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CANopenNode/socketCAN/CO_main_basic.c

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/*
* CANopen main program file for CANopenNode on Linux.
*
* @file CO_main_basic.c
* @author Janez Paternoster
* @copyright 2020 Janez Paternoster
*
* This file is part of CANopenNode, an opensource CANopen Stack.
* Project home page is <https://github.com/CANopenNode/CANopenNode>.
* For more information on CANopen see <http://www.can-cia.org/>.
*
* 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 <bits/getopt_core.h>
#include <string.h>
#include <sched.h>
#include <signal.h>
#include <errno.h>
#include <stdarg.h>
#include <syslog.h>
#include <time.h>
#include <sys/epoll.h>
#include <net/if.h>
#include <linux/reboot.h>
#include <sys/reboot.h>
#include "CANopen.h"
#include "OD.h"
#include "CO_error.h"
#include "CO_epoll_interface.h"
#include "CO_storageLinux.h"
/* Call external application functions. */
#ifdef CO_USE_APPLICATION
#include "CO_application.h"
#endif
/* Add trace functionality for recording variables over time */
#if (CO_CONFIG_TRACE) & CO_CONFIG_TRACE_ENABLE
#include "CO_time_trace.h"
#endif
/* Interval of mainline and real-time thread in microseconds */
#ifndef MAIN_THREAD_INTERVAL_US
#define MAIN_THREAD_INTERVAL_US 100000
#endif
#ifndef TMR_THREAD_INTERVAL_US
#define TMR_THREAD_INTERVAL_US 1000
#endif
/* default values for CO_CANopenInit() */
#ifndef NMT_CONTROL
#define NMT_CONTROL \
CO_NMT_STARTUP_TO_OPERATIONAL \
|| CO_NMT_ERR_ON_ERR_REG \
|| CO_ERR_REG_GENERIC_ERR \
|| CO_ERR_REG_COMMUNICATION
#endif
#ifndef FIRST_HB_TIME
#define FIRST_HB_TIME 500
#endif
#ifndef SDO_SRV_TIMEOUT_TIME
#define SDO_SRV_TIMEOUT_TIME 1000
#endif
#ifndef SDO_CLI_TIMEOUT_TIME
#define SDO_CLI_TIMEOUT_TIME 500
#endif
#ifndef SDO_CLI_BLOCK
#define SDO_CLI_BLOCK false
#endif
#ifndef OD_STATUS_BITS
#define OD_STATUS_BITS NULL
#endif
/* CANopen gateway enable switch for CO_epoll_processMain() */
#ifndef GATEWAY_ENABLE
#define GATEWAY_ENABLE true
#endif
/* Interval for time stamp message in milliseconds */
#ifndef TIME_STAMP_INTERVAL_MS
#define TIME_STAMP_INTERVAL_MS 10000
#endif
/* CANopen object */
CO_t *CO = NULL;
/* Configurable CAN bit-rate and CANopen node-id, store-able to non-volatile
* memory. Can be set by argument and changed by LSS slave. */
typedef struct { uint16_t bitRate; uint8_t nodeId; } CO_pending_t;
CO_pending_t CO_pending = { .bitRate = 0, .nodeId = CO_LSS_NODE_ID_ASSIGNMENT };
/* Active node-id, copied from CO_pending.nodeId in the communication reset */
static uint8_t CO_activeNodeId = CO_LSS_NODE_ID_ASSIGNMENT;
/* Data storage for Object Dictionnary and LSS */
#if (CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE
/* Maximum file name length including path for storage */
#ifndef CO_STORAGE_PATH_MAX
#define CO_STORAGE_PATH_MAX 255
#endif
/* Definitions for application specific storage objects */
#ifndef CO_STORAGE_APPLICATION
#define CO_STORAGE_APPLICATION
#endif
/* Interval for automatic storage in microseconds */
#ifndef CO_STORAGE_AUTO_INTERVAL
#define CO_STORAGE_AUTO_INTERVAL 60000000
#endif
/* Configure objects for storage */
typedef struct {
/* Address, length and filename of data to store */
void *addr;
OD_size_t len;
char filename[CO_STORAGE_PATH_MAX];
/* Subindex in OD objects 1010 and 1011 or 0 for auto storage.
