diff -r f557be43b8c7 -r e93ea158b423 xmldaemon/main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/xmldaemon/main.cpp	Mon Sep 18 14:22:00 2006 +0000
@@ -0,0 +1,312 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ *  This file is part of the IgH EtherCAT Master.
+ *
+ *  The IgH EtherCAT Master is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU General Public License
+ *  as published by the Free Software Foundation; either version 2 of the
+ *  License, or (at your option) any later version.
+ *
+ *  The IgH EtherCAT Master 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 General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with the IgH EtherCAT Master; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ *  The right to use EtherCAT Technology is granted and comes free of
+ *  charge under condition of compatibility of product made by
+ *  Licensee. People intending to distribute/sell products based on the
+ *  code, have to sign an agreement to guarantee that products using
+ *  software based on IgH EtherCAT master stay compatible with the actual
+ *  EtherCAT specification (which are released themselves as an open
+ *  standard) as the (only) precondition to have the right to use EtherCAT
+ *  Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+   \file
+   EtherCAT XML Daemon.
+*/
+
+/*****************************************************************************/
+
+#include <signal.h>
+#include <sys/stat.h>
+#include <dirent.h>
+#include <syslog.h>
+
+#include <libxml/parser.h>
+
+#include <iostream>
+#include <list>
+using namespace std;
+
+#include "slave_device.hpp"
+
+/*****************************************************************************/
+
+unsigned int sig_int_term = 0;
+unsigned int sig_hangup = 0;
+string xml_dir;
+bool become_daemon = true;
+
+list<SlaveDevice> slaveDevices;
+
+/*****************************************************************************/
+
+void parse_xml_file(const char *);
+void parse_info(xmlDocPtr, xmlNodePtr);
+void parse_descriptions(xmlDocPtr, xmlNodePtr);
+void parse_devices(xmlDocPtr, xmlNodePtr);
+
+void read_xml_dir();
+void set_signal_handlers();
+void get_options(int, char *[]);
+void print_usage();
+void signal_handler(int);
+void init_daemon();
+
+/*****************************************************************************/
+
+int main(int argc, char *argv[])
+{
+    set_signal_handlers();
+    get_options(argc, argv);
+
+    read_xml_dir();
+
+    if (become_daemon) init_daemon();
+
+    openlog("ecxmld", LOG_PID, LOG_DAEMON);
+    syslog(LOG_INFO, "EtherCAT XML daemon starting up.");
+
+    return 0;
+}
+
+/*****************************************************************************/
+
+void read_xml_dir()
+{
+    DIR *dir;
+    struct dirent *dir_ent;
+    string entry;
+
+    if (!(dir = opendir(xml_dir.c_str()))) {
+        cerr << "ERROR: Failed to open XML directory \"" << xml_dir << "\"!"
+             << endl;
+        exit(1);
+    }
+
+    while ((dir_ent = readdir(dir))) {
+        entry = dir_ent->d_name;
+        if (entry.size() < 4
+            || entry.substr(entry.size() - 4) != ".xml") continue;
+
+        parse_xml_file((xml_dir + "/" + entry).c_str());
+    }
+
+    // Verzeichnis schliessen
+    closedir(dir);
+}
+
+/*****************************************************************************/
+
+void parse_xml_file(const char *xml_file)
+{
+    xmlDocPtr doc;
+    xmlNodePtr cur;
+
+    cout << xml_file << endl;
+
+    if (!(doc = xmlParseFile(xml_file))) {
+        cerr << "ERROR: Parse error in document!" << endl;
+        return;
+    }
+
+    if (!(cur = xmlDocGetRootElement(doc))) {
+        cout << "Empty document!" << endl;
+        xmlFreeDoc(doc);
+        return;
+    }
+
+    if (xmlStrcmp(cur->name, (const xmlChar *) "EtherCATInfo")) {
+        cerr << "Document of the wrong type!" << endl;
+        xmlFreeDoc(doc);
+        return;
+    }
+
+    parse_info(doc, cur);
