TCP broadcasting chat server to exchange CAN messages between CanFestival nodes on windows. This let user simulate a CANopen network on windows.
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_tcp_win32/.cvsignore Tue Jan 15 09:29:29 2008 +0100
@@ -0,0 +1,4 @@
+libcanfestival_can_socket.so
+Makefile
+*.exe
+*.dll
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_tcp_win32/Makefile.in Tue Jan 15 09:29:29 2008 +0100
@@ -0,0 +1,86 @@
+#! gmake
+
+#
+# Copyright (C) 2006 Edouard TISSERANT
+#
+# This file is part of canfestival, a library implementing the canopen
+# stack
+#
+# 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
+#
+
+CC = SUB_CC
+CXX = SUB_CXX
+LD = SUB_LD
+OPT_CFLAGS = -O2
+CFLAGS = SUB_OPT_CFLAGS
+PROG_CFLAGS = SUB_PROG_CFLAGS
+PREFIX = SUB_PREFIX
+TARGET = SUB_TARGET
+CAN_DRIVER = SUB_CAN_DRIVER
+TIMERS_DRIVER = SUB_TIMERS_DRIVER
+ENABLE_DLL_DRIVERS=SUB_ENABLE_DLL_DRIVERS
+CAN_DLL_CFLAGS=SUB_CAN_DLL_CFLAGS
+
+INCLUDES = -I../../include -I../../include/$(TARGET) -I../../include/$(CAN_DRIVER)
+
+OBJS = Socket.o $(CAN_DRIVER).o
+
+ifeq ($(ENABLE_DLL_DRIVERS),1)
+#CFLAGS += -fPIC
+DRIVER = cyg$(CAN_DRIVER).dll
+else
+DRIVER = $(OBJS)
+endif
+
+SERVER = $(CAN_DRIVER)_server
+
+TARGET_SOFILES = $(PREFIX)/lib/$(DRIVER)
+
+all: driver
+
+driver: $(DRIVER) $(SERVER).exe
+
+$(SERVER).exe: Socket.o $(SERVER).cpp
+ $(CXX) $(CFLAGS) $(PROG_CFLAGS) ${PROGDEFINES} $(INCLUDES) $^ -o $@ -lws2_32
+
+Socket.o: Socket.cpp Socket.h
+ $(CXX) $(CFLAGS) $(PROG_CFLAGS) ${PROGDEFINES} $(INCLUDES) -c $< -o $@
+
+%o: %c
+ $(CC) $(CFLAGS) $(PROG_CFLAGS) ${PROGDEFINES} $(INCLUDES) -o $@ -c $<
+
+%o: %cpp
+ $(CXX) $(CFLAGS) $(PROG_CFLAGS) ${PROGDEFINES} $(INCLUDES) -o $@ -c $<
+
+$(DRIVER): $(OBJS)
+ $(LD) $(PROG_CFLAGS) -shared -o $@ \
+ -Wl,--export-all-symbols \
+ -Wl,--enable-auto-import \
+ -Wl,--whole-archive $^ \
+ -Wl,--no-whole-archive $(CAN_DLL_CFLAGS) \
+ -Wl,--exclude-libs,ALL -lws2_32
+
+install: libcanfestival_$(CAN_DRIVER).so
+ mkdir -p $(PREFIX)/lib/
+ cp $< $(PREFIX)/lib/
+
+uninstall:
+ rm -f $(TARGET_SOFILES)
+
+clean:
+ rm -f $(OBJS)
+
+mrproper: clean
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_tcp_win32/Socket.cpp Tue Jan 15 09:29:29 2008 +0100
@@ -0,0 +1,249 @@
+/*
+ Socket.cpp
+
+ Copyright (C) 2002-2004 René Nyffenegger
+
+ This source code is provided 'as-is', without any express or implied
+ warranty. In no event will the author be held liable for any damages
+ arising from the use of this software.
+
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it
+ freely, subject to the following restrictions:
+
+ 1. The origin of this source code must not be misrepresented; you must not
+ claim that you wrote the original source code. If you use this source code
+ in a product, an acknowledgment in the product documentation would be
+ appreciated but is not required.
+
+ 2. Altered source versions must be plainly marked as such, and must not be
+ misrepresented as being the original source code.
+
+ 3. This notice may not be removed or altered from any source distribution.
