author | Florian Pose <fp@igh-essen.com> |
Fri, 09 Feb 2007 15:41:15 +0000 | |
changeset 544 | 3ff1b429ec9f |
parent 246 | 0bf7c769de06 |
permissions | -rwxr-xr-x |
224 | 1 |
#!/usr/bin/perl -w |
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#------------------------------------------------------------------------------ |
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# |
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# Copyright (C) 2006 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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0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
224
diff
changeset
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# as published by the Free Software Foundation; either version 2 of the |
0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
224
diff
changeset
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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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246
0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
224
diff
changeset
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# The right to use EtherCAT Technology is granted and comes free of |
0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
224
diff
changeset
|
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# charge under condition of compatibility of product made by |
0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
224
diff
changeset
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# Licensee. People intending to distribute/sell products based on the |
0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
224
diff
changeset
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# code, have to sign an agreement to guarantee that products using |
0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
224
diff
changeset
|
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# software based on IgH EtherCAT master stay compatible with the actual |
0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
224
diff
changeset
|
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# EtherCAT specification (which are released themselves as an open |
0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
224
diff
changeset
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# standard) as the (only) precondition to have the right to use EtherCAT |
0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
224
diff
changeset
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# Technology, IP and trade marks. |
0bf7c769de06
Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents:
224
diff
changeset
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# |
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#------------------------------------------------------------------------------ |
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# |
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# Multithreaded Server |
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# according to the example from "Programming Perl" |
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# this code is improved according to the example from |
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# perldoc perlipc, so now safely being usable under Perl 5.8 |
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# (see note (*)) |
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# |
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# works with read/write on a device-file |
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# |
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#------------------------------------------------------------------------------ |
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require 5.002; |
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use strict; |
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BEGIN { $ENV{PATH} = '/opt/msr/bin:/usr/bin:/bin' } |
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use Socket; |
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use Carp; |
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use FileHandle; |
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use Getopt::Std; |
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use Sys::Syslog qw(:DEFAULT setlogsock); |
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use vars qw ( |
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$self $pid $dolog $port $dev %opts $selfbase |
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$len $offset $stream $written $read $log $blksize |
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$instdir |
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$authfile %authhosts |
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); |
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# Do logging to local syslogd by unix-domain socket instead of inetd |
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setlogsock("unix"); |
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# Prototypes and some little Tools |
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sub spawn; |
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sub logmsg { |
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my ($level, $debug, @text) = @_; |
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syslog("daemon|$level", @text) if $debug > $dolog; |
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# print STDERR "daemon|$level", @text, "\n" if $dolog; |
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} |
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sub out { |
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my $waitpid = wait; |
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logmsg("notice", 2, "$waitpid exited"); |
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unlink "$selfbase.pid"; |
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exit 0; |
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} |
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sub help { |
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print "\n usage: $0 [-l og] [-h elp] [-p port] [-d device]\n"; |
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exit; |
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} |
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# Process Options |
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%opts = ( |
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"l" => 1, |
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"h" => 0, |
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"p" => 2345, |
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"d" => "/dev/msr" |
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); |
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getopts("lhp:d:", \%opts); |
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help if $opts{"h"}; |
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( $self = $0 ) =~ s+.*/++ ; |
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( $selfbase = $self ) =~ s/\..*//; |
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$log = "$selfbase.log"; |
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$dolog = $opts{"l"}; |
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$port = $opts{"p"}; |
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$dev = $opts{"d"}; |
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$blksize = 1024; # try to write as much bytes |
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$instdir = "/opt/msr"; |
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$authfile = "$instdir/etc/hosts.auth"; |
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# Start logging |
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openlog($self, 'pid'); |
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# Flush Output, dont buffer |
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$| = 1; |
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# first fork and run in background |
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if ($pid = fork) { |
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# open LOG, ">$log" if $dolog; |
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# close LOG; |
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logmsg("notice", 2, "forked process: $pid\n"); |
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exit 0; |
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} |
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# Server tells about startup success |
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open (PID, ">/$instdir/var/run/$selfbase.pid"); |
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print PID "$$\n"; |
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close PID; |
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# Cleanup on exit (due to kill -TERM signal) |
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$SIG{TERM} = \&out; |
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# We use streams |
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my $proto = getprotobyname('tcp'); |
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# Open Server socket |
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socket(Server, PF_INET, SOCK_STREAM, $proto) or die "socket: $!"; |
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setsockopt(Server, SOL_SOCKET, SO_REUSEADDR, pack("l", 1)) |
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or die "setsocketopt: $!"; |
