etisserant@448: /*
etisserant@448: This file is part of CanFestival, a library implementing CanOpen Stack. 
etisserant@448: 
etisserant@448: Copyright (C): James Steward
etisserant@448: 
etisserant@448: See COPYING file for copyrights details.
etisserant@448: 
etisserant@448: This library is free software; you can redistribute it and/or
etisserant@448: modify it under the terms of the GNU Lesser General Public
etisserant@448: License as published by the Free Software Foundation; either
etisserant@448: version 2.1 of the License, or (at your option) any later version.
etisserant@448: 
etisserant@448: This library is distributed in the hope that it will be useful,
etisserant@448: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@448: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@448: Lesser General Public License for more details.
etisserant@448: 
etisserant@448: You should have received a copy of the GNU Lesser General Public
etisserant@448: License along with this library; if not, write to the Free Software
etisserant@448: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@448: */
etisserant@448: 
etisserant@448: /**
etisserant@448: 	Pseudo CAN hub application.
etisserant@448: */
etisserant@448: 
etisserant@448: #define _GNU_SOURCE  //for asprintf()
etisserant@448: 
etisserant@448: #include <stdio.h>
etisserant@448: #include <unistd.h>
etisserant@448: #include <fcntl.h>
etisserant@448: #include <errno.h>
etisserant@448: #include <string.h>
etisserant@448: #include <termios.h>
etisserant@448: #include <stdlib.h>
etisserant@448: #include <dlfcn.h>
etisserant@448: 
etisserant@448: #define NEED_PRINT_MESSAGE
etisserant@448: 
etisserant@448: #ifdef DLL_CALL
etisserant@448: #undef DLL_CALL
etisserant@448: #endif
etisserant@448: 
etisserant@448: #define DLL_CALL(funcname) (* funcname##_driver)
etisserant@448: 
etisserant@448: #include "canfestival.h"
etisserant@448: 
etisserant@448: int DLL_CALL(canfd)(CAN_HANDLE)FCT_PTR_INIT;
etisserant@448: 
etisserant@448: #ifdef DLL_CALL
etisserant@448: #undef DLL_CALL
etisserant@448: #endif
etisserant@448: 
etisserant@448: #define DLL_CALL(funcname) funcname##_driver
etisserant@448: 
etisserant@448: #define DLSYM(name)\
etisserant@448:         *(void **) (&name##_driver) = dlsym(handle, #name"_driver");\
etisserant@448:         if ((error = dlerror()) != NULL)  {\
etisserant@448:                 fprintf (stderr, "%s\n", error);\
etisserant@448:                 UnLoadCanDriver(handle);\
etisserant@448:                 return NULL;\
etisserant@448:         }
etisserant@448: 
etisserant@448: #define MAX_HUB_PORTS 16
etisserant@448: 
etisserant@448: typedef struct {
etisserant@448: 	int fd;
etisserant@448: 	struct termios old_termio, new_termio;
etisserant@448: 	char *name;
etisserant@448: } port;
etisserant@448: 
etisserant@448: port hub_ports[MAX_HUB_PORTS + 1];  //An extra for a CAN driver port
etisserant@448: 
etisserant@448: s_BOARD bus_if = { "/dev/ttyS0", "125K" };
etisserant@448: 
etisserant@448: /* Receive a CAN message from a hub (pseudo) port */
etisserant@448: int hub_receive(port *p, Message *m)
etisserant@448: {
etisserant@448: 	int rv, N, n = 0;
etisserant@448: 	fd_set rfds;
etisserant@448: 	struct timeval tv;
etisserant@448: 	
etisserant@448: 	N = 4; //initially try to read 4 bytes, including the length byte