+
+ René Nyffenegger rene.nyffenegger@adp-gmbh.ch
+*/
+
+
+#include "Socket.h"
+#include <iostream>
+
+using namespace std;
+
+int Socket::nofSockets_= 0;
+
+void Socket::Start() {
+ if (!nofSockets_) {
+ WSADATA info;
+ if (WSAStartup(MAKEWORD(2,0), &info)) {
+ throw "Could not start WSA";
+ }
+ }
+ ++nofSockets_;
+}
+
+void Socket::End() {
+ WSACleanup();
+}
+
+Socket::Socket() : s_(0) {
+ Start();
+ // UDP: use SOCK_DGRAM instead of SOCK_STREAM
+ s_ = socket(AF_INET,SOCK_STREAM,0);
+
+ if (s_ == INVALID_SOCKET) {
+ throw "INVALID_SOCKET";
+ }
+
+ refCounter_ = new int(1);
+}
+
+Socket::Socket(SOCKET s) : s_(s) {
+ Start();
+ refCounter_ = new int(1);
+};
+
+Socket::~Socket() {
+ if (! --(*refCounter_)) {
+ Close();
+ delete refCounter_;
+ }
+
+ --nofSockets_;
+ if (!nofSockets_) End();
+}
+
+Socket::Socket(const Socket& o) {
+ refCounter_=o.refCounter_;
+ (*refCounter_)++;
+ s_ =o.s_;
+
+ nofSockets_++;
+}
+
+Socket& Socket::operator=(Socket& o) {
+ (*o.refCounter_)++;
+
+ refCounter_=o.refCounter_;
+ s_ =o.s_;
+
+ nofSockets_++;
+
+ return *this;
+}
+
+void Socket::Close() {
+ closesocket(s_);
+}
+
+std::string Socket::ReceiveBytes() {
+ std::string ret;
+ char buf[1024];
+
+ while (1) {
+ u_long arg = 0;
+ if (ioctlsocket(s_, FIONREAD, &arg) != 0)
+ break;
+
+ if (arg == 0)
+ break;
+
+ if (arg > 1024) arg = 1024;
+
+ int rv = recv (s_, buf, arg, 0);
+ if (rv <= 0) break;
+
+ std::string t;
+
+ t.assign (buf, rv);
+ ret += t;
+ }
+
+ return ret;
+}
+
+std::string Socket::ReceiveLine() {
+ std::string ret;
+ while (1) {
+ char r;
+
+ switch(recv(s_, &r, 1, 0)) {
+ case 0: // not connected anymore;
+ // ... but last line sent
+ // might not end in \n,
+ // so return ret anyway.
+ return ret;
+ case -1:
+ return "";
+// if (errno == EAGAIN) {
+// return ret;
+// } else {
+// // not connected anymore
+// return "";
+// }
+ }
+
+ if (r == '\n') return ret;
+ ret += r;
+ }
+}
+
+void Socket::SendLine(std::string s) {
+ s += '\n';
+ send(s_,s.c_str(),s.length(),0);
+}
+
+void Socket::SendBytes(const std::string& s) {
+ send(s_,s.c_str(),s.length(),0);
+}
+
+SocketServer::SocketServer(int port, int connections, TypeSocket type) {
+ sockaddr_in sa;
+
+ memset(&sa, 0, sizeof(sa));
+
+ sa.sin_family = PF_INET;
+ sa.sin_port = htons(port);
+ s_ = socket(AF_INET, SOCK_STREAM, 0);
+ if (s_ == INVALID_SOCKET) {
+ throw "INVALID_SOCKET";
+ }
+
+ if(type==NonBlockingSocket) {
+ u_long arg = 1;
+ ioctlsocket(s_, FIONBIO, &arg);
+ }
+
+ /* bind the socket to the internet address */
+ if (bind(s_, (sockaddr *)&sa, sizeof(sockaddr_in)) == SOCKET_ERROR) {
+ closesocket(s_);
+ throw "INVALID_SOCKET";
+ }
+
+ listen(s_, connections);
+}
+
+Socket* SocketServer::Accept() {
+ SOCKET new_sock = accept(s_, 0, 0);
+ if (new_sock == INVALID_SOCKET) {
+ int rc = WSAGetLastError();
+ if(rc==WSAEWOULDBLOCK) {
+ return 0; // non-blocking call, no request pending
+ }
+ else {
+ throw "Invalid Socket";
+ }
+ }
+
+ Socket* r = new Socket(new_sock);
+ return r;
+}
+
+SocketClient::SocketClient(const std::string& host, int port) : Socket() {
+ std::string error;
+
+ hostent *he;
+ if ((he = gethostbyname(host.c_str())) == 0) {
+ error = strerror(errno);
+ throw error;
+ }
+
+ sockaddr_in addr;
+ addr.sin_family = AF_INET;
+ addr.sin_port = htons(port);
+ addr.sin_addr = *((in_addr *)he->h_addr);
+ memset(&(addr.sin_zero), 0, 8);
+
+ if (::connect(s_, (sockaddr *) &addr, sizeof(sockaddr))) {
