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  1. #!/usr/bin/perl
  2.  
  3. #
  4. # for use with serial ports, install module with apt-get install libdevice-serialport-perl
  5. #
  6. #
  7. #
  8.  
  9.  
  10. $hubport = 1200;
  11. #$udpip = "193.11.254.22";
  12. #$udpport = 1100;
  13.  
  14.  
  15. require 5.002;
  16. use IO::Socket;
  17. use IO::Select;
  18. use threads;
  19. use Getopt::Long;
  20.  
  21. $binaryname = "canDaemon.pl";
  22. if ( @ARGV > 0 ) {
  23.     GetOptions( "baudrate=i"    => \$baudarg,   #
  24.             "server=s"  => \$serverarg,         #
  25.             "port=i"    => \$portarg,           #
  26.             "tcpport=i" => \$tcpportarg,        #
  27.             "device=s"  => \$devicearg,         #
  28.             "help"      => \$help,              #
  29.                         );
  30. } else {
  31.     $help = 1;
  32. }
  33.  
  34. if ($help) {
  35.     print "Usage ./$binaryname [options]\n";
  36.     print "Options:\n";
  37.     print "  -d <device> (udp or /dev/ttyXYZ)       Choose hardware for communication\n";
  38.     print "  -b <baudrate>              Baudrate, for serial devices\n";
  39.     print "  -s <server>                    Server, for udp devices\n";
  40.     print "  -p <port>                  Port, for udp devices\n";
  41.     print "  -t <tcpport>                   Port, for tcp server (default 1200)\n";
  42.     print "  -h <help>                  Shows this usage\n";
  43.     print "\n";
  44.     print "example: ./$binaryname -d /dev/ttyUSB0 -b 38400\n";
  45.     print "example: ./$binaryname -d udp -s 192.168.0.10 -p 1100\n";
  46.  
  47.     exit 0;
  48. }
  49. if ($serverarg) {
  50.     $udpip = $serverarg;
  51. }
  52. #print $udpip;
  53. if ($portarg) {
  54.     $udpport = $portarg;
  55. }
  56. if ($tcpportarg) {
  57.     $hubport = $tcpportarg;
  58. }
  59.  
  60. $C2SSTARTSTR = 253;
  61. $C2SENDSTR = 250;
  62.  
  63. ### create a tcp server ###
  64. $linelength=1000;
  65. &tcpServerInit;
  66. $thr = threads->new(\&tcpServerThread);
  67. $thr->detach;
  68.  
  69. ### create a connection to hardware ###
  70. if ($devicearg) {
  71.     if ($devicearg =~ m/^udp$/) {
  72.         ### if the hardware is an udp node ###
  73.         &udpServerInit;
  74.         $thr = threads->new(\&udpServerThread);
  75.         $thr->detach;
  76.     }
  77.     ### else, the hardware is serial, check for device, this might not work in windows ###
  78. #   elsif (-e $devicearg) {
  79.     else {
  80.         if (!$baudarg) {
  81.             print "For a serial device you need to specifiy baudrate, now using default 19200\n";
  82.             $baudarg = 19200;
  83.         }
  84.        
  85.         eval 'use Device::SerialPort';      ### install module with aptitude install libdevice-serialport-perl
  86.         if ($@) {
  87.             eval 'use Win32::SerialPort';
  88.             if ($@) {
  89.                 print "Could not find Device::SerialPort or Win32::SerialPort, I quit.\n";
  90.                 exit 0;
  91.             } else {
  92.                 $usingWin32Serial = 1;
  93.             }
  94.         } else {
  95.             $usingDeviceSerial = 1;
  96.         }
  97.        
  98.         &serialConnInit;
  99.         $thr = threads->new(\&serialConnThread);
  100.         $thr->detach;      
  101.     }
  102. #   } else {
  103. #       print "Argument $devicearg is not correct\n";
  104. #       exit 0;
  105. #   }
  106. }
  107.  
  108. ### loop here until user aborts with ctrl+c ###
  109. while (1) { sleep 1; }
  110.  
  111.  
  112. ##################### Hardware connection to TCP HUB ############################
  113. sub hardwareConnThread {
  114.     ### Check for data from HUB ###
  115.     while ( $newmsg = <$hwCremote> ) {
  116.         ### Convert to can2serial format ###
  117.         &stringToc2s($newmsg, $retstring);
  118.         if ($retstring) {
  119.             #print length($retstring)."\n";
  120.             #&c2sToString($retstring, $newretstring);
  121.             #print "TO SEND: ".$newretstring."\n";
  122.             #print $udpCsocket $retstring;
  123.            
  124.             ### Send data ###
  125.             if (length($hardwareSendFunction) > 0) {
  126.                 &{$hardwareSendFunction}($retstring);
  127.             }
  128.            
  129.         }
  130.     }  
  131. }
  132.  
  133. sub hardwareConnInit {
  134.     print "Connecting hardware to tcpServer\n";
  135.     $hwCremote = IO::Socket::INET->new(Proto    => "tcp", PeerAddr => "localhost", PeerPort => $hubport,)
  136.                   or die "cannot connect to $hubport port at localhost";
  137. }
  138.  