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bind (Server, sockaddr_in($port, INADDR_ANY)) |
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or die "bind: $!"; |
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listen (Server, SOMAXCONN) |
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or die "listen: $!"; |
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%authhosts = (); |
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# get authorized hosts |
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open (AUTH, $authfile) |
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or logmsg ("notice", 2, "Could not read allowed hosts file: $authfile"); |
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while (<AUTH>) { |
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chomp; |
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my $host = lc $_; |
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if ($host =~ /^[\d\w]/) { |
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$authhosts{$_} = 1; |
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logmsg ("notice", 2, "Authorized host: >$host<"); |
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} |
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} |
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close (AUTH); |
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# tell about open server socket |
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logmsg ("notice", 2, "Server started at port $port"); |
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my $waitedpid = 0; |
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my $paddr; |
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# wait for children to return, thus avoiding zombies |
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# improvement (*) |
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use POSIX ":sys_wait_h"; |
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sub REAPER { |
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my $child; |
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while (($waitedpid = waitpid(-1,WNOHANG)) > 0) { |
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logmsg ("notice", 2, "reaped $waitedpid", ($? ? " with exit $?" : "")); |
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} |
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$SIG{CHLD} = \&REAPER; # loathe sysV |
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} |
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# also all sub-processes should wait for their children |
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$SIG{CHLD} = \&REAPER; |
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# start a new server for every incoming request |
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# improvement (*) -- loop forever |
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while ( 1 ) { |
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for ( $waitedpid = 0; |
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($paddr = accept(Client,Server)) || $waitedpid; |
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$waitedpid = 0, close Client ) { |
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next if $waitedpid and not $paddr; |
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my ($port, $iaddr) = sockaddr_in($paddr); |
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my $name = lc gethostbyaddr($iaddr, AF_INET); |
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my $ipaddr = inet_ntoa($iaddr); |
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my $n = 0; |
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# tell about the requesting client |
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logmsg ("info", 2, "Connection from >$ipaddr< ($name) at port $port"); |
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spawn sub { |
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my ($head, $hlen, $pos, $pegel, $typ, $siz, $nch, $nrec, $dat, $i, $j, $n, $llen); |
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my ($watchpegel, $shmpegel); |
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my ($rin, $rout, $in, $line, $data_requested, $oversample); |
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my (@channels); |
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# to use stdio on writing to Client |
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Client->autoflush(); |
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# Open Device |
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sysopen (DEV, "$dev", O_RDWR | O_NONBLOCK, 0666) or die("can't open $dev"); |
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# Bitmask to check for input on stdin |
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$rin = ""; |
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vec($rin, fileno(Client), 1) = 1; |
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# check for authorized hosts |
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my $access = 'deny'; |
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$access = 'allow' if $authhosts{$ipaddr}; |
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$line = "<remote_host host=\"$ipaddr\" access=\"$access\">\n"; |
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logmsg ("info", 2, $line); |
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$len = length $line; |
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$offset = 0; |
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while ($len) { |
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$written = syswrite (DEV, $line, $len, $offset); |
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$len -= $written; |
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$offset += $written; |
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} |
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while ( 1 ) { |
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$in = select ($rout=$rin, undef, undef, 0.0); # poll client |
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# look for any Input from Client |
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if ($in) { |
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# exit on EOF |
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$len = sysread (Client, $line, $blksize) or exit; |
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logmsg("info", 0, "got $len bytes: \"$line\""); |
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$offset = 0; |
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# copy request to device |
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while ($len) { |
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$written = syswrite (DEV, $line, $len, $offset); |
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$len -= $written; |
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$offset += $written; |
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} |
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} |
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# look for some output from device |
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if ($len = sysread DEV, $stream, $blksize) { |
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print Client $stream; |
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} else { |
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select undef, undef, undef, 0.1; # calm down if nothing on device |
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} |
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} |
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}; |
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logmsg("info", 2, "spawned\n"); |
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} |
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logmsg("info", 2, "server loop\n"); |
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} |
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sub spawn { |
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my $coderef = shift; |
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unless (@_ == 0 && $coderef && ref($coderef) eq 'CODE') { |
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confess "usage: spawn CODEREF"; |
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} |
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my $pid; |
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if (!defined($pid = fork)) { |
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logmsg ("notice", 2, "fork failed: $!"); |
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return; |
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} elsif ($pid) { |
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logmsg ("notice", 2, "Request $pid"); |
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return; # Parent |
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} |
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# do not use fdup as in the original example |
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# open (STDIN, "<&Client") or die "Can't dup client to stdin"; |
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# open (STDOUT, ">&Client") or die "Can't dup client to stdout"; |
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# STDOUT->autoflush(); |
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exit &$coderef(); |
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} |