* 1 is reserved for storing all parameters */
uint8_t subIndexOD;
/* Object for storage or auto storage, usage depends on subIndexOD */
CO_storage_entry_t entry;
CO_storageLinux_auto_t entryAuto;
} CO_storageLinux_entry_t;
CO_storageLinux_entry_t storage[] = {
{
.addr = &CO_pending,
.len = sizeof(CO_pending),
.filename = {'l', 's', 's',
'.', 'p', 'e', 'r', 's', 'i', 's', 't', '\0'},
.subIndexOD = 0
},
{
.addr = &OD_PERSIST_COMM,
.len = sizeof(OD_PERSIST_COMM),
.filename = {'o', 'd', '_', 'c', 'o', 'm', 'm',
'.', 'p', 'e', 'r', 's', 'i', 's', 't', '\0'},
.subIndexOD = 2
},
CO_STORAGE_APPLICATION
};
#endif /* (CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE */
#if (CO_CONFIG_TRACE) & CO_CONFIG_TRACE_ENABLE
static CO_time_t CO_time; /* Object for current time */
#endif
/* Helper functions ***********************************************************/
#ifndef CO_SINGLE_THREAD
/* Realtime thread */
CO_epoll_t epRT;
static void* rt_thread(void* arg);
#endif
/* Signal handler */
volatile sig_atomic_t CO_endProgram = 0;
static void sigHandler(int sig) {
(void)sig;
CO_endProgram = 1;
}
/* Message logging function */
void log_printf(int priority, const char *format, ...) {
va_list ap;
va_start(ap, format);
vsyslog(priority, format, ap);
va_end(ap);
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII_LOG
if (CO != NULL) {
char buf[200];
time_t timer;
struct tm* tm_info;
size_t len;
timer = time(NULL);
tm_info = localtime(&timer);
len = strftime(buf, sizeof(buf), "%Y-%m-%d %H:%M:%S: ", tm_info);
va_start(ap, format);
vsnprintf(buf + len, sizeof(buf) - len - 2, format, ap);
va_end(ap);
strcat(buf, "\r\n");
CO_GTWA_log_print(CO->gtwa, buf);
}
#endif
}
#if (CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER
/* callback for emergency messages */
static void EmergencyRxCallback(const uint16_t ident,
const uint16_t errorCode,
const uint8_t errorRegister,
const uint8_t errorBit,
const uint32_t infoCode)
{
int16_t nodeIdRx = ident ? (ident&0x7F) : CO_activeNodeId;
log_printf(LOG_NOTICE, DBG_EMERGENCY_RX, nodeIdRx, errorCode,
errorRegister, errorBit, infoCode);
}
#endif
#if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_CALLBACK_CHANGE) \
|| ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE)
/* return string description of NMT state. */
static char *NmtState2Str(CO_NMT_internalState_t state)
{
switch(state) {
case CO_NMT_INITIALIZING: return "initializing";
case CO_NMT_PRE_OPERATIONAL: return "pre-operational";
case CO_NMT_OPERATIONAL: return "operational";
case CO_NMT_STOPPED: return "stopped";
default: return "unknown";
}
}
#endif
#if (CO_CONFIG_NMT) & CO_CONFIG_NMT_CALLBACK_CHANGE
/* callback for NMT change messages */
static void NmtChangedCallback(CO_NMT_internalState_t state)
{
log_printf(LOG_NOTICE, DBG_NMT_CHANGE, NmtState2Str(state), state);
}
#endif
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE
/* callback for monitoring Heartbeat remote NMT state change */
static void HeartbeatNmtChangedCallback(uint8_t nodeId, uint8_t idx,
CO_NMT_internalState_t state,
void *object)
{
(void)object;
log_printf(LOG_NOTICE, DBG_HB_CONS_NMT_CHANGE,
