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CANopenNode/socketCAN/CO_main_basic.c
Janez 02a734a832 Move socketCAN/Makefile into base directory 
Partially update sockeCAN/main.c and rename to sockeCAN/CO_main_basic.c.
Fix some warnings in socketCAN.
2020-03-02 09:17:52 +01:00

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/*
* CANopen main program file for Linux SocketCAN.
*
* @file main.c
* @author Janez Paternoster
* @copyright 2015 - 2020 Janez Paternoster
*
* This file is part of CANopenSocket, a Linux implementation of CANopen
* stack with master functionality. Project home page is
* <https://github.com/CANopenNode/CANopenSocket>. CANopenSocket is based
* on CANopenNode: <https://github.com/CANopenNode/CANopenNode>.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <sched.h>
#include <signal.h>
#include <errno.h>
#include <sys/epoll.h>
#include <net/if.h>
#include <linux/reboot.h>
#include <sys/reboot.h>
#include "CANopen.h"
#include "CO_OD_storage.h"
#include "CO_notify_pipe.h"
#include "CO_error.h"
#include "CO_Linux_threads.h"
/* Call external application functions. */
#if __has_include("CO_application.h")
#include "CO_application.h"
#define CO_USE_APPLICATION
#endif
/* Add trace functionality for recording variables over time */
#if CO_NO_TRACE > 0
#include "CO_time_trace.h"
#endif
/* Use DS309-3 standard - ASCII command interface to CANopen: NMT master,
* LSS master and SDO client */
#ifdef CO_309
#include "CO_command.h"
#endif
/* Interval of real-time thread in microseconds */
#ifndef TMR_THREAD_INTERVAL_US
#define TMR_THREAD_INTERVAL_US 1000
#endif
#ifdef CO_309
/* Mutex is locked, when CAN is not valid (configuration state). May be used
* from command interface. RT threads may use CO->CANmodule[0]->CANnormal instead. */
pthread_mutex_t CO_CAN_VALID_mtx = PTHREAD_MUTEX_INITIALIZER;
#endif
/* Other variables and objects */
static int rtPriority = -1; /* Real time priority, configurable by arguments. (-1=RT disabled) */
static int mainline_epoll_fd; /* epoll file descriptor for mainline */
static CO_OD_storage_t odStor; /* Object Dictionary storage object for CO_OD_ROM */
static CO_OD_storage_t odStorAuto; /* Object Dictionary storage object for CO_OD_EEPROM */
static char *odStorFile_rom = "od_storage"; /* Name of the file */
static char *odStorFile_eeprom = "od_storage_auto"; /* Name of the file */
#ifdef CO_309
static in_port_t CO_command_socket_tcp_port = 60000; /* default port when used in tcp gateway mode */
#endif
#if CO_NO_TRACE > 0
static CO_time_t CO_time; /* Object for current time */
#endif
/* Realtime thread */
#ifdef CO_MULTI_THREAD
static void* rt_thread(void* arg);
static pthread_t rt_thread_id;
static int rt_thread_epoll_fd;
#endif
/* Signal handler */
volatile sig_atomic_t CO_endProgram = 0;
static void sigHandler(int sig) {
CO_endProgram = 1;
}
/* Helper functions ***********************************************************/
void CO_errExit(char* msg) {
perror(msg);
exit(EXIT_FAILURE);
}
/* send CANopen generic emergency message */
void CO_error(const uint32_t info) {
CO_errorReport(CO->em, CO_EM_GENERIC_SOFTWARE_ERROR, CO_EMC_SOFTWARE_INTERNAL, info);
fprintf(stderr, "canopend generic error: 0x%X\n", info);
}
static void printUsage(char *progName) {
fprintf(stderr,
"Usage: %s <CAN device name> [options]\n", progName);
fprintf(stderr,
"\n"
"Options:\n"
" -i <Node ID> CANopen Node-id (1..127). If not specified, value from\n"
" Object dictionary (0x2101) is used.\n"
" -p <RT priority> Real-time priority of RT thread (1 .. 99). If not set or\n"
" set to -1, then normal scheduler is used for RT thread.\n"
" -r Enable reboot on CANopen NMT reset_node command. \n"
" -s <ODstorage file> Set Filename for OD storage ('od_storage' is default).\n"
" -a <ODstorageAuto> Set Filename for automatic storage variables from\n"