  139. ##################### Serial Connection ############################
  140. sub serialConnThread {
  141.     $serialBuffer = "";
  142.     while(1) {
  143.         my ($count,$saw)=$serialPort->read(1); # will read _up to_ 1 chars
  144.         if ($count > 0) {
  145.             $serialBuffer.=$saw;
  146.             serialConnProcessBuffer($serialBuffer);
  147.         }
  148.     }
  149. }
  150.  
  151. sub serialConnProcessBuffer {
  152.     my $input = $_[0];
  153.     my $output = $input;
  154.     my $newmsg;
  155.     my $retstring;
  156.        
  157.     ### Cut all leading chars that is not a start-char ###
  158.     for ($i = 0; $i < length($input); $i++) {
  159.         if (ord(substr($input, $i, 1)) == $C2SSTARTSTR) {
  160.             $input = substr($input, $i);
  161.             break;
  162.         }
  163.     }
  164.     ### Check for possible complete packets ###
  165.     for ($i = 0; $i < length($input)-16; $i++) {
  166.         my $newmsg = substr($input, $i, 17);
  167.         $retstring = "";
  168.         &c2sToString($newmsg, $retstring);
  169.         if (length($retstring)>0) {
  170.             if ($hwCremote) {
  171.                 ### Send to tcp hub ###
  172.                 print $hwCremote $retstring . "\n";
  173.             }
  174.             #print $retstring."\n";
  175.             $output = substr($input, $i+17);
  176.             $i+=16;
  177.         }
  178.     }
  179.    
  180.     ### Store modified buffer ###
  181.     $_[0] = $output;
  182. }
  183.  
  184. sub serialConnInit {
  185.     print "Connecting to hardware over serial port\n";
  186.     $quiet=0;
  187.     if ($usingDeviceSerial == 1) {
  188.         $serialPort = new Device::SerialPort($devicearg, $quiet) || die "failed to open serial port, $devicearg is not valid?";
  189.     } elsif ($usingWin32Serial == 1) {
  190.         $serialPort = new Win32::SerialPort($devicearg, $quiet) || die "failed to open serial port, $devicearg is not valid?";
  191.     }
  192.     $serialPort->databits(8)            || die "failed setting databits";
  193.     $serialPort->baudrate($baudarg)     || die "failed setting baudrate";
  194.     $serialPort->parity("none")         || die "failed setting parity";
  195.     $serialPort->stopbits(1)            || die "failed setting stopbits";
  196.     $serialPort->handshake("none")      || die "failed setting handshake";
  197.     $serialPort->write_settings         || die "no settings";
  198.    
  199.     $serialPort->read_char_time(0);     # don't wait for each character
  200.     $serialPort->read_const_time(1000); # 1 second per unfulfilled "read" call
  201.  
  202.     ### create a connection between the hardware and the tcp-server ###
  203.     &hardwareConnInit;
  204.     $hardwareSendFunction = "serialConnSend";       ### set up callback for a 'send data' function
  205.     $thr = threads->new(\&hardwareConnThread);
  206.     $thr->detach;
  207. }
  208.  
  209. sub serialConnSend {
  210.     $cnt = $serialPort->write($_[0]);
  211. }
  212.  
  213. ##################### UDP Connection ############################
  214. sub udpServerThread {
  215.     $MAXLEN = 1024;
  216.     my $newmsg;
  217.     my $retstring;
  218.     while ($udpSsocket->recv($newmsg, $MAXLEN)) {
  219.         my($udpport, $ipaddr) = sockaddr_in($udpSsocket->peername);
  220.         $peer_addr = inet_ntoa($ipaddr);
  221.        
  222.         ### check ipaddr to ip in commandlinearg ###
  223.         if ($udpip == $peer_addr) {
  224.             #check len of incomming data
  225.             if (length($newmsg) > 16 && length($newmsg) < 20) {
  226.                 $retstring = "";
  227.                 &c2sToString($newmsg, $retstring);
  228.                 if (length($retstring) > 0 && $hwCremote) {
  229.                     print $hwCremote $retstring . "\n";
  230.                 }
  231.             }
  232.         }
  233.     }
  234.    
  235. }
  236.  
  237. sub udpServerInit {
  238.     print "Starting udpServer\n";
  239.     $udpSsocket = IO::Socket::INET->new(LocalPort => $udpport, Proto => 'udp')
  240.         or die "socket: $@";
  241.  
  242.     $udpCsocket = IO::Socket::INET->new(PeerPort => $udpport, Proto => 'udp', PeerAddr => $udpip)
  243.         or die "socket: $@";
  244.    
  245.     #här ska keep-alive/start-paket skickas till ipt enligt commandline-arg
  246.  
  247.     ### create a connection between the hardware and the tcp-server ###
  248.     &hardwareConnInit;
  249.     $hardwareSendFunction = "udpServerSend";        ### set up callback for a 'send data' function
  250.     $thr = threads->new(\&hardwareConnThread);
  251.     $thr->detach;
  252.    
  253. }
  254.  
  255. sub udpServerSend {
  256.     print $udpCsocket $_[0];
  257. }
  258.  
  259. ##################### TCP HUB ############################
  260. sub tcpServerThread {
  261.     while(@ready = $tcpSselect->can_read) {
  262.         for $tcpSsocket (@ready) {
  263.             if($tcpSsocket == $tcpSlisten) {
  264.                 &tcpServerConn;