nodeId, idx, NmtState2Str(state), state);
}
#endif
/* callback for storing node id and bitrate */
static bool_t LSScfgStoreCallback(void *object, uint8_t id, uint16_t bitRate) {
(void)object;
CO_pending.nodeId = id;
CO_pending.bitRate = bitRate;
return true;
}
/* Print usage */
static void printUsage(char *progName) {
printf(
"Usage: %s <CAN device name> [options]\n", progName);
printf(
"\n"
"Options:\n"
" -i <Node ID> CANopen Node-id (1..127) or 0xFF (LSS unconfigured).\n");
#ifndef CO_SINGLE_THREAD
printf(
" -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");
#endif
printf(
" -r Enable reboot on CANopen NMT reset_node command. \n");
#if (CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE
printf(
" -s <storage path> Path and filename prefix for data storage files.\n"
" By default files are stored in current dictionary.\n");
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
printf(
" -c <interface> Enable command interface for master functionality.\n"
" One of three types of interfaces can be specified as:\n"
" 1. \"stdio\" - Standard IO of a program (terminal).\n"
" 2. \"local-<file path>\" - Local socket interface on file\n"
" path, for example \"local-/tmp/CO_command_socket\".\n"
" 3. \"tcp-<port>\" - Tcp socket interface on specified \n"
" port, for example \"tcp-60000\".\n"
" Note that this option may affect security of the CAN.\n"
" -T <timeout_time> If -c is specified as local or tcp socket, then this\n"
" parameter specifies socket timeout time in milliseconds.\n"
" Default is 0 - no timeout on established connection.\n");
#endif
printf(
"\n"
"See also: https://github.com/CANopenNode/CANopenNode\n"
"\n");
}
/*******************************************************************************
* Mainline thread
******************************************************************************/
int main (int argc, char *argv[]) {
int programExit = EXIT_SUCCESS;
CO_epoll_t epMain;
#ifndef CO_SINGLE_THREAD
pthread_t rt_thread_id;
int rtPriority = -1;
#endif
CO_NMT_reset_cmd_t reset = CO_RESET_NOT;
CO_ReturnError_t err;
#if (CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE
uint32_t storageInitError = 0;
uint32_t storageIntervalTimer = 0;
#endif
CO_CANptrSocketCan_t CANptr = {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 */
bool_t rebootEnable = false; /* Configurable by arguments */
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
CO_epoll_gtw_t epGtw;
/* values from CO_commandInterface_t */
int32_t commandInterface = CO_COMMAND_IF_DISABLED;
/* local socket path if commandInterface == CO_COMMAND_IF_LOCAL_SOCKET */
char *localSocketPath = NULL;
uint32_t socketTimeout_ms = 0;
#else
#define commandInterface 0
#define localSocketPath NULL
#endif
/* configure system log */
setlogmask(LOG_UPTO (LOG_DEBUG)); /* LOG_DEBUG - log all messages */
openlog(argv[0], LOG_PID | LOG_PERROR, LOG_USER); /* print also to standard error */
/* Get program options */
if(argc < 2 || strcmp(argv[1], "--help") == 0){
printUsage(argv[0]);
exit(EXIT_SUCCESS);
}
while((opt = getopt(argc, argv, "i:p:rc:T:s:a:")) != -1) {
switch (opt) {
case 'i':
nodeIdFromArgs = true;
