1 /****************************************************************************** |
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2 * |
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3 * $Id$ |
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4 * |
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5 * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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6 * |
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7 * This file is part of the IgH EtherCAT Master. |
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8 * |
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9 * The IgH EtherCAT Master is free software; you can redistribute it |
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10 * and/or modify it under the terms of the GNU General Public License |
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11 * as published by the Free Software Foundation; either version 2 of the |
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12 * License, or (at your option) any later version. |
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13 * |
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14 * The IgH EtherCAT Master is distributed in the hope that it will be |
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15 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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17 * GNU General Public License for more details. |
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18 * |
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19 * You should have received a copy of the GNU General Public License |
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20 * along with the IgH EtherCAT Master; if not, write to the Free Software |
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21 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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22 * |
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23 * The right to use EtherCAT Technology is granted and comes free of |
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24 * charge under condition of compatibility of product made by |
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25 * Licensee. People intending to distribute/sell products based on the |
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26 * code, have to sign an agreement to guarantee that products using |
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27 * software based on IgH EtherCAT master stay compatible with the actual |
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28 * EtherCAT specification (which are released themselves as an open |
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29 * standard) as the (only) precondition to have the right to use EtherCAT |
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30 * Technology, IP and trade marks. |
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31 * |
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32 *****************************************************************************/ |
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33 |
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34 /** |
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35 \file |
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36 EtherCAT XML Daemon. |
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37 */ |
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38 |
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39 /*****************************************************************************/ |
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40 |
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41 #include <signal.h> |
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42 #include <sys/stat.h> |
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43 #include <dirent.h> |
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44 #include <syslog.h> |
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45 |
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46 #include <libxml/parser.h> |
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47 |
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48 #include <iostream> |
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49 #include <list> |
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50 using namespace std; |
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51 |
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52 #include "slave_device.hpp" |
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53 |
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54 /*****************************************************************************/ |
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55 |
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56 unsigned int sig_int_term = 0; |
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57 unsigned int sig_hangup = 0; |
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58 string xml_dir; |
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59 bool become_daemon = true; |
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60 |
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61 list<SlaveDevice> slaveDevices; |
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62 |
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63 /*****************************************************************************/ |
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64 |
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65 void parse_xml_file(const char *); |
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66 void parse_info(xmlDocPtr, xmlNodePtr); |
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67 void parse_descriptions(xmlDocPtr, xmlNodePtr); |
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68 void parse_devices(xmlDocPtr, xmlNodePtr); |
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69 |
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70 void read_xml_dir(); |
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71 void set_signal_handlers(); |
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72 void get_options(int, char *[]); |
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73 void print_usage(); |
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74 void signal_handler(int); |
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75 void init_daemon(); |
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76 |
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77 /*****************************************************************************/ |
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78 |
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79 int main(int argc, char *argv[]) |
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80 { |
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81 set_signal_handlers(); |
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82 get_options(argc, argv); |
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83 |
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84 read_xml_dir(); |
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85 |
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86 if (become_daemon) init_daemon(); |
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87 |
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88 openlog("ecxmld", LOG_PID, LOG_DAEMON); |
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89 syslog(LOG_INFO, "EtherCAT XML daemon starting up."); |
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90 |
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91 return 0; |
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92 } |
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93 |
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94 /*****************************************************************************/ |
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95 |
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96 void read_xml_dir() |
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97 { |
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98 DIR *dir; |
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99 struct dirent *dir_ent; |
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100 string entry; |
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101 |
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102 if (!(dir = opendir(xml_dir.c_str()))) { |
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103 cerr << "ERROR: Failed to open XML directory \"" << xml_dir << "\"!" |
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104 << endl; |
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105 exit(1); |
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106 } |
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107 |
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108 while ((dir_ent = readdir(dir))) { |
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109 entry = dir_ent->d_name; |
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110 if (entry.size() < 4 |
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111 || entry.substr(entry.size() - 4) != ".xml") continue; |
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112 |
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113 parse_xml_file((xml_dir + "/" + entry).c_str()); |
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114 } |
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115 |
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116 // Verzeichnis schliessen |
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117 closedir(dir); |
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118 } |
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119 |
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120 /*****************************************************************************/ |
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121 |
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122 void parse_xml_file(const char *xml_file) |
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123 { |
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124 xmlDocPtr doc; |
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125 xmlNodePtr cur; |
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126 |
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127 cout << xml_file << endl; |
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128 |
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129 if (!(doc = xmlParseFile(xml_file))) { |
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130 cerr << "ERROR: Parse error in document!" << endl; |
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131 return; |
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132 } |
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133 |
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134 if (!(cur = xmlDocGetRootElement(doc))) { |
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135 cout << "Empty document!" << endl; |
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136 xmlFreeDoc(doc); |
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137 return; |
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138 } |
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139 |
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140 if (xmlStrcmp(cur->name, (const xmlChar *) "EtherCATInfo")) { |
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141 cerr << "Document of the wrong type!" << endl; |
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142 xmlFreeDoc(doc); |
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143 return; |
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144 } |
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145 |
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146 parse_info(doc, cur); |
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147 xmlFreeDoc(doc); |
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148 } |
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149 |
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150 /*****************************************************************************/ |
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151 |