" Object dictionary. ('od_storage_auto' is default).\n");
#ifdef CO_309
fprintf(stderr,
" -c <Socket path> Enable command interface for master functionality. \n"
" If socket path is specified as empty string \"\",\n"
" default '%s' will be used.\n"
" Note that location of socket path may affect security.\n"
" See 'canopencomm/canopencomm --help' for more info.\n"
, CO_command_socketPath);
fprintf(stderr,
" -t <port> Enable command interface for master functionality over tcp, \n"
" listen to <port>.\n"
" Note that using this mode may affect security.\n"
);
#endif
fprintf(stderr,
"\n"
"See also: https://github.com/CANopenNode/CANopenNode\n"
"\n");
}
/******************************************************************************/
/** Mainline and RT thread **/
/******************************************************************************/
int main (int argc, char *argv[]) {
CO_NMT_reset_cmd_t reset = CO_RESET_NOT;
CO_ReturnError_t err;
CO_ReturnError_t odStorStatus_rom, odStorStatus_eeprom;
intptr_t CANdevice0Index = 0;
int opt;
bool_t firstRun = true;
char* CANdevice = NULL; /* CAN device, configurable by arguments. */
bool_t nodeIdFromArgs = false; /* True, if program arguments are used for CANopen Node Id */
int nodeId = -1; /* Use value from Object Dictionary or set to 1..127 by arguments */
bool_t rebootEnable = false; /* Configurable by arguments */
#ifdef CO_309
typedef enum CMD_MODE {CMD_NONE, CMD_LOCAL, CMD_REMOTE} cmdMode_t;
cmdMode_t commandEnable = CMD_NONE; /* Configurable by arguments */
#endif
if(argc < 2 || strcmp(argv[1], "--help") == 0){
printUsage(argv[0]);
exit(EXIT_SUCCESS);
}
/* Get program options */
while((opt = getopt(argc, argv, "i:p:rc:t:s:a:")) != -1) {
switch (opt) {
case 'i':
nodeId = strtol(optarg, NULL, 0);
nodeIdFromArgs = true;
break;
case 'p': rtPriority = strtol(optarg, NULL, 0); break;
case 'r': rebootEnable = true; break;
#ifdef CO_309
case 'c':
/* In case of empty string keep default name, just enable interface. */
if(strlen(optarg) != 0) {
CO_command_socketPath = optarg;
}
commandEnable = CMD_LOCAL;
break;
case 't':
/* In case of empty string keep default port, just enable interface. */
if(strlen(optarg) != 0) {
//CO_command_socket_tcp_port = optarg;
int scanResult = sscanf(optarg, "%hu", &CO_command_socket_tcp_port);
if(scanResult != 1){ //expect one argument to be extracted
printf("ERROR: -t argument \'%s\' is not a valid tcp port\n", optarg);
exit(EXIT_FAILURE);
}
}
commandEnable = CMD_REMOTE;
break;
#endif
case 's': odStorFile_rom = optarg; break;
case 'a': odStorFile_eeprom = optarg; break;
default:
printUsage(argv[0]);
exit(EXIT_FAILURE);
}
}
if(optind < argc) {
CANdevice = argv[optind];
CANdevice0Index = if_nametoindex(CANdevice);
}
if(nodeIdFromArgs && (nodeId < 1 || nodeId > 127)) {
fprintf(stderr, "Wrong node ID (%d)\n", nodeId);
printUsage(argv[0]);
exit(EXIT_FAILURE);
}
if(rtPriority != -1 && (rtPriority < sched_get_priority_min(SCHED_FIFO)
|| rtPriority > sched_get_priority_max(SCHED_FIFO))) {
fprintf(stderr, "Wrong RT priority (%d)\n", rtPriority);
printUsage(argv[0]);
exit(EXIT_FAILURE);
}
if(CANdevice0Index == 0) {
char s[120];
snprintf(s, 120, "Can't find CAN device \"%s\"", CANdevice);
CO_errExit(s);
}
printf("%s - starting CANopen device with Node ID %d(0x%02X)", argv[0], nodeId, nodeId);
/* Allocate memory for CANopen objects */
err = CO_new();
if (err != CO_ERROR_NO) {
fprintf(stderr, "Program init - %s - CO_new() failed.\n", argv[0]);
exit(EXIT_FAILURE);
}
/* Verify, if OD structures have proper alignment of initial values */
if(CO_OD_RAM.FirstWord != CO_OD_RAM.LastWord) {
fprintf(stderr, "Program init - %s - Error in CO_OD_RAM.\n", argv[0]);
exit(EXIT_FAILURE);
}
if(CO_OD_EEPROM.FirstWord != CO_OD_EEPROM.LastWord) {