CO_pending.nodeId = (uint8_t)strtol(optarg, NULL, 0);
break;
#ifndef CO_SINGLE_THREAD
case 'p': rtPriority = strtol(optarg, NULL, 0);
break;
#endif
case 'r': rebootEnable = true;
break;
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
case 'c': {
const char *comm_stdio = "stdio";
const char *comm_local = "local-";
const char *comm_tcp = "tcp-";
if (strcmp(optarg, comm_stdio) == 0) {
commandInterface = CO_COMMAND_IF_STDIO;
}
else if (strncmp(optarg, comm_local, strlen(comm_local)) == 0) {
commandInterface = CO_COMMAND_IF_LOCAL_SOCKET;
localSocketPath = &optarg[6];
}
else if (strncmp(optarg, comm_tcp, strlen(comm_tcp)) == 0) {
const char *portStr = &optarg[4];
uint16_t port;
int nMatch = sscanf(portStr, "%hu", &port);
if(nMatch != 1) {
log_printf(LOG_CRIT, DBG_NOT_TCP_PORT, portStr);
exit(EXIT_FAILURE);
}
commandInterface = port;
}
else {
log_printf(LOG_CRIT, DBG_ARGUMENT_UNKNOWN, "-c", optarg);
exit(EXIT_FAILURE);
}
break;
}
case 'T':
socketTimeout_ms = strtoul(optarg, NULL, 0);
break;
#endif
#if (CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE
case 's': {
/* add prefix to each storage[i].filename */
for (int i = 0; i < sizeof(storage) / sizeof(storage[0]); i++) {
char* filePrefix = optarg;
size_t filePrefixLen = strlen(filePrefix);
char* file = storage[i].filename;
size_t fileLen = strlen(file);
if (fileLen + filePrefixLen < CO_STORAGE_PATH_MAX) {
memmove(&file[filePrefixLen], &file[0], fileLen + 1);
memcpy(&file[0], &filePrefix[0], filePrefixLen);
}
}
break;
}
#endif
default:
printUsage(argv[0]);
exit(EXIT_FAILURE);
}
}
if(optind < argc) {
CANdevice = argv[optind];
CANptr.can_ifindex = if_nametoindex(CANdevice);
}
if((CO_pending.nodeId < 1 || CO_pending.nodeId > 127)
&& CO_isLSSslaveEnabled(CO)
&& CO_pending.nodeId != CO_LSS_NODE_ID_ASSIGNMENT
) {
log_printf(LOG_CRIT, DBG_WRONG_NODE_ID, CO_pending.nodeId);
printUsage(argv[0]);
exit(EXIT_FAILURE);
}
#ifndef CO_SINGLE_THREAD
if(rtPriority != -1 && (rtPriority < sched_get_priority_min(SCHED_FIFO)
|| rtPriority > sched_get_priority_max(SCHED_FIFO))) {
log_printf(LOG_CRIT, DBG_WRONG_PRIORITY, rtPriority);
printUsage(argv[0]);
exit(EXIT_FAILURE);
}
#endif
if(CANptr.can_ifindex == 0) {
log_printf(LOG_CRIT, DBG_NO_CAN_DEVICE, CANdevice);
exit(EXIT_FAILURE);
}
log_printf(LOG_INFO, DBG_CAN_OPEN_INFO, CO_pending.nodeId, "starting");
/* Allocate memory for CANopen objects */
uint32_t heapMemoryUsed = 0;
CO = CO_new(NULL, &heapMemoryUsed);
if (CO == NULL) {
log_printf(LOG_CRIT, DBG_GENERAL,
"CO_new(), heapMemoryUsed=", heapMemoryUsed);
exit(EXIT_FAILURE);
}
#if (CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE
uint8_t pendingNodeIdOriginal = CO_pending.nodeId;
for (int i = 0; i < sizeof(storage) / sizeof(storage[0]); i++) {
CO_storageLinux_entry_t *st = &storage[i];
if (st->subIndexOD == 0) {
err = CO_storageLinux_auto_init(&st->entryAuto,
st->addr,
st->len,
st->filename);
} else {
err = CO_storageLinux_entry_init(CO->storage,
&st->entry,
st->addr,
st->len,
st->filename,
st->subIndexOD);
}
if (err == CO_ERROR_DATA_CORRUPT) {
uint32_t bit = 1;
if (i < 32) bit <<= i;
storageInitError |= bit;
}
else if (err != CO_ERROR_NO) {