+ error = strerror(WSAGetLastError());
+ throw error;
+ }
+}
+
+SocketSelect::SocketSelect(Socket const * const s1, Socket const * const s2, TypeSocket type) {
+ FD_ZERO(&fds_);
+ FD_SET(const_cast<Socket*>(s1)->s_,&fds_);
+ if(s2) {
+ FD_SET(const_cast<Socket*>(s2)->s_,&fds_);
+ }
+
+ TIMEVAL tval;
+ tval.tv_sec = 0;
+ tval.tv_usec = 1;
+
+ TIMEVAL *ptval;
+ if(type==NonBlockingSocket) {
+ ptval = &tval;
+ }
+ else {
+ ptval = 0;
+ }
+
+ if (select (0, &fds_, (fd_set*) 0, (fd_set*) 0, ptval) == SOCKET_ERROR)
+ throw "Error in select";
+}
+
+bool SocketSelect::Readable(Socket const* const s) {
+ if (FD_ISSET(s->s_,&fds_)) return true;
+ return false;
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_tcp_win32/Socket.h Tue Jan 15 09:29:29 2008 +0100
@@ -0,0 +1,100 @@
+/*
+ Socket.h
+
+ Copyright (C) 2002-2004 René Nyffenegger
+
+ This source code is provided 'as-is', without any express or implied
+ warranty. In no event will the author be held liable for any damages
+ arising from the use of this software.
+
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it
+ freely, subject to the following restrictions:
+
+ 1. The origin of this source code must not be misrepresented; you must not
+ claim that you wrote the original source code. If you use this source code
+ in a product, an acknowledgment in the product documentation would be
+ appreciated but is not required.
+
+ 2. Altered source versions must be plainly marked as such, and must not be
+ misrepresented as being the original source code.
+
+ 3. This notice may not be removed or altered from any source distribution.
+
+ René Nyffenegger rene.nyffenegger@adp-gmbh.ch
+*/
+
+#ifndef SOCKET_H
+#define SOCKET_H
+
+#include <winsock2.h>
+
+#include <string>
+
+enum TypeSocket {BlockingSocket, NonBlockingSocket};
+
+class Socket {
+public:
+
+ virtual ~Socket();
+ Socket(const Socket&);
+ Socket& operator=(Socket&);
+
+ std::string ReceiveLine();
+ std::string ReceiveBytes();
+
+ void Close();
+
+ // The parameter of SendLine is not a const reference
+ // because SendLine modifes the std::string passed.
+ void SendLine (std::string);
+
+ // The parameter of SendBytes is a const reference
+ // because SendBytes does not modify the std::string passed
+ // (in contrast to SendLine).
+ void SendBytes(const std::string&);
+
+protected:
+ friend class SocketServer;
+ friend class SocketSelect;
+
+ Socket(SOCKET s);
+ Socket();
+
+
+ SOCKET s_;
+
+ int* refCounter_;
+
+private:
+ static void Start();
+ static void End();
+ static int nofSockets_;
+};
+
+class SocketClient : public Socket {
+public:
+ SocketClient(const std::string& host, int port);
+};
+
+class SocketServer : public Socket {
+public:
+ SocketServer(int port, int connections, TypeSocket type=BlockingSocket);
+
+ Socket* Accept();
+};
+
+// http://msdn.microsoft.com/library/default.asp?url=/library/en-us/winsock/wsapiref_2tiq.asp
+class SocketSelect {
+ public:
+ SocketSelect(Socket const * const s1, Socket const * const s2=NULL, TypeSocket type=BlockingSocket);
+
+ bool Readable(Socket const * const s);
+
+ private:
+ fd_set fds_;
+};
+
+
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_tcp_win32/can_tcp_win32.cpp Tue Jan 15 09:29:29 2008 +0100
@@ -0,0 +1,120 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): Edouard TISSERANT
+
+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
+*/
+