fprintf(stderr, "Program init - %s - Error in CO_OD_EEPROM.\n", argv[0]);
exit(EXIT_FAILURE);
}
if(CO_OD_ROM.FirstWord != CO_OD_ROM.LastWord) {
fprintf(stderr, "Program init - %s - Error in CO_OD_ROM.\n", argv[0]);
exit(EXIT_FAILURE);
}
/* initialize Object Dictionary storage */
odStorStatus_rom = CO_OD_storage_init(&odStor, (uint8_t*) &CO_OD_ROM, sizeof(CO_OD_ROM), odStorFile_rom);
odStorStatus_eeprom = CO_OD_storage_init(&odStorAuto, (uint8_t*) &CO_OD_EEPROM, sizeof(CO_OD_EEPROM), odStorFile_eeprom);
/* Catch signals SIGINT and SIGTERM */
if(signal(SIGINT, sigHandler) == SIG_ERR)
CO_errExit("Program init - SIGINIT handler creation failed");
if(signal(SIGTERM, sigHandler) == SIG_ERR)
CO_errExit("Program init - SIGTERM handler creation failed");
/* increase variable each startup. Variable is automatically stored in non-volatile memory. */
printf(", count=%u ...\n", ++OD_powerOnCounter);
while(reset != CO_RESET_APP && reset != CO_RESET_QUIT && CO_endProgram == 0) {
/* CANopen communication reset - initialize CANopen objects *******************/
printf("%s - communication reset ...\n", argv[0]);
#ifdef CO_309
/* Wait other threads (command interface). */
pthread_mutex_lock(&CO_CAN_VALID_mtx);
#endif
/* Wait rt_thread. */
if(!firstRun) {
CO_LOCK_OD();
CO->CANmodule[0]->CANnormal = false;
CO_UNLOCK_OD();
}
/* Enter CAN configuration. */
CO_CANsetConfigurationMode((void *)CANdevice0Index);
/* initialize CANopen */
if(!nodeIdFromArgs) {
/* use value from Object dictionary, if not set by program arguments */
nodeId = OD_CANNodeID;
}
err = CO_CANinit((void *)CANdevice0Index, 0 /* bit rate not used */);
if (err == CO_ERROR_NO) {
err = CO_CANopenInit(nodeId);
}
if(err != CO_ERROR_NO) {
char s[120];
snprintf(s, 120, "Communication reset - CANopen initialization failed, err=%d", err);
CO_errExit(s);
}
/* initialize OD objects 1010 and 1011 and verify errors. */
CO_OD_configure(CO->SDO[0], OD_H1010_STORE_PARAM_FUNC, CO_ODF_1010, (void*)&odStor, 0, 0U);
CO_OD_configure(CO->SDO[0], OD_H1011_REST_PARAM_FUNC, CO_ODF_1011, (void*)&odStor, 0, 0U);
if(odStorStatus_rom != CO_ERROR_NO) {
CO_errorReport(CO->em, CO_EM_NON_VOLATILE_MEMORY, CO_EMC_HARDWARE, (uint32_t)odStorStatus_rom);
}
if(odStorStatus_eeprom != CO_ERROR_NO) {
CO_errorReport(CO->em, CO_EM_NON_VOLATILE_MEMORY, CO_EMC_HARDWARE, (uint32_t)odStorStatus_eeprom + 1000);
}
/* Configure callback functions for thread control */
// void CO_CANopenInitCallback(void *object, void (*pFunctSignal)(void *object));
// CO_EM_initCallback(CO->em, threadMain_cbSignal);
// CO_SDO_initCallback(CO->SDO[0], threadMain_cbSignal);
// CO_SDOclient_initCallback(CO->SDOclient, threadMain_cbSignal);
#if CO_NO_TRACE > 0
/* Initialize time */
CO_time_init(&CO_time, CO->SDO[0], &OD_time.epochTimeBaseMs, &OD_time.epochTimeOffsetMs, 0x2130);
#endif
/* First time only initialization. */
if(firstRun) {
firstRun = false;
/* Configure epoll for mainline */
mainline_epoll_fd = epoll_create(4);
if(mainline_epoll_fd == -1)
CO_errExit("Program init - epoll_create mainline failed");
/* Init mainline */
threadMain_init(mainline_epoll_fd, &OD_performance[ODA_performance_mainCycleMaxTime]);
#ifdef CO_MULTI_THREAD
/* Configure epoll for rt_thread */
rt_thread_epoll_fd = epoll_create(2);
if(rt_thread_epoll_fd == -1)
CO_errExit("Program init - epoll_create rt_thread failed");
/* Init threadRT */
CANrx_threadTmr_init(rt_thread_epoll_fd, TMR_THREAD_INTERVAL_NS, &OD_performance[ODA_performance_timerCycleMaxTime]);
/* Create rt_thread */
if(pthread_create(&rt_thread_id, NULL, rt_thread, NULL) != 0)
CO_errExit("Program init - rt_thread creation failed");
/* Set priority for rt_thread */
if(rtPriority > 0) {
struct sched_param param;
param.sched_priority = rtPriority;
if(pthread_setschedparam(rt_thread_id, SCHED_FIFO, &param) != 0)
CO_errExit("Program init - rt_thread set scheduler failed");