log_printf(LOG_CRIT, DBG_OBJECT_DICTIONARY, st->filename);
exit(EXIT_FAILURE);
}
}
/* Overwrite stored node-id, if specified by program arguments */
if (nodeIdFromArgs) {
CO_pending.nodeId = pendingNodeIdOriginal;
}
#endif
/* Catch signals SIGINT and SIGTERM */
if(signal(SIGINT, sigHandler) == SIG_ERR) {
log_printf(LOG_CRIT, DBG_ERRNO, "signal(SIGINT, sigHandler)");
exit(EXIT_FAILURE);
}
if(signal(SIGTERM, sigHandler) == SIG_ERR) {
log_printf(LOG_CRIT, DBG_ERRNO, "signal(SIGTERM, sigHandler)");
exit(EXIT_FAILURE);
}
/* get current time for CO_TIME_set(), since January 1, 1984, UTC. */
struct timespec ts;
if (clock_gettime(CLOCK_REALTIME, &ts) == -1) {
log_printf(LOG_CRIT, DBG_GENERAL, "clock_gettime(main)", 0);
exit(EXIT_FAILURE);
}
uint16_t time_days = (uint16_t)(ts.tv_sec / (24 * 60 * 60));
time_days -= 5113; /* difference between Unix epoch and CANopen Epoch */
uint32_t time_ms = (uint32_t)(ts.tv_sec % (24 * 60 * 60)) * 1000;
time_ms += ts.tv_nsec / 1000000;
/* Create epoll functions */
err = CO_epoll_create(&epMain, MAIN_THREAD_INTERVAL_US);
if(err != CO_ERROR_NO) {
log_printf(LOG_CRIT, DBG_GENERAL,
"CO_epoll_create(main), err=", err);
exit(EXIT_FAILURE);
}
#ifndef CO_SINGLE_THREAD
err = CO_epoll_create(&epRT, TMR_THREAD_INTERVAL_US);
if(err != CO_ERROR_NO) {
log_printf(LOG_CRIT, DBG_GENERAL,
"CO_epoll_create(RT), err=", err);
exit(EXIT_FAILURE);
}
CANptr.epoll_fd = epRT.epoll_fd;
#else
CANptr.epoll_fd = epMain.epoll_fd;
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
err = CO_epoll_createGtw(&epGtw, epMain.epoll_fd, commandInterface,
socketTimeout_ms, localSocketPath);
if(err != CO_ERROR_NO) {
log_printf(LOG_CRIT, DBG_GENERAL, "CO_epoll_createGtw(), err=", err);
exit(EXIT_FAILURE);
}
#endif
while(reset != CO_RESET_APP && reset != CO_RESET_QUIT && CO_endProgram == 0) {
uint32_t errInfo;
/* CANopen communication reset - initialize CANopen objects *******************/
/* Wait rt_thread. */
if(!firstRun) {
CO_LOCK_OD();
CO->CANmodule->CANnormal = false;
CO_UNLOCK_OD();
}
/* Enter CAN configuration. */
CO_CANsetConfigurationMode((void *)&CANptr);
CO_CANmodule_disable(CO->CANmodule);
/* initialize CANopen */
err = CO_CANinit(CO, (void *)&CANptr, 0 /* bit rate not used */);
if(err != CO_ERROR_NO) {
log_printf(LOG_CRIT, DBG_CAN_OPEN, "CO_CANinit()", err);
programExit = EXIT_FAILURE;
CO_endProgram = 1;
continue;
}
CO_LSS_address_t lssAddress = {.identity = {
.vendorID = OD_PERSIST_COMM.x1018_identity.vendor_ID,
.productCode = OD_PERSIST_COMM.x1018_identity.productCode,
.revisionNumber = OD_PERSIST_COMM.x1018_identity.revisionNumber,
.serialNumber = OD_PERSIST_COMM.x1018_identity.serialNumber
}};
err = CO_LSSinit(CO, &lssAddress,
&CO_pending.nodeId, &CO_pending.bitRate);
if(err != CO_ERROR_NO) {
log_printf(LOG_CRIT, DBG_CAN_OPEN, "CO_LSSinit()", err);
programExit = EXIT_FAILURE;
CO_endProgram = 1;
continue;
}
CO_activeNodeId = CO_pending.nodeId;
errInfo = 0;
err = CO_CANopenInit(CO, /* CANopen object */
NULL, /* alternate NMT */
NULL, /* alternate em */
OD, /* Object dictionary */
OD_STATUS_BITS, /* Optional OD_statusBits */
NMT_CONTROL, /* CO_NMT_control_t */
