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CANopenNode/socketCAN/CO_main_basic.c

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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_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 */
#if CO_CONFIG_309 > 0
#include "CO_command.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
#if CO_CONFIG_309 > 0
/* 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 CO_ownNodeId = -1; /* Use value from Object Dictionary or set to 1..127 by arguments */
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 */
#if CO_CONFIG_309 > 0
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
/* Helper functions ***********************************************************/
/* Realtime thread */
static void* rt_thread(void* arg);
/* Signal handler */
volatile sig_atomic_t CO_endProgram = 0;
static void sigHandler(int sig) {
CO_endProgram = 1;
}
/* 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_ownNodeId;
log_printf(LOG_NOTICE, DBG_EMERGENCY_RX, nodeIdRx, errorCode,
errorRegister, errorBit, infoCode);
}
/* 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";
}
}
/* callback for NMT change messages */
static void NmtChangeCallback(CO_NMT_internalState_t state)
{
log_printf(LOG_NOTICE, DBG_NMT_CHANGE, NmtState2Str(state), state);
}
/* callback for monitoring Heartbeat remote NMT state change */
static void HeartbeatNmtChangedCallback(uint8_t nodeId,
CO_NMT_internalState_t state,
void *object)
{
log_printf(LOG_NOTICE, DBG_HB_CONS_NMT_CHANGE,
nodeId, NmtState2Str(state), state);
}
/* 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). 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");
#if CO_CONFIG_309 > 0
printf(
" -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);
printf(
" -t <port> Enable command interface for master functionality over\n"
" tcp, listen to <port>.\n"
" Note that using this mode may affect security.\n"
);
#endif
printf(
"\n"
"See also: https://github.com/CANopenNode/CANopenNode\n"
"\n");
}
/*******************************************************************************
* Mainline thread
******************************************************************************/
int main (int argc, char *argv[]) {
pthread_t rt_thread_id;
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 */
bool_t rebootEnable = false; /* Configurable by arguments */
#if CO_CONFIG_309 > 0
typedef enum CMD_MODE {CMD_NONE, CMD_LOCAL, CMD_REMOTE} cmdMode_t;
cmdMode_t commandEnable = CMD_NONE; /* Configurable by arguments */
#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':
CO_ownNodeId = strtol(optarg, NULL, 0);
nodeIdFromArgs = true;
break;
case 'p': rtPriority = strtol(optarg, NULL, 0); break;
case 'r': rebootEnable = true; break;
#if CO_CONFIG_309 > 0
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
log_printf(LOG_CRIT, DBG_NOT_TCP_PORT, 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 && (CO_ownNodeId < 1 || CO_ownNodeId > 127)) {
log_printf(LOG_CRIT, DBG_WRONG_NODE_ID, CO_ownNodeId);
printUsage(argv[0]);
exit(EXIT_FAILURE);
}
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);
}
if(CANdevice0Index == 0) {
log_printf(LOG_CRIT, DBG_NO_CAN_DEVICE, CANdevice);
exit(EXIT_FAILURE);
}
log_printf(LOG_INFO, DBG_CAN_OPEN_INFO, CO_ownNodeId, "starting");
/* Allocate memory for CANopen objects */
err = CO_new(NULL);
if (err != CO_ERROR_NO) {
log_printf(LOG_CRIT, DBG_CAN_OPEN, "CO_new()", err);
exit(EXIT_FAILURE);
}
/* Verify, if OD structures have proper alignment of initial values */
if(CO_OD_RAM.FirstWord != CO_OD_RAM.LastWord) {
log_printf(LOG_CRIT, DBG_OBJECT_DICTIONARY, "CO_OD_RAM");
exit(EXIT_FAILURE);
}
if(CO_OD_EEPROM.FirstWord != CO_OD_EEPROM.LastWord) {
log_printf(LOG_CRIT, DBG_OBJECT_DICTIONARY, "CO_OD_EEPROM");
exit(EXIT_FAILURE);
}
if(CO_OD_ROM.FirstWord != CO_OD_ROM.LastWord) {
log_printf(LOG_CRIT, DBG_OBJECT_DICTIONARY, "CO_OD_ROM");
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) {
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);
}
while(reset != CO_RESET_APP && reset != CO_RESET_QUIT && CO_endProgram == 0) {
/* CANopen communication reset - initialize CANopen objects *******************/
log_printf(LOG_INFO, DBG_CAN_OPEN_INFO, CO_ownNodeId, "communication reset");
#if CO_CONFIG_309 > 0
/* 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 */
CO_ownNodeId = OD_CANNodeID;
}
err = CO_CANinit((void *)CANdevice0Index, 0 /* bit rate not used */);
if(err != CO_ERROR_NO) {
log_printf(LOG_CRIT, DBG_CAN_OPEN, "CO_CANinit()", err);
exit(EXIT_FAILURE);
}
err = CO_CANopenInit(CO_ownNodeId);
if(err != CO_ERROR_NO) {
log_printf(LOG_CRIT, DBG_CAN_OPEN, "CO_CANopenInit()", err);
exit(EXIT_FAILURE);
}
/* initialize callbacks */
CO_EM_initCallbackRx(CO->em, EmergencyRxCallback);
CO_NMT_initCallback(CO->NMT, NmtChangeCallback);
CO_HBconsumer_initCallbackNmtChanged(CO->HBcons, NULL,
HeartbeatNmtChangedCallback);
/* 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);
}
#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;
/* Init threadMainWait structure and file descriptors */
threadMainWait_init(MAIN_THREAD_INTERVAL_US);
/* Init threadRT structure and file descriptors */
CANrx_threadTmr_init(TMR_THREAD_INTERVAL_US);
/* 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)");
exit(EXIT_FAILURE);
}
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()");
exit(EXIT_FAILURE);
}
}
#if CO_CONFIG_309 > 0
/* Initialize socket command interface */
switch(commandEnable) {
case CMD_LOCAL:
if(CO_command_init() != 0) {
CO_errExit("Socket command interface initialization failed");
}
log_printf(LOG_INFO, DBG_COMMAND_LOCAL_INFO, 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");
}
log_printf(LOG_INFO, DBG_COMMAND_TCP_INFO, 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]);
#if CO_CONFIG_309 > 0
pthread_mutex_unlock(&CO_CAN_VALID_mtx);
#endif
reset = CO_RESET_NOT;
log_printf(LOG_INFO, DBG_CAN_OPEN_INFO, CO_ownNodeId, "running ...");
while(reset == CO_RESET_NOT && CO_endProgram == 0) {
/* loop for normal program execution ******************************************/
uint32_t timer1usDiff = threadMainWait_process(&reset);
#ifdef CO_USE_APPLICATION
app_programAsync(timer1usDiff);
#endif
CO_OD_storage_autoSave(&odStorAuto, timer1usDiff, 60000000);
}
}
/* program exit ***************************************************************/
/* join threads */
#if CO_CONFIG_309 > 0
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;
if (pthread_join(rt_thread_id, NULL) != 0) {
log_printf(LOG_CRIT, DBG_ERRNO, "pthread_join()");
exit(EXIT_FAILURE);
}
#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();
threadMainWait_close();
CO_delete((void *)CANdevice0Index);
log_printf(LOG_INFO, DBG_CAN_OPEN_INFO, CO_ownNodeId, "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(EXIT_SUCCESS);
}
/*******************************************************************************
* Realtime thread for CAN receive and threadTmr
******************************************************************************/
static void* rt_thread(void* arg) {
/* Endless loop */
while(CO_endProgram == 0) {
CANrx_threadTmr_process();
#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
}
return NULL;
}
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