etisserant@448: 
etisserant@448: retry:
etisserant@448: 	rv = read(p->fd, &((char *)m)[n], N - n);
etisserant@448: 
etisserant@448: 	if (rv == -1) {
etisserant@448: 		fprintf(stderr, "read: %d, %s\n", p->fd, strerror(errno));
etisserant@448: 		return -1;
etisserant@448: 	}
etisserant@448: 
etisserant@448: 	n += rv;
etisserant@448: 
etisserant@448: 	if (n == 4) {
etisserant@448: 		N = (4 + m->len);
etisserant@448: 		
etisserant@448: 		if (m->len > 8) {
etisserant@448: 			fprintf(stderr, "Warning: invalid message length %d\n", 
etisserant@448: 					m->len);
etisserant@448: 			
etisserant@448: 			//try to resync
etisserant@448: 			return 0;
etisserant@448: 		}
etisserant@448: 
etisserant@448: 	}
etisserant@448: 
etisserant@448: 	if (n < N) {
etisserant@448: 
etisserant@448: 		FD_ZERO(&rfds);
etisserant@448: 		FD_SET(p->fd, &rfds);
etisserant@448: 
etisserant@448: 		tv.tv_sec = 0;
etisserant@448: 		tv.tv_usec=100000;
etisserant@448: 		
etisserant@448: 		rv = select(p->fd + 1, &rfds, NULL, NULL, &tv);
etisserant@448: 		if (rv == 0 || rv == -1) {
etisserant@448: 			fprintf(stderr, "select: %s\n", strerror(errno));
etisserant@448: 			return 0;
etisserant@448: 		}
etisserant@448: 
etisserant@448: 		goto retry;	
etisserant@448: 	}
etisserant@448: 
etisserant@448: 	return 1;
etisserant@448: }
etisserant@448: 
etisserant@448: /* send a CAN message to one of the hub ports */
etisserant@448: UNS8 hub_send(port *p, Message *m)
etisserant@448: {
etisserant@448: 	int rv;
etisserant@448: 
etisserant@448: 	rv = write(p->fd, m, 4 + m->len);
etisserant@448: 
etisserant@448: 	if (rv != 4 + m->len) {
etisserant@448: 		return 1;
etisserant@448: 	}
etisserant@448: 
etisserant@448: 	return 0;
etisserant@448: }
etisserant@448: 
etisserant@448: /* Open a hub port */
etisserant@448: int hub_open(port *p)
etisserant@448: {
etisserant@448: 	if (p->fd != -1) {
etisserant@448: 		fprintf(stderr, "Warning, port %s is already open, fd %d!\n", 
etisserant@448: 					p->name, p->fd);	
etisserant@448: 	}
etisserant@448: 
etisserant@448: 	p->fd = open(p->name, O_RDWR);
etisserant@448: 	
etisserant@448: 	if (p->fd < 0) {
etisserant@448: 		fprintf(stderr, "open: %s, %s\n", p->name, strerror(errno));
etisserant@448: 		goto exit_here;
etisserant@448: 	}
etisserant@448: 
etisserant@448: 	if (tcgetattr(p->fd, &p->old_termio) != 0) {
etisserant@448: 		fprintf(stderr, "tcgetattr: %s, %s\n", 
etisserant@448: 					p->name, strerror(errno));
etisserant@448: 		close(p->fd);
etisserant@448: 		p->fd = -1;
etisserant@448: 		goto exit_here;
etisserant@448: 	}
etisserant@448: 
etisserant@448: 	memcpy(&p->new_termio, &p->old_termio, sizeof(p->old_termio));
etisserant@448: 	cfmakeraw(&p->new_termio);
etisserant@448: 	cfsetispeed(&p->new_termio, B115200);
etisserant@448: 	cfsetospeed(&p->new_termio, B115200);
etisserant@448: 	tcsetattr(p->fd, TCSANOW, &p->new_termio);
etisserant@448: 
etisserant@448: exit_here:
etisserant@448: 	return p->fd;
etisserant@448: }
etisserant@448: 
etisserant@448: /* Close a hub port*/
etisserant@448: int hub_close(port *p)
etisserant@448: {
etisserant@448: 	if (p->fd >= 0) {
etisserant@448: 		tcsetattr(p->fd, TCSANOW, &p->old_termio);
etisserant@448: 		close(p->fd);
etisserant@448: 		p->fd = -1;
etisserant@448: 	}
etisserant@448: 
etisserant@448: 	return 0;
etisserant@448: }
etisserant@448: 