FIRST_HB_TIME, /* firstHBTime_ms */
SDO_SRV_TIMEOUT_TIME, /* SDOserverTimeoutTime_ms */
SDO_CLI_TIMEOUT_TIME, /* SDOclientTimeoutTime_ms */
SDO_CLI_BLOCK, /* SDOclientBlockTransfer */
CO_activeNodeId,
&errInfo);
if(err != CO_ERROR_NO && err != CO_ERROR_NODE_ID_UNCONFIGURED_LSS) {
if (err == CO_ERROR_OD_PARAMETERS) {
log_printf(LOG_CRIT, DBG_OD_ENTRY, errInfo);
}
else {
log_printf(LOG_CRIT, DBG_CAN_OPEN, "CO_CANopenInit()", err);
}
programExit = EXIT_FAILURE;
CO_endProgram = 1;
continue;
}
/* initialize part of threadMain and callbacks */
CO_epoll_initCANopenMain(&epMain, CO);
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
CO_epoll_initCANopenGtw(&epGtw, CO);
#endif
CO_LSSslave_initCfgStoreCallback(CO->LSSslave, NULL,
LSScfgStoreCallback);
if(!CO->nodeIdUnconfigured) {
#if (CO_CONFIG_EM) & CO_CONFIG_EM_CONSUMER
CO_EM_initCallbackRx(CO->em, EmergencyRxCallback);
#endif
#if (CO_CONFIG_NMT) & CO_CONFIG_NMT_CALLBACK_CHANGE
CO_NMT_initCallbackChanged(CO->NMT, NmtChangedCallback);
#endif
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE
CO_HBconsumer_initCallbackNmtChanged(CO->HBcons, NULL,
HeartbeatNmtChangedCallback);
#endif
#if (CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE
if(storageInitError != 0) {
CO_errorReport(CO->em, CO_EM_NON_VOLATILE_MEMORY,
CO_EMC_HARDWARE, storageInitError);
}
#endif
#if (CO_CONFIG_TRACE) & CO_CONFIG_TRACE_ENABLE
/* Initialize time */
CO_time_init(&CO_time, CO->SDO[0], &OD_time.epochTimeBaseMs, &OD_time.epochTimeOffsetMs, 0x2130);
#endif
log_printf(LOG_INFO, DBG_CAN_OPEN_INFO, CO_activeNodeId, "communication reset");
}
else {
log_printf(LOG_INFO, DBG_CAN_OPEN_INFO, CO_activeNodeId, "node-id not initialized");
}
/* First time only initialization. */
if(firstRun) {
firstRun = false;
CO_TIME_set(CO->TIME, time_ms, time_days, TIME_STAMP_INTERVAL_MS);
#ifndef CO_SINGLE_THREAD
/* Create rt_thread and set priority */
if(pthread_create(&rt_thread_id, NULL, rt_thread, NULL) != 0) {
log_printf(LOG_CRIT, DBG_ERRNO, "pthread_create(rt_thread)");
programExit = EXIT_FAILURE;
CO_endProgram = 1;
continue;
}
if(rtPriority > 0) {
struct sched_param param;
param.sched_priority = rtPriority;
if (pthread_setschedparam(rt_thread_id, SCHED_FIFO, &param) != 0) {
log_printf(LOG_CRIT, DBG_ERRNO, "pthread_setschedparam()");
programExit = EXIT_FAILURE;
CO_endProgram = 1;
continue;
}
}
#endif
#ifdef CO_USE_APPLICATION
/* Execute optional additional application code */
errInfo = 0;
err = app_programStart(!CO->nodeIdUnconfigured, &errInfo);
if(err != CO_ERROR_NO) {
if (err == CO_ERROR_OD_PARAMETERS) {
log_printf(LOG_CRIT, DBG_OD_ENTRY, errInfo);
}
else {
log_printf(LOG_CRIT, DBG_CAN_OPEN, "app_programStart()", err);
}
programExit = EXIT_FAILURE;
CO_endProgram = 1;
continue;
}
#endif
} /* if(firstRun) */
#ifdef CO_USE_APPLICATION
/* Execute optional additional application code */
app_communicationReset(!CO->nodeIdUnconfigured);
#endif
/* start CAN */
CO_CANsetNormalMode(CO->CANmodule);
reset = CO_RESET_NOT;
log_printf(LOG_INFO, DBG_CAN_OPEN_INFO, CO_activeNodeId, "running ...");
while(reset == CO_RESET_NOT && CO_endProgram == 0) {