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152 void parse_info(xmlDocPtr doc, xmlNodePtr cur) |
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153 { |
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154 cout << "info" << endl; |
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155 cur = cur->xmlChildrenNode; |
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156 |
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157 while (cur) { |
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158 if ((!xmlStrcmp(cur->name, (const xmlChar *) "Descriptions"))) { |
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159 parse_descriptions(doc, cur); |
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160 } |
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161 cur = cur->next; |
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162 } |
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163 } |
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164 |
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165 /*****************************************************************************/ |
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166 |
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167 void parse_descriptions(xmlDocPtr doc, xmlNodePtr cur) |
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168 { |
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169 cout << "desc" << endl; |
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170 cur = cur->xmlChildrenNode; |
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171 |
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172 while (cur) { |
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173 if ((!xmlStrcmp(cur->name, (const xmlChar *) "Devices"))) { |
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174 parse_devices(doc, cur); |
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175 } |
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176 cur = cur->next; |
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177 } |
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178 } |
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179 |
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180 /*****************************************************************************/ |
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181 |
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182 void parse_devices(xmlDocPtr doc, xmlNodePtr cur) |
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183 { |
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184 cout << "devices" << endl; |
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185 cur = cur->xmlChildrenNode; |
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186 |
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187 while (cur) { |
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188 if ((!xmlStrcmp(cur->name, (const xmlChar *) "Device"))) { |
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189 slaveDevices.push_back(SlaveDevice()); |
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190 slaveDevices.back().fromXml(doc, cur); |
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191 } |
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192 cur = cur->next; |
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193 } |
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194 } |
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195 |
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196 /*****************************************************************************/ |
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197 |
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198 void get_options(int argc, char *argv[]) |
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199 { |
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200 int c; |
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201 |
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202 while (1) { |
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203 if ((c = getopt(argc, argv, "d:kh")) == -1) break; |
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204 |
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205 switch (c) { |
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206 case 'd': |
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207 xml_dir = optarg; |
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208 break; |
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209 |
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210 case 'k': |
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211 become_daemon = false; |
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212 break; |
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213 |
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214 case 'h': |
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215 print_usage(); |
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216 exit(0); |
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217 |
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218 default: |
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219 print_usage(); |
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220 exit(1); |
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221 } |
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222 } |
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223 |
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224 if (optind < argc) { |
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225 cerr << "ERROR: Too many arguments!" << endl; |
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226 print_usage(); |
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227 exit(1); |
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228 } |
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229 |
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230 if (xml_dir == "") { |
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231 cerr << "ERROR: XML directory not set!" << endl; |
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232 print_usage(); |
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233 exit(1); |
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234 } |
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235 } |
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236 |
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237 /*****************************************************************************/ |
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238 |
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239 void print_usage() |
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240 { |
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241 cout << "Usage: ecxmld [OPTIONS]" << endl |
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242 << " -d DIR Set XML directory (MANDATORY)." << endl |
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243 << " -k Do not detach from console." << endl |
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244 << " -h Show this help." << endl; |
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245 } |
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246 |
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247 /*****************************************************************************/ |
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248 |
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249 void signal_handler(int sig) |
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250 { |
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251 if (sig == SIGHUP) { |
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252 sig_hangup++; |
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253 } |
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254 else if (sig == SIGINT || sig == SIGTERM) { |
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255 sig_int_term++; |
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256 } |
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257 } |
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258 |
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259 /*****************************************************************************/ |
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260 |
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261 void set_signal_handlers() |
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262 { |
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263 struct sigaction action; |
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264 |
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265 action.sa_handler = signal_handler; |
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266 sigemptyset(&action.sa_mask); |
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267 action.sa_flags = 0; |
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268 |
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269 sigaction(SIGHUP, &action, 0); |
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270 sigaction(SIGINT, &action, 0); |
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271 sigaction(SIGTERM, &action, 0); |
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272 } |
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273 |
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274 /*****************************************************************************/ |
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275 |
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276 void init_daemon() |
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277 { |
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278 pid_t pid; |
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279 |
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280 if ((pid = fork()) < 0) { |
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281 cerr << endl << "ERROR: fork() failed!" << endl << endl; |
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282 exit(1); |
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283 } |
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284 |
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285 if (pid) exit(0); |
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286 |
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287 if (setsid() == -1) { |
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288 cerr << "ERROR: Failed to become session leader!" << endl; |
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289 exit(1); |
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290 } |
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291 |
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292 if (chdir("/") < 0) { |
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293 cerr << "ERROR: Failed to change to file root!" << endl; |
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294 exit(1); |
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295 } |
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296 |
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297 umask(0); |
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298 |
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299 if (close(0) < 0) { |
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300 cerr << "WARNING: Failed to close STDIN!" << endl; |
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301 } |
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302 |
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303 if (close(1) < 0) { |
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304 cerr << "WARNING: Failed to close STDOUT!" << endl; |
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305 } |
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306 |
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307 if (close(2) < 0) { |
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308 cerr << "WARNING: Failed to close STDERR!" << endl; |
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309 } |
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310 } |
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311 |
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312 /*****************************************************************************/ |
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