etisserant@448: /** Read from the port index rd_port, and write to all other ports. */
etisserant@448: int read_write(int rd_port, port *p, CAN_HANDLE h, fd_set *wfds, int max_fd)
etisserant@448: {
etisserant@448: 	Message m;
etisserant@448: 	int rv, i;
etisserant@448: 	fd_set wfds_copy;
etisserant@451: 	struct timeval tv = {.tv_sec = 0, .tv_usec = 0}; //wait 0 msec
etisserant@448: 
etisserant@448: 	if (rd_port == MAX_HUB_PORTS) {
etisserant@448: 		rv = DLL_CALL(canReceive)(h, &m);
etisserant@448: 
etisserant@448: 		if (rv == 1) {
etisserant@448: 			return 0;
etisserant@448: 		}
etisserant@448: 	} else {
etisserant@448: 		rv = hub_receive(&p[rd_port], &m);
etisserant@448: 
etisserant@448: 		if (rv != 1) {
etisserant@448: 			return rv;
etisserant@448: 		}
etisserant@448: 	}
etisserant@448: 	
etisserant@448: 	memcpy(&wfds_copy, wfds, sizeof(fd_set));
etisserant@448: 
etisserant@448: 	rv = select(max_fd + 1, NULL, &wfds_copy, NULL, &tv);
etisserant@448: 	
etisserant@448: 	if (rv <= 0) {
etisserant@448: 		return 0;
etisserant@448: 	}
etisserant@448: 
etisserant@448: 	for (i = 0; i < MAX_HUB_PORTS + 1; i++) {
etisserant@448: 
etisserant@448: 		if (i == rd_port) {
etisserant@448: 			fprintf(stderr, "[%d] ", i);
etisserant@448: 			continue;
etisserant@448: 		}
etisserant@448: 
etisserant@451: 		if (p[i].fd < 0 || !FD_ISSET(p[i].fd, &wfds_copy)) {
etisserant@448: 			fprintf(stderr, "{%d} ", i);
etisserant@448: 			continue;
etisserant@448: 		}
etisserant@448: 
etisserant@448: 		fprintf(stderr, "<%d> ", i);
etisserant@448: 
etisserant@448: 		if (i == MAX_HUB_PORTS && h) {
etisserant@448: 			DLL_CALL(canSend)(h, &m);
etisserant@448: 		} else {
etisserant@448: 			hub_send(&p[i], &m);
etisserant@448: 		}
etisserant@448: 	}
etisserant@448: 
etisserant@448: 	print_message(&m);
etisserant@448: 
etisserant@448: 	return 0;
etisserant@448: }
etisserant@448: 
etisserant@448: void help(void)
etisserant@448: {
etisserant@448: 	printf("\n\n");
etisserant@448: 	printf("This is a software hub for the CANFestival library, \n");
etisserant@448: 	printf("based on the *nix pseudo tty.  It supports up to 16\n");
etisserant@448: 	printf("connections from clients, and a connection to a CANFestival\n");
etisserant@448: 	printf("driver, for connection to the outside world.\n");
etisserant@448: 	printf("\n");
etisserant@448: 	printf("Basic use is simply to run can_hub.  Without arguments, it\n");
etisserant@448: 	printf("will use /dev/ptya[0..f] ptys.  You should then run your\n");
etisserant@448: 	printf("linux CANFestival app using libcanfestival_can_serial.so\n");
etisserant@448: 	printf("with the bus name /dev/ttyaX, where X is 0..f and unused.\n");
etisserant@448: 	printf("\n");
etisserant@448: 	printf("You can alter the pty base with -p /dev/ptyx .\n");
etisserant@448: 	printf("\n");
etisserant@448: 	printf("If you want to interface with some other CAN driver, supply\n");
etisserant@448: 	printf("the option -l /path/to/libcanfestival_can_foo.so .\n");
etisserant@448: 	printf("The default bus name and baud are /dev/ttyS0 and 125k.\n");
etisserant@448: 	printf("These can be overridden with -b /dev/{bus name} and -s {baud}.\n");
etisserant@448: }
etisserant@448: 
etisserant@448: /*UnLoads the dll*/
etisserant@448: UNS8 UnLoadCanDriver(LIB_HANDLE handle)
etisserant@448: {
etisserant@448:         if(handle!=NULL)