/* loop for normal program execution ******************************************/
CO_epoll_wait(&epMain);
#ifdef CO_SINGLE_THREAD
CO_epoll_processRT(&epMain, CO, false);
#endif
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
CO_epoll_processGtw(&epGtw, CO, &epMain);
#endif
CO_epoll_processMain(&epMain, CO, GATEWAY_ENABLE, &reset);
CO_epoll_processLast(&epMain);
#ifdef CO_USE_APPLICATION
app_programAsync(!CO->nodeIdUnconfigured, epMain.timeDifference_us);
#endif
#if (CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE
/* don't save more often than interval */
if (storageIntervalTimer < CO_STORAGE_AUTO_INTERVAL) {
storageIntervalTimer += epMain.timeDifference_us;
}
else {
storageIntervalTimer = 0;
for (int i = 0; i < sizeof(storage) / sizeof(storage[0]); i++) {
CO_storageLinux_entry_t *st = &storage[i];
if (st->subIndexOD == 0) {
bool_t storageOK = CO_storageLinux_auto_process(
&st->entryAuto, false);
if(!storageOK) {
CO_errorReport(CO->em, CO_EM_NON_VOLATILE_AUTO_SAVE,
CO_EMC_HARDWARE, i);
}
}
}
}
#endif
}
} /* while(reset != CO_RESET_APP */
/* program exit ***************************************************************/
/* join threads */
CO_endProgram = 1;
#ifndef CO_SINGLE_THREAD
if (pthread_join(rt_thread_id, NULL) != 0) {
log_printf(LOG_CRIT, DBG_ERRNO, "pthread_join()");
exit(EXIT_FAILURE);
}
#endif
#ifdef CO_USE_APPLICATION
/* Execute optional additional application code */
app_programEnd();
#endif
#if (CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE
for (int i = 0; i < sizeof(storage) / sizeof(storage[0]); i++) {
CO_storageLinux_entry_t *st = &storage[i];
if (st->subIndexOD == 0) {
CO_storageLinux_auto_process(&st->entryAuto, true);
}
}
#endif
/* delete objects from memory */
#ifndef CO_SINGLE_THREAD
CO_epoll_close(&epRT);
#endif
CO_epoll_close(&epMain);
#if (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII
CO_epoll_closeGtw(&epGtw);
#endif
CO_CANsetConfigurationMode((void *)&CANptr);
CO_delete(CO);
log_printf(LOG_INFO, DBG_CAN_OPEN_INFO, CO_activeNodeId, "finished");
/* Flush all buffers (and reboot) */
if(rebootEnable && reset == CO_RESET_APP) {
sync();
if(reboot(LINUX_REBOOT_CMD_RESTART) != 0) {
log_printf(LOG_CRIT, DBG_ERRNO, "reboot()");
exit(EXIT_FAILURE);
}
}
exit(programExit);
}
#ifndef CO_SINGLE_THREAD
/*******************************************************************************
* Realtime thread for CAN receive and threadTmr
******************************************************************************/
static void* rt_thread(void* arg) {
(void)arg;
/* Endless loop */
while(CO_endProgram == 0) {
CO_epoll_wait(&epRT);
CO_epoll_processRT(&epRT, CO, true);
CO_epoll_processLast(&epRT);
#if (CO_CONFIG_TRACE) & CO_CONFIG_TRACE_ENABLE
/* Monitor variables with trace objects */
CO_time_process(&CO_time);
for(i=0; i<OD_traceEnable && i<co->CNT_TRACE; i++) {
CO_trace_process(CO->trace[i], *CO_time.epochTimeOffsetMs);
}
#endif
#ifdef CO_USE_APPLICATION
/* Execute optional additional application code */
app_program1ms(!CO->nodeIdUnconfigured, epRT.timeDifference_us);
#endif
}
return NULL;
}
#endif
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