+#include "Socket.h"
+
+#include <iostream>
+
+using namespace std;
+
+extern "C" {
+#include "can_driver.h"
+}
+
+//------------------------------------------------------------------------
+extern "C"
+ UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
+ {
+
+ string l = reinterpret_cast<SocketClient*>(fd0)->ReceiveLine();
+
+ int res = sscanf(l.c_str(),"{0x%3hx,%1hhd,%1hhd,{0x%2hhx,0x%2hhx,0x%2hhx,0x%2hhx,0x%2hhx,0x%2hhx,0x%2hhx,0x%2hhx}}",
+ &m->cob_id,
+ &m->rtr,
+ &m->len,
+ &m->data[0],
+ &m->data[1],
+ &m->data[2],
+ &m->data[3],
+ &m->data[4],
+ &m->data[5],
+ &m->data[6],
+ &m->data[7]
+ );
+
+
+#if defined DEBUG_MSG_CONSOLE_ON
+ printf("in : ");
+ print_message(m);
+#endif
+
+ return res==11 ? 0 : 1 ;
+ }
+
+extern "C"
+ UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
+ {
+ char s[1024];
+ sprintf(s,"{0x%3.3x,%1d,%1d,{0x%2.2x,0x%2.2x,0x%2.2x,0x%2.2x,0x%2.2x,0x%2.2x,0x%2.2x,0x%2.2x}}",
+ m->cob_id,
+ m->rtr,
+ m->len,
+ m->data[0],
+ m->data[1],
+ m->data[2],
+ m->data[3],
+ m->data[4],
+ m->data[5],
+ m->data[6],
+ m->data[7]
+ );
+
+ reinterpret_cast<SocketClient*>(fd0)->SendLine(s);
+#if defined DEBUG_MSG_CONSOLE_ON
+ printf("out : ");
+ print_message(m);
+#endif
+ return 0;
+ }
+
+extern "C"
+ CAN_HANDLE canOpen_driver(s_BOARD *board)
+ {
+ Socket* s;
+ try {
+ s = new SocketClient(board->busname, 11898);
+
+ //s.SendLine("GET / HTTP/1.0");
+ //s.SendLine("Host: www.google.com");
+ }
+ catch (const char* _s) {
+ cerr << _s << endl;
+ return NULL;
+ }
+ catch (std::string _s) {
+ cerr << _s << endl;
+ return NULL;
+ }
+ catch (...) {
+ cerr << "unhandled exception\n";
+ return NULL;
+ }
+ return (CAN_HANDLE) s;
+ }
+
+extern "C"
+ int canClose_driver(CAN_HANDLE inst)
+ {
+ delete reinterpret_cast<SocketClient*>(inst);
+ return 1;
+ }
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_tcp_win32/can_tcp_win32_server.cpp Tue Jan 15 09:29:29 2008 +0100
@@ -0,0 +1,86 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): Edouard TISSERANT
+
+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
+*/
+
+#include "Socket.h"
+#include <iostream>
+#include <process.h>
+#include <string>
+#include <list>
+
+using namespace std;
+
+typedef std::list<Socket*> socket_list;
+
+socket_list g_connections;
+
+unsigned __stdcall Connection(void* a) {
+ Socket* s = (Socket*) a;
+
+ g_connections.push_back(s);
+
+ //s->SendLine("Welcome to the Message Distributor");
+ printf("Accepted new connection (0x%x).\n");
+ while (1) {
+ std::string r = s->ReceiveLine();
+ if (r.empty()) break;
+ //cout << r << endl;
+ for (socket_list::iterator os =g_connections.begin();
+ os!=g_connections.end();
+ os++) {
+ if (*os != s) (*os)->SendLine(r);
+ }
+ }
+
+ g_connections.remove(s);
+
+ delete s;
+
+ printf("Connection closed (0x%x).\n",s);
+
+ return 0;
+}
+
+int main() {
+ printf("************************************************\n"
+ "* TCP broadcasting chat server for CanFestival *\n"
+ "* for use with can_tcp_win32 CAN driver DLL *\n"
+ "************************************************\n"
+ "\n"
+ "Accepts connections on port 11898\n"
+ "and repeat '\\n' terminated lines \n"
+ "to each connected client\n"
+ "\n"
+ "Use netcat to monitor trafic\n"
+ " nc 127.0.0.1 11898\n"
+ "\n");
+
+ SocketServer in(11898,5);
+
+ while (1) {
+ Socket* s=in.Accept();
+
+ unsigned ret;
+ _beginthreadex(0,0,Connection,(void*) s,0,&ret);
+ }
+
+ return 0;
+}