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/******************************************************************************

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it

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 *  and/or modify it under the terms of the GNU General Public License

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 *  as published by the Free Software Foundation; either version 2 of the

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 *  License, or (at your option) any later version.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be

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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

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 *

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 *  You should have received a copy of the GNU General Public License

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 *  along with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

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 *  The right to use EtherCAT Technology is granted and comes free of

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 *  charge under condition of compatibility of product made by

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 *  Licensee. People intending to distribute/sell products based on the

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 *  code, have to sign an agreement to guarantee that products using

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 *  software based on IgH EtherCAT master stay compatible with the actual

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 *  EtherCAT specification (which are released themselves as an open

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 *  standard) as the (only) precondition to have the right to use EtherCAT

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 *  Technology, IP and trade marks.

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 *

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 *****************************************************************************/

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/**

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   \file

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   EtherCAT XML Daemon.

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*/

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/*****************************************************************************/

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#include <signal.h>

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#include <sys/stat.h>

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#include <dirent.h>

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#include <syslog.h>

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#include <libxml/parser.h>

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#include <iostream>

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#include <list>

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using namespace std;

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#include "slave_device.hpp"

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/*****************************************************************************/

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unsigned int sig_int_term = 0;

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unsigned int sig_hangup = 0;

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string xml_dir;

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bool become_daemon = true;

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list<SlaveDevice> slaveDevices;

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/*****************************************************************************/

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void parse_xml_file(const char *);

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void parse_info(xmlDocPtr, xmlNodePtr);

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void parse_descriptions(xmlDocPtr, xmlNodePtr);

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void parse_devices(xmlDocPtr, xmlNodePtr);

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void read_xml_dir();

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void set_signal_handlers();

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void get_options(int, char *[]);

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void print_usage();

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void signal_handler(int);

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void init_daemon();

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/*****************************************************************************/

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int main(int argc, char *argv[])

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{

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    set_signal_handlers();

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    get_options(argc, argv);

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    read_xml_dir();

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    if (become_daemon) init_daemon();

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    openlog("ecxmld", LOG_PID, LOG_DAEMON);

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    syslog(LOG_INFO, "EtherCAT XML daemon starting up.");

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    return 0;

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}

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/*****************************************************************************/

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void read_xml_dir()

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{

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    DIR *dir;

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    struct dirent *dir_ent;

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    string entry;

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    if (!(dir = opendir(xml_dir.c_str()))) {

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        cerr << "ERROR: Failed to open XML directory \"" << xml_dir << "\"!"

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             << endl;

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        exit(1);

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    }

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    while ((dir_ent = readdir(dir))) {

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        entry = dir_ent->d_name;

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        if (entry.size() < 4

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            || entry.substr(entry.size() - 4) != ".xml") continue;

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        parse_xml_file((xml_dir + "/" + entry).c_str());

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    }

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    // Verzeichnis schliessen

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    closedir(dir);

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}

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/*****************************************************************************/

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void parse_xml_file(const char *xml_file)

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{

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    xmlDocPtr doc;

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    xmlNodePtr cur;

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    cout << xml_file << endl;

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    if (!(doc = xmlParseFile(xml_file))) {

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        cerr << "ERROR: Parse error in document!" << endl;

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        return;

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    }

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    if (!(cur = xmlDocGetRootElement(doc))) {

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        cout << "Empty document!" << endl;

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        xmlFreeDoc(doc);

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        return;

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    }

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    if (xmlStrcmp(cur->name, (const xmlChar *) "EtherCATInfo")) {

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        cerr << "Document of the wrong type!" << endl;

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        xmlFreeDoc(doc);

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        return;

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    }

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    parse_info(doc, cur);

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    xmlFreeDoc(doc);

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}

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/*****************************************************************************/

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void parse_info(xmlDocPtr doc, xmlNodePtr cur)

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{

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    cout << "info" << endl;

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    cur = cur->xmlChildrenNode;

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    while (cur) {

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        if ((!xmlStrcmp(cur->name, (const xmlChar *) "Descriptions"))) {

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            parse_descriptions(doc, cur);

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        }

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	cur = cur->next;

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    }

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}

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/*****************************************************************************/

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void parse_descriptions(xmlDocPtr doc, xmlNodePtr cur)

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{

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    cout << "desc" << endl;

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    cur = cur->xmlChildrenNode;

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    while (cur) {

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        if ((!xmlStrcmp(cur->name, (const xmlChar *) "Devices"))) {

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            parse_devices(doc, cur);

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        }

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	cur = cur->next;

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    }

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}

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/*****************************************************************************/

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void parse_devices(xmlDocPtr doc, xmlNodePtr cur)

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{

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    cout << "devices" << endl;

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    cur = cur->xmlChildrenNode;

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    while (cur) {

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        if ((!xmlStrcmp(cur->name, (const xmlChar *) "Device"))) {

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            slaveDevices.push_back(SlaveDevice());

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            slaveDevices.back().fromXml(doc, cur);

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        }

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	cur = cur->next;

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    }

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}

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/*****************************************************************************/

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void get_options(int argc, char *argv[])

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{

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    int c;

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    while (1) {

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        if ((c = getopt(argc, argv, "d:kh")) == -1) break;

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            switch (c) {

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            case 'd':

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                xml_dir = optarg;

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                break;

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            case 'k':

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                become_daemon = false;

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                break;

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            case 'h':

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                print_usage();

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                exit(0);

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            default:

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                print_usage();

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                exit(1);

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        }

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    }

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    if (optind < argc) {

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        cerr << "ERROR: Too many arguments!" << endl;

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        print_usage();

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        exit(1);

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    }

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    if (xml_dir == "") {

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        cerr << "ERROR: XML directory not set!" << endl;

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        print_usage();

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        exit(1);

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    }

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}

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/*****************************************************************************/

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void print_usage()

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{

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    cout << "Usage: ecxmld [OPTIONS]" << endl

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         << "   -d DIR   Set XML directory (MANDATORY)." << endl

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         << "   -k       Do not detach from console." << endl

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         << "   -h       Show this help." << endl;

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}

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/*****************************************************************************/

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void signal_handler(int sig)

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{

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    if (sig == SIGHUP) {

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        sig_hangup++;

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    }

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    else if (sig == SIGINT || sig == SIGTERM) {

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        sig_int_term++;

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    }

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}

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/*****************************************************************************/

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void set_signal_handlers()

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{

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    struct sigaction action;

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    action.sa_handler = signal_handler;

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    sigemptyset(&action.sa_mask);

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    action.sa_flags = 0;

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    sigaction(SIGHUP, &action, 0);

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    sigaction(SIGINT, &action, 0);

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    sigaction(SIGTERM, &action, 0);

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}

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/*****************************************************************************/

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void init_daemon()

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{

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    pid_t pid;

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    if ((pid = fork()) < 0) {

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        cerr << endl << "ERROR: fork() failed!" << endl << endl;

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        exit(1);

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    }

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    if (pid) exit(0);

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    if (setsid() == -1) {

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        cerr << "ERROR: Failed to become session leader!" << endl;

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        exit(1);

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    }

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    if (chdir("/") < 0) {

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        cerr << "ERROR: Failed to change to file root!" << endl;

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        exit(1);

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    }

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    umask(0);

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    if (close(0) < 0) {

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        cerr << "WARNING: Failed to close STDIN!" << endl;

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    }

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    if (close(1) < 0) {

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        cerr << "WARNING: Failed to close STDOUT!" << endl;

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    }

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    if (close(2) < 0) {

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        cerr << "WARNING: Failed to close STDERR!" << endl;

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    }

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}

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/*****************************************************************************/