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import sys
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import sys
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import logging as log
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import logging as log
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import getopt
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import getopt
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import atexit
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import atexit
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import time
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import time
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 - 
 
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from CanPktHandlerBase import CanPktHandlerBase
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from CanPktHandler1 import CanPktHandler1
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from NodeIfBase import NodeIfBase
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from NodeIfBase import NodeIfBase
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from NodeIfCanStim import NodeIfCanStim
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from NodeIfCanStim import NodeIfCanStim
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from NodeIfSerial import NodeIfSerial
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from NodeIfSerial import NodeIfSerial
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from NodeIfTCP import NodeIfTCP
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from NodeIfTCP import NodeIfTCP
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daemonApp = None
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daemonApp = None
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class CanDaemon():
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class CanDaemon():
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    cfg = None
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    cfg = None
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    nodeIf = None
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    ifNotifier = None
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    ifNotifier = None
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    terminated = False
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    terminated = False
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    command_list = []
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    command_list = []
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    command_map = {}
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    command_map = {}
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    def logCmd(self, *args):
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    def logCmd(self, *args):
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        raise 'not implemented'
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        raise 'not implemented'
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    def execCmd(self, *args):
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    def execCmd(self, *args):
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        raise 'not implemented'
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        raise 'not implemented'
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    def parseCommand(self, cmdstr):
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    def parseCommand(self, cmdstr):
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        incmd = cmdstr.strip()
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        incmd = cmdstr.strip()
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        cmd = incmd.split(' ')
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        cmd = incmd.split(' ')
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        if len(cmd[0]) < 2:
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        if len(cmd[0]) < 2:
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            return
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            return
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            self.command_list[self.command_map[cmd[0]]][self.CMDLIST_HANDLER](cmd[1:])
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            self.command_list[self.command_map[cmd[0]]][self.CMDLIST_HANDLER](cmd[1:])
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        else:
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        else:
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            print 'unknown command: ' + cmd[0]
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            print 'unknown command: ' + cmd[0]
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    def exitHelper(self):
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    def exitHelper(self):
- 
 
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        pass
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        if self.nodeIf is not None and self.nodeIf.running():
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#        if self.nodeIf is not None and self.nodeIf.running():
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            self.nodeIf.stop()
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#            self.nodeIf.stop()
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    def exceptHelper(self, type, value, tb):
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    def exceptHelper(self, type, value, tb):
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        import traceback
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        import traceback
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        traceback.print_exception(type, value, tb)
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        traceback.print_exception(type, value, tb)
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        print '\nException in main program, shutting down threads'
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        print '\nException in main program, shutting down threads'
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        self.terminated = True
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        self.terminated = True
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        self.exitHelper()
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        self.exitHelper()
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 #       sys.exit(-1)
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    def run(self):
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    def run(self):
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        try:
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        try:
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            myPath = os.path.dirname(__file__)
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            myPath = os.path.dirname(__file__)
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            os.chdir(myPath)
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            os.chdir(myPath)
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                pass
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                pass
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    #            output = a
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    #            output = a
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        """load config defaults, or last config if exists"""
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        """load config defaults, or last config if exists"""
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        """run startup.cfg"""
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        """run startup.cfg"""
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        print 'INIT: Loading daemon configuration'
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        self.cfg = DaemonConfig()
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        self.cfg.load()
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#        print 'INIT: Loading filters and spaces'
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#       self.cfg.filterCfg.importFilter('DefaultFilter')
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#       self.cfg.stateSpaceCfg.importSpace('DefaultStateSpace')
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#        self.cfg.stateSpaceCfg.loadSpaces()
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#        self.cfg.filterCfg.loadFilters()
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#        self.cfg.setupFilterBindings()
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#        self.cfg.setupFilterChain()
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#        print 'INIT: Starting selected can interface'
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#        ''' nodeif thread launch '''
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        self.ifNotifier = self.IfNotifier(self)
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        self.ifNotifier = self.IfNotifier(self)        
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        pktHandler = CanPktHandler1(self.cfg)
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        for nodeIf in self.cfg.nodeInterfaces:
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#        
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#        ifConfig = NodeIfCanStim.DEFAULT_CONFIG
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#        self.nodeIf = NodeIfCanStim(ifConfig, pktHandler, self.ifNotifier)
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            nodeIf.setIfNotifier(self.ifNotifier)
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# #       ifConfig = NodeIfSerial.DEFAULT_CONFIG
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        ifConfig = NodeIfTCP.DEFAULT_CONFIG
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#    
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        atexit.register(self.exitHelper)
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        atexit.register(self.exitHelper)
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        sys.excepthook = self.exceptHelper
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        sys.excepthook = self.exceptHelper
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        self.nodeIf = NodeIfTCP(pktHandler, self.ifNotifier, None)
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        print 'INIT: Starting configured node interfaces'
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#       self.nodeIf = NodeIfSerial(pktHandler, ifConfig)
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        for nodeIf in self.cfg.nodeInterfaces:
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#        
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        if not self.nodeIf.start():
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            if not nodeIf.start():
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            print 'FATAL: Failed to initialize node interface.'
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                print 'FATAL: Failed to initialize node interface.'
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            print 'This may indicate that the interface is unavailable, ' \
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                print 'This may indicate that the interface is unavailable, ' \
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                  'or that you do not have permission to access it.'
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                      'or that you do not have permission to access it.'
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            sys.exit(-1)
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                sys.exit(-1)
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 316 
 
331 
        print 'Initialize/gather info on connected can nodes and load associated state'
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        print 'INIT: Initialize/gather info on connected can nodes and load associated state'
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        print 'Start selected TCP and UDP server(s)'
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        print 'INIT: Starting configured servers'
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        # server threads launch
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        print 'CanDaemon v1 ready'
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        print 'CanDaemon v1 ready'
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        print 'Enter command or type \"help\" for a list of commands'
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        print 'Enter command or type \"help\" for a list of commands'
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        while not self.terminated:
 322 
        while not self.terminated:
338 
            input = raw_input('> ')
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            input = raw_input('> ')
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            self.parseCommand(input)
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            self.parseCommand(input)
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 325 
 
341 
        print 'Shutdown'
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        print 'Shutdown'
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#        if self.nodeIf.running():
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#            print 'Stopping If thread'
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#            self.nodeIf.stop()
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        self.cfg.save()
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 328 
       
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#        self.cfg.stateSpaceCfg.saveSpaces()
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        for nodeIf in self.cfg.nodeInterfaces:
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#        self.cfg.filterCfg.saveFilters()
 330 
            if self.nodeIf.running():
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                print 'Stopping If thread'
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                self.nodeIf.stop()
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        print 'Waiting 0.1..'
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        print 'Waiting 0.1..'
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        time.sleep(0.1) # wait for threads
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        time.sleep(0.1) # wait for threads
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        print 'Terminating'
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        print 'Terminating'
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        sys.exit(0) # will except if there are threads remaining
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        sys.exit(0) # will except if there are threads remaining