}
#endif
#ifdef CO_309
/* Initialize socket command interface */
switch(commandEnable) {
case CMD_LOCAL:
if(CO_command_init() != 0) {
CO_errExit("Socket command interface initialization failed");
}
printf("%s - Command interface on socket '%s' started ...\n", argv[0], CO_command_socketPath);
break;
case CMD_REMOTE:
if(CO_command_init_tcp(CO_command_socket_tcp_port) != 0) {
CO_errExit("Socket command interface initialization failed");
}
printf("%s - Command interface on tcp port '%hu' started ...\n", argv[0], CO_command_socket_tcp_port);
break;
default:
break;
}
#endif
#ifdef CO_USE_APPLICATION
/* Execute optional additional application code */
app_programStart();
#endif
} /* if(firstRun) */
#ifdef CO_USE_APPLICATION
/* Execute optional additional application code */
app_communicationReset();
#endif
/* start CAN */
CO_CANsetNormalMode(CO->CANmodule[0]);
#ifdef CO_309
pthread_mutex_unlock(&CO_CAN_VALID_mtx);
#endif
reset = CO_RESET_NOT;
printf("%s - running ...\n", argv[0]);
while(reset == CO_RESET_NOT && CO_endProgram == 0) {
/* loop for normal program execution ******************************************/
int ready;
struct epoll_event ev;
ready = epoll_wait(mainline_epoll_fd, &ev, 1, -1);
if(ready != 1) {
if(errno != EINTR) {
CO_error(0x11100000L + errno);
}
}
else if(threadMain_process(ev.data.fd, &reset, CO_timer1ms)) {
uint16_t timer1msDiff;
static uint16_t tmr1msPrev = 0;
/* Calculate time difference */
timer1msDiff = CO_timer1ms - tmr1msPrev;
tmr1msPrev = CO_timer1ms;
/* code was processed in the above function. Additional code process below */
#ifdef CO_USE_APPLICATION
/* Execute optional additional application code */
app_programAsync(timer1msDiff);
#endif
CO_OD_storage_autoSave(&odStorAuto, CO_timer1ms, 60000);
}
else {
/* No file descriptor was processed. */
CO_error(0x11200000L);
}
}
}
/* program exit ***************************************************************/
/* join threads */
#ifdef CO_309
switch (commandEnable)
{
case CMD_LOCAL:
if (CO_command_clear() != 0) {
CO_errExit("Socket command interface removal failed");
}
break;
case CMD_REMOTE:
//nothing to do yet
break;
default:
break;
}
#endif
CO_endProgram = 1;
#ifdef CO_MULTI_THREAD
if(pthread_join(rt_thread_id, NULL) != 0) {
CO_errExit("Program end - pthread_join failed");
}
#endif
#ifdef CO_USE_APPLICATION
/* Execute optional additional application code */
app_programEnd();
#endif
/* Store CO_OD_EEPROM */
CO_OD_storage_autoSave(&odStorAuto, 0, 0);
CO_OD_storage_autoSaveClose(&odStorAuto);
/* delete objects from memory */
CANrx_threadTmr_close();
threadMain_close();
CO_delete((void *)CANdevice0Index);
printf("%s on %s (nodeId=0x%02X) - finished.\n\n", argv[0], CANdevice, nodeId);
/* Flush all buffers (and reboot) */
if(rebootEnable && reset == CO_RESET_APP) {
sync();
if(reboot(LINUX_REBOOT_CMD_RESTART) != 0) {
CO_errExit("Program end - reboot failed");
}
}
exit(EXIT_SUCCESS);
}
#ifdef CO_MULTI_THREAD
/* Realtime thread for CAN receive and threadTmr ******************************/
static void* rt_thread(void* arg) {
/* Endless loop */
while(CO_endProgram == 0) {
int ready;
struct epoll_event ev;
ready = epoll_wait(rt_thread_epoll_fd, &ev, 1, -1);
if(ready != 1) {
if(errno != EINTR) {
CO_error(0x12100000L + errno);
}
}
else if(CANrx_threadTmr_process(ev.data.fd)) {
int i;
#if CO_NO_TRACE > 0
/* Monitor variables with trace objects */
CO_time_process(&CO_time);
for(i=0; i<OD_traceEnable && i<CO_NO_TRACE; i++) {
CO_trace_process(CO->trace[i], *CO_time.epochTimeOffsetMs);
}
#endif
#ifdef CO_USE_APPLICATION
/* Execute optional additional application code */
app_program1ms();
#endif
}
else {
/* No file descriptor was processed. */
CO_error(0x12200000L);
}
}
return NULL;
}
#endif /* CO_MULTI_THREAD */
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