fp@359: /******************************************************************************
fp@359:  *
fp@359:  *  $Id$
fp@359:  *
fp@359:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@359:  *
fp@359:  *  This file is part of the IgH EtherCAT Master.
fp@359:  *
fp@359:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@359:  *  and/or modify it under the terms of the GNU General Public License
fp@359:  *  as published by the Free Software Foundation; either version 2 of the
fp@359:  *  License, or (at your option) any later version.
fp@359:  *
fp@359:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@359:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@359:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@359:  *  GNU General Public License for more details.
fp@359:  *
fp@359:  *  You should have received a copy of the GNU General Public License
fp@359:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@359:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@359:  *
fp@359:  *  The right to use EtherCAT Technology is granted and comes free of
fp@359:  *  charge under condition of compatibility of product made by
fp@359:  *  Licensee. People intending to distribute/sell products based on the
fp@359:  *  code, have to sign an agreement to guarantee that products using
fp@359:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@359:  *  EtherCAT specification (which are released themselves as an open
fp@359:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@359:  *  Technology, IP and trade marks.
fp@359:  *
fp@359:  *****************************************************************************/
fp@359: 
fp@359: /**
fp@359:    \file
fp@359:    EtherCAT XML Daemon.
fp@359: */
fp@359: 
fp@359: /*****************************************************************************/
fp@359: 
fp@359: #include <signal.h>
fp@359: #include <sys/stat.h>
fp@359: #include <dirent.h>
fp@359: #include <syslog.h>
fp@359: 
fp@359: #include <libxml/parser.h>
fp@359: 
fp@359: #include <iostream>
fp@359: #include <list>
fp@359: using namespace std;
fp@359: 
fp@359: #include "slave_device.hpp"
fp@359: 
fp@359: /*****************************************************************************/
fp@359: 
fp@359: unsigned int sig_int_term = 0;
fp@359: unsigned int sig_hangup = 0;
fp@359: string xml_dir;
fp@359: bool become_daemon = true;
fp@359: 
fp@359: list<SlaveDevice> slaveDevices;
fp@359: 
fp@359: /*****************************************************************************/
fp@359: 
fp@359: void parse_xml_file(const char *);
fp@359: void parse_info(xmlDocPtr, xmlNodePtr);
fp@359: void parse_descriptions(xmlDocPtr, xmlNodePtr);
fp@359: void parse_devices(xmlDocPtr, xmlNodePtr);
fp@359: 
fp@359: void read_xml_dir();
fp@359: void set_signal_handlers();
fp@359: void get_options(int, char *[]);
fp@359: void print_usage();
fp@359: void signal_handler(int);
fp@359: void init_daemon();
fp@359: 
fp@359: /*****************************************************************************/
fp@359: 
fp@359: int main(int argc, char *argv[])
fp@359: {
fp@359:     set_signal_handlers();
fp@359:     get_options(argc, argv);
fp@359: 
fp@359:     read_xml_dir();
fp@359: 
fp@359:     if (become_daemon) init_daemon();
fp@359: 
fp@359:     openlog("ecxmld", LOG_PID, LOG_DAEMON);
fp@359:     syslog(LOG_INFO, "EtherCAT XML daemon starting up.");
fp@359: 
fp@359:     return 0;
fp@359: }
fp@359: 
fp@359: /*****************************************************************************/
fp@359: 
fp@359: void read_xml_dir()
fp@359: {
fp@359:     DIR *dir;
fp@359:     struct dirent *dir_ent;
fp@359:     string entry;
fp@359: 
fp@359:     if (!(dir = opendir(xml_dir.c_str()))) {
fp@359:         cerr << "ERROR: Failed to open XML directory \"" << xml_dir << "\"!"
fp@359:              << endl;
fp@359:         exit(1);
fp@359:     }
fp@359: 
fp@359:     while ((dir_ent = readdir(dir))) {
fp@359:         entry = dir_ent->d_name;
fp@359:         if (entry.size() < 4
fp@359:             || entry.substr(entry.size() - 4) != ".xml") continue;
fp@359: 
fp@359:         parse_xml_file((xml_dir + "/" + entry).c_str());
fp@359:     }
fp@359: 
fp@359:     // Verzeichnis schliessen
fp@359:     closedir(dir);
fp@359: }
fp@359: 
fp@359: /*****************************************************************************/
fp@359: 
fp@359: void parse_xml_file(const char *xml_file)
fp@359: {
fp@359:     xmlDocPtr doc;
fp@359:     xmlNodePtr cur;
fp@359: 
fp@359:     cout << xml_file << endl;
fp@359: 
fp@359:     if (!(doc = xmlParseFile(xml_file))) {
fp@359:         cerr << "ERROR: Parse error in document!" << endl;
fp@359:         return;
fp@359:     }
fp@359: 
fp@359:     if (!(cur = xmlDocGetRootElement(doc))) {
fp@359:         cout << "Empty document!" << endl;
fp@359:         xmlFreeDoc(doc);
fp@359:         return;
fp@359:     }
fp@359: 
fp@359:     if (xmlStrcmp(cur->name, (const xmlChar *) "EtherCATInfo")) {
fp@359:         cerr << "Document of the wrong type!" << endl;
fp@359:         xmlFreeDoc(doc);
fp@359:         return;
fp@359:     }
fp@359: 
fp@359:     parse_info(doc, cur);