+    xmlFreeDoc(doc);
+}
+
+/*****************************************************************************/
+
+void parse_info(xmlDocPtr doc, xmlNodePtr cur)
+{
+    cout << "info" << endl;
+    cur = cur->xmlChildrenNode;
+
+    while (cur) {
+        if ((!xmlStrcmp(cur->name, (const xmlChar *) "Descriptions"))) {
+            parse_descriptions(doc, cur);
+        }
+	cur = cur->next;
+    }
+}
+
+/*****************************************************************************/
+
+void parse_descriptions(xmlDocPtr doc, xmlNodePtr cur)
+{
+    cout << "desc" << endl;
+    cur = cur->xmlChildrenNode;
+
+    while (cur) {
+        if ((!xmlStrcmp(cur->name, (const xmlChar *) "Devices"))) {
+            parse_devices(doc, cur);
+        }
+	cur = cur->next;
+    }
+}
+
+/*****************************************************************************/
+
+void parse_devices(xmlDocPtr doc, xmlNodePtr cur)
+{
+    cout << "devices" << endl;
+    cur = cur->xmlChildrenNode;
+
+    while (cur) {
+        if ((!xmlStrcmp(cur->name, (const xmlChar *) "Device"))) {
+            slaveDevices.push_back(SlaveDevice());
+            slaveDevices.back().fromXml(doc, cur);
+        }
+	cur = cur->next;
+    }
+}
+
+/*****************************************************************************/
+
+void get_options(int argc, char *argv[])
+{
+    int c;
+
+    while (1) {
+        if ((c = getopt(argc, argv, "d:kh")) == -1) break;
+
+            switch (c) {
+            case 'd':
+                xml_dir = optarg;
+                break;
+
+            case 'k':
+                become_daemon = false;
+                break;
+
+            case 'h':
+                print_usage();
+                exit(0);
+
+            default:
+                print_usage();
+                exit(1);
+        }
+    }
+
+    if (optind < argc) {
+        cerr << "ERROR: Too many arguments!" << endl;
+        print_usage();
+        exit(1);
+    }
+
+    if (xml_dir == "") {
+        cerr << "ERROR: XML directory not set!" << endl;
+        print_usage();
+        exit(1);
+    }
+}
+
+/*****************************************************************************/
+
+void print_usage()
+{
+    cout << "Usage: ecxmld [OPTIONS]" << endl
+         << "   -d DIR   Set XML directory (MANDATORY)." << endl
+         << "   -k       Do not detach from console." << endl
+         << "   -h       Show this help." << endl;
+}
+
+/*****************************************************************************/
+
+void signal_handler(int sig)
+{
+    if (sig == SIGHUP) {
+        sig_hangup++;
+    }
+    else if (sig == SIGINT || sig == SIGTERM) {
+        sig_int_term++;
+    }
+}
+
+/*****************************************************************************/
+
+void set_signal_handlers()
+{
+    struct sigaction action;
+
+    action.sa_handler = signal_handler;
+    sigemptyset(&action.sa_mask);
+    action.sa_flags = 0;
+
+    sigaction(SIGHUP, &action, 0);
+    sigaction(SIGINT, &action, 0);
+    sigaction(SIGTERM, &action, 0);
+}
+
+/*****************************************************************************/
+
+void init_daemon()
+{
+    pid_t pid;
+
+    if ((pid = fork()) < 0) {
+        cerr << endl << "ERROR: fork() failed!" << endl << endl;
+        exit(1);
+    }
+
+    if (pid) exit(0);
+
+    if (setsid() == -1) {
+        cerr << "ERROR: Failed to become session leader!" << endl;
+        exit(1);
+    }
+
+    if (chdir("/") < 0) {
+        cerr << "ERROR: Failed to change to file root!" << endl;
+        exit(1);
+    }
+
+    umask(0);
+
+    if (close(0) < 0) {
+        cerr << "WARNING: Failed to close STDIN!" << endl;
+    }
+
+    if (close(1) < 0) {
+        cerr << "WARNING: Failed to close STDOUT!" << endl;
+    }
+
+    if (close(2) < 0) {
+        cerr << "WARNING: Failed to close STDERR!" << endl;
+    }
+}
+
+/*****************************************************************************/