etisserant@448:         {
etisserant@448:                 dlclose(handle);
etisserant@448: 
etisserant@448:                 handle=NULL;
etisserant@448:                 return 0;
etisserant@448:         }
etisserant@448:         return -1;
etisserant@448: }
etisserant@448: 
etisserant@448: /*Loads the dll and get funcs ptr*/
etisserant@448: LIB_HANDLE LoadCanDriver(char* driver_name)
etisserant@448: {
etisserant@448:         LIB_HANDLE handle = NULL;
etisserant@448:         char *error;
etisserant@448: 
etisserant@448:         if(handle==NULL)
etisserant@448:         {
etisserant@448:                 handle = dlopen(driver_name, RTLD_LAZY);
etisserant@448:         }
etisserant@448: 
etisserant@448:         if (!handle) {
etisserant@448:                 fprintf (stderr, "%s\n", dlerror());
etisserant@448:                 return NULL;
etisserant@448:         }
etisserant@448: 
etisserant@448:         /*Get function ptr*/
etisserant@448:         DLSYM(canReceive)
etisserant@448:         DLSYM(canSend)
etisserant@448:         DLSYM(canOpen)
etisserant@448:         DLSYM(canChangeBaudRate)
etisserant@448:         DLSYM(canClose)
etisserant@448: 	DLSYM(canfd)
etisserant@448: 
etisserant@448:         return handle;
etisserant@448: }
etisserant@448: 
etisserant@448: /**
etisserant@448: */
etisserant@448: int main(int argc, char **argv)
etisserant@448: {
etisserant@448: 	int i, rv, max_fd = 0, ret = 0;
etisserant@448: 	fd_set rfds, rfds_copy;
etisserant@448: 	CAN_HANDLE can_h = NULL;
etisserant@448:         LIB_HANDLE lib_h = NULL;
etisserant@448: 
etisserant@448: 	int c;
etisserant@448: 	extern char *optarg;
etisserant@448: 
etisserant@448: 	char *can_drv = NULL;
etisserant@448: 	char *pty_base = "/dev/ptya";
etisserant@448: 
etisserant@448: 	while ((c = getopt(argc, argv, "-b:s:l:p:h")) != EOF) {
etisserant@448: 		switch (c) {
etisserant@448: 		case 'b':
etisserant@448: 			if (optarg[0] == 0) {
etisserant@448: 				help();
etisserant@448: 				exit(1);
etisserant@448: 			}
etisserant@448: 			bus_if.busname = optarg;
etisserant@448: 			break;
etisserant@448: 		case 's':
etisserant@448: 			if (optarg[0] == 0) {
etisserant@448: 				help();
etisserant@448: 				exit(1);
etisserant@448: 			}
etisserant@448: 			bus_if.baudrate = optarg;
etisserant@448: 			break;
etisserant@448: 		case 'l':
etisserant@448: 			if (optarg[0] == 0) {
etisserant@448: 				help();
etisserant@448: 				exit(1);
etisserant@448: 			}
etisserant@448: 			can_drv = optarg;
etisserant@448: 			break;
etisserant@448: 		case 'p':
etisserant@448: 			if (optarg[0] == 0) {
etisserant@448: 				help();
etisserant@448: 				exit(1);
etisserant@448: 			}
etisserant@448: 			pty_base = optarg;
etisserant@448: 			break;
etisserant@448: 		case 'h':
etisserant@448: 			help();
etisserant@448: 			exit(1);
etisserant@448: 			break;
etisserant@448: 		default:
etisserant@448: 			help();
etisserant@448: 			exit(1);
etisserant@448: 		}
etisserant@448: 	}
etisserant@448: 
etisserant@448: 	FD_ZERO(&rfds);
etisserant@448: 
etisserant@448: 	hub_ports[MAX_HUB_PORTS].fd = -1;
etisserant@448: 
etisserant@448: 	if (can_drv) {
etisserant@448: 		lib_h = LoadCanDriver(can_drv);
etisserant@448: 		if (lib_h == NULL) {
etisserant@448: 			printf("Unable to load library: %s\n", can_drv);
etisserant@448: 			exit(1);
etisserant@448: 		}