fp@359:     xmlFreeDoc(doc);
fp@359: }
fp@359: 
fp@359: /*****************************************************************************/
fp@359: 
fp@359: void parse_info(xmlDocPtr doc, xmlNodePtr cur)
fp@359: {
fp@359:     cout << "info" << endl;
fp@359:     cur = cur->xmlChildrenNode;
fp@359: 
fp@359:     while (cur) {
fp@359:         if ((!xmlStrcmp(cur->name, (const xmlChar *) "Descriptions"))) {
fp@359:             parse_descriptions(doc, cur);
fp@359:         }
fp@359: 	cur = cur->next;
fp@359:     }
fp@359: }
fp@359: 
fp@359: /*****************************************************************************/
fp@359: 
fp@359: void parse_descriptions(xmlDocPtr doc, xmlNodePtr cur)
fp@359: {
fp@359:     cout << "desc" << endl;
fp@359:     cur = cur->xmlChildrenNode;
fp@359: 
fp@359:     while (cur) {
fp@359:         if ((!xmlStrcmp(cur->name, (const xmlChar *) "Devices"))) {
fp@359:             parse_devices(doc, cur);
fp@359:         }
fp@359: 	cur = cur->next;
fp@359:     }
fp@359: }
fp@359: 
fp@359: /*****************************************************************************/
fp@359: 
fp@359: void parse_devices(xmlDocPtr doc, xmlNodePtr cur)
fp@359: {
fp@359:     cout << "devices" << endl;
fp@359:     cur = cur->xmlChildrenNode;
fp@359: 
fp@359:     while (cur) {
fp@359:         if ((!xmlStrcmp(cur->name, (const xmlChar *) "Device"))) {
fp@359:             slaveDevices.push_back(SlaveDevice());
fp@359:             slaveDevices.back().fromXml(doc, cur);
fp@359:         }
fp@359: 	cur = cur->next;
fp@359:     }
fp@359: }
fp@359: 
fp@359: /*****************************************************************************/
fp@359: 
fp@359: void get_options(int argc, char *argv[])
fp@359: {
fp@359:     int c;
fp@359: 
fp@359:     while (1) {
fp@359:         if ((c = getopt(argc, argv, "d:kh")) == -1) break;
fp@359: 
fp@359:             switch (c) {
fp@359:             case 'd':
fp@359:                 xml_dir = optarg;
fp@359:                 break;
fp@359: 
fp@359:             case 'k':
fp@359:                 become_daemon = false;
fp@359:                 break;
fp@359: 
fp@359:             case 'h':
fp@359:                 print_usage();
fp@359:                 exit(0);
fp@359: 
fp@359:             default:
fp@359:                 print_usage();
fp@359:                 exit(1);
fp@359:         }
fp@359:     }
fp@359: 
fp@359:     if (optind < argc) {
fp@359:         cerr << "ERROR: Too many arguments!" << endl;
fp@359:         print_usage();
fp@359:         exit(1);
fp@359:     }
fp@359: 
fp@359:     if (xml_dir == "") {
fp@359:         cerr << "ERROR: XML directory not set!" << endl;
fp@359:         print_usage();
fp@359:         exit(1);
fp@359:     }
fp@359: }
fp@359: 
fp@359: /*****************************************************************************/
fp@359: 
fp@359: void print_usage()
fp@359: {
fp@359:     cout << "Usage: ecxmld [OPTIONS]" << endl
fp@359:          << "   -d DIR   Set XML directory (MANDATORY)." << endl
fp@359:          << "   -k       Do not detach from console." << endl
fp@359:          << "   -h       Show this help." << endl;
fp@359: }
fp@359: 
fp@359: /*****************************************************************************/
fp@359: 
fp@359: void signal_handler(int sig)
fp@359: {
fp@359:     if (sig == SIGHUP) {
fp@359:         sig_hangup++;
fp@359:     }
fp@359:     else if (sig == SIGINT || sig == SIGTERM) {
fp@359:         sig_int_term++;
fp@359:     }
fp@359: }
fp@359: 
fp@359: /*****************************************************************************/
fp@359: 
fp@359: void set_signal_handlers()
fp@359: {
fp@359:     struct sigaction action;
fp@359: 
fp@359:     action.sa_handler = signal_handler;
fp@359:     sigemptyset(&action.sa_mask);
fp@359:     action.sa_flags = 0;
fp@359: 
fp@359:     sigaction(SIGHUP, &action, 0);
fp@359:     sigaction(SIGINT, &action, 0);
fp@359:     sigaction(SIGTERM, &action, 0);
fp@359: }
fp@359: 
fp@359: /*****************************************************************************/
fp@359: 
fp@359: void init_daemon()
fp@359: {
fp@359:     pid_t pid;
fp@359: 
fp@359:     if ((pid = fork()) < 0) {
fp@359:         cerr << endl << "ERROR: fork() failed!" << endl << endl;
fp@359:         exit(1);
fp@359:     }
fp@359: 
fp@359:     if (pid) exit(0);
fp@359: 
fp@359:     if (setsid() == -1) {
fp@359:         cerr << "ERROR: Failed to become session leader!" << endl;
fp@359:         exit(1);
fp@359:     }
fp@359: 
fp@359:     if (chdir("/") < 0) {
fp@359:         cerr << "ERROR: Failed to change to file root!" << endl;
fp@359:         exit(1);
fp@359:     }
fp@359: 
fp@359:     umask(0);
fp@359: 
fp@359:     if (close(0) < 0) {
fp@359:         cerr << "WARNING: Failed to close STDIN!" << endl;
fp@359:     }
fp@359: 
fp@359:     if (close(1) < 0) {
fp@359:         cerr << "WARNING: Failed to close STDOUT!" << endl;
fp@359:     }
fp@359: 
fp@359:     if (close(2) < 0) {
fp@359:         cerr << "WARNING: Failed to close STDERR!" << endl;
fp@359:     }
fp@359: }
fp@359: 
fp@359: /*****************************************************************************/