\n");
+ printf("\n");
+ printf("You can alter the pty base with -p /dev/ptyx .\n");
+ printf("\n");
+ printf("If you want to interface with some other CAN driver, supply\n");
+ printf("the option -l /path/to/libcanfestival_can_foo.so .\n");
+ printf("The default bus name and baud are /dev/ttyS0 and 125k.\n");
+ printf("These can be overridden with -b /dev/{bus name} and -s {baud}.\n");
+}
+
+/*UnLoads the dll*/
+UNS8 UnLoadCanDriver(LIB_HANDLE handle)
+{
+ if(handle!=NULL)
+ {
+ dlclose(handle);
+
+ handle=NULL;
+ return 0;
+ }
+ return -1;
+}
+
+/*Loads the dll and get funcs ptr*/
+LIB_HANDLE LoadCanDriver(char* driver_name)
+{
+ LIB_HANDLE handle = NULL;
+ char *error;
+
+ if(handle==NULL)
+ {
+ handle = dlopen(driver_name, RTLD_LAZY);
+ }
+
+ if (!handle) {
+ fprintf (stderr, "%s\n", dlerror());
+ return NULL;
+ }
+
+ /*Get function ptr*/
+ DLSYM(canReceive)
+ DLSYM(canSend)
+ DLSYM(canOpen)
+ DLSYM(canChangeBaudRate)
+ DLSYM(canClose)
+ DLSYM(canfd)
+
+ return handle;
+}
+
+/**
+*/
+int main(int argc, char **argv)
+{
+ int i, rv, max_fd = 0, ret = 0;
+ fd_set rfds, rfds_copy;
+ CAN_HANDLE can_h = NULL;
+ LIB_HANDLE lib_h = NULL;
+
+ int c;
+ extern char *optarg;
+
+ char *can_drv = NULL;
+ char *pty_base = "/dev/ptya";
+
+ while ((c = getopt(argc, argv, "-b:s:l:p:h")) != EOF) {
+ switch (c) {
+ case 'b':
+ if (optarg[0] == 0) {
+ help();
+ exit(1);
+ }
+ bus_if.busname = optarg;
+ break;
+ case 's':
+ if (optarg[0] == 0) {
+ help();
+ exit(1);
+ }
+ bus_if.baudrate = optarg;
+ break;
+ case 'l':
+ if (optarg[0] == 0) {
+ help();
+ exit(1);
+ }
+ can_drv = optarg;
+ break;
+ case 'p':
+ if (optarg[0] == 0) {
+ help();
+ exit(1);
+ }
+ pty_base = optarg;
+ break;
+ case 'h':
+ help();
+ exit(1);
+ break;
+ default:
+ help();
+ exit(1);
+ }
+ }
+
+ FD_ZERO(&rfds);
+
+ hub_ports[MAX_HUB_PORTS].fd = -1;
+
+ if (can_drv) {
+ lib_h = LoadCanDriver(can_drv);
+ if (lib_h == NULL) {
+ printf("Unable to load library: %s\n", can_drv);
+ exit(1);
+ }
+
+ can_h = DLL_CALL(canOpen)(&bus_if);
+ if(!can_h) {
+ fprintf(stderr,"canOpen : failed\n");
+ exit(1);
+ }
+
+ hub_ports[MAX_HUB_PORTS].fd = DLL_CALL(canfd)(can_h);
+
+ FD_SET(hub_ports[MAX_HUB_PORTS].fd, &rfds);
+
+ if (hub_ports[MAX_HUB_PORTS].fd > max_fd) {
+ max_fd = hub_ports[MAX_HUB_PORTS].fd;
+ }
+
+ }
+
+ for (i = 0; i < MAX_HUB_PORTS; i++) {
+
+ hub_ports[i].fd = -1;
+ hub_ports[i].name = NULL;
+
+ rv = asprintf(&hub_ports[i].name, "%s%x", pty_base, i);
+
+ if (rv < 0) {
+ fprintf(stderr, "asprintf: %s\n", strerror(errno));
+ ret = 1;
+ break;
+ }
+
+ rv = hub_open(&hub_ports[i]);
+
+ if (rv < 0) {
+ ret = 1;
+ break;
+ }
+
+ FD_SET(rv, &rfds);
+
+ if (rv > max_fd) {
+ max_fd = rv;
+ }
+ }
+
+ if (ret) {
+ return ret;
+ }
+
+ while (!ret) {
+ memcpy(&rfds_copy, &rfds, sizeof(rfds));
+
+ rv = select(max_fd + 1, &rfds_copy, NULL, NULL, NULL);
+
+ if (rv < 0) {
+ //select error
+ fprintf(stderr, "select: %s\n", strerror(errno));
+ ret = 1;
+ continue;
+ }
+
+ //as timeout is NULL, must be a rfds set.
+ for (i = 0; i < MAX_HUB_PORTS + 1; i++) {
+ if (FD_ISSET(hub_ports[i].fd, &rfds_copy)) {
+
+ rv = read_write(i, hub_ports, can_h, &rfds, max_fd);
+
+ if (rv < 0 && i < MAX_HUB_PORTS) {
+
+ FD_CLR(hub_ports[i].fd, &rfds);
+
+ hub_close(&hub_ports[i]);
+
+ rv = hub_open(&hub_ports[i]);
+
+ if (rv < 0) {
+ ret = 1;
+ break;
+ }
+
+ FD_SET(rv, &rfds);
+
+ if (rv > max_fd) {
+ max_fd = rv;
+ }
+ }
+ }
+ }
+ }
+
+ for (i = 0; i < MAX_HUB_PORTS; i++) {
+ hub_close(&hub_ports[i]);
+ }
+
+ if (hub_ports[MAX_HUB_PORTS].fd >= 0) {
+ DLL_CALL(canClose)(&bus_if);
+ }
+
+ return ret;
+}
+