etisserant@448: 
etisserant@448: 	        can_h = DLL_CALL(canOpen)(&bus_if);
etisserant@448:         	if(!can_h) {
etisserant@448:         	        fprintf(stderr,"canOpen : failed\n");
etisserant@448:         	        exit(1);
etisserant@448:         	}
etisserant@448: 
etisserant@448: 		hub_ports[MAX_HUB_PORTS].fd = DLL_CALL(canfd)(can_h);
etisserant@448: 
etisserant@448: 		FD_SET(hub_ports[MAX_HUB_PORTS].fd, &rfds);
etisserant@448: 
etisserant@448: 		if (hub_ports[MAX_HUB_PORTS].fd > max_fd) {
etisserant@448: 			max_fd = hub_ports[MAX_HUB_PORTS].fd;
etisserant@448: 		}
etisserant@448: 
etisserant@448: 	}
etisserant@448: 
etisserant@448: 	for (i = 0; i < MAX_HUB_PORTS; i++) {
etisserant@448: 
etisserant@448: 		hub_ports[i].fd = -1;
etisserant@448: 		hub_ports[i].name = NULL;
etisserant@448: 
etisserant@448: 		rv = asprintf(&hub_ports[i].name, "%s%x", pty_base, i);
etisserant@448: 
etisserant@448: 		if (rv < 0) {
etisserant@448: 			fprintf(stderr, "asprintf: %s\n", strerror(errno));
etisserant@448: 			ret = 1;
etisserant@448: 			break;
etisserant@448: 		}
etisserant@448: 
etisserant@448: 		rv = hub_open(&hub_ports[i]);
etisserant@448: 
etisserant@448: 		if (rv < 0) {
etisserant@448: 			ret = 1;
etisserant@448: 			break;
etisserant@448: 		}
etisserant@448: 
etisserant@448: 		FD_SET(rv, &rfds);
etisserant@448: 
etisserant@448: 		if (rv > max_fd) {
etisserant@448: 			max_fd = rv;
etisserant@448: 		}
etisserant@448: 	}
etisserant@448: 
etisserant@448: 	if (ret) {
etisserant@448: 		return ret;
etisserant@448: 	}
etisserant@448: 
etisserant@448: 	while (!ret) {
etisserant@448: 		memcpy(&rfds_copy, &rfds, sizeof(rfds));
etisserant@448: 
etisserant@448: 		rv = select(max_fd + 1, &rfds_copy, NULL, NULL, NULL);
etisserant@448: 
etisserant@448: 		if (rv < 0) {
etisserant@448: 			//select error
etisserant@448: 			fprintf(stderr, "select: %s\n", strerror(errno));
etisserant@448: 			ret = 1;
etisserant@448: 			continue;
etisserant@448: 		}
etisserant@448: 
etisserant@448: 		//as timeout is NULL, must be a rfds set.
etisserant@448: 		for (i = 0; i < MAX_HUB_PORTS + 1; i++) {
etisserant@451: 			if (hub_ports[i].fd >= 0 && 
etisserant@451: 					FD_ISSET(hub_ports[i].fd, &rfds_copy)) {
etisserant@448: 
etisserant@448: 				rv = read_write(i, hub_ports, can_h, &rfds, max_fd);
etisserant@448: 
etisserant@448: 				if (rv < 0 && i < MAX_HUB_PORTS) {
etisserant@448: 
etisserant@448: 					FD_CLR(hub_ports[i].fd, &rfds);
etisserant@448: 
etisserant@448: 					hub_close(&hub_ports[i]);
etisserant@451: 				}						
etisserant@451: 			}
etisserant@451: 
etisserant@451: 			if (hub_ports[i].fd < 0 && i < MAX_HUB_PORTS) {
etisserant@451: 				rv = hub_open(&hub_ports[i]);
etisserant@451: 
etisserant@451: 				if (rv >= 0) {
etisserant@448: 					FD_SET(rv, &rfds);
etisserant@448: 
etisserant@448: 					if (rv > max_fd) {
etisserant@448: 						max_fd = rv;
etisserant@451: 					}
etisserant@451: 				}
etisserant@448: 			}
etisserant@448: 		}
etisserant@448: 	}
etisserant@448: 
etisserant@448: 	for (i = 0; i < MAX_HUB_PORTS; i++) {
etisserant@448: 		hub_close(&hub_ports[i]);
etisserant@448: 	}
etisserant@448: 
etisserant@448: 	if (hub_ports[MAX_HUB_PORTS].fd >= 0) {
etisserant@448: 		DLL_CALL(canClose)(&bus_if);
etisserant@448: 	}
etisserant@448: 
etisserant@448: 	return ret;
etisserant@448: }
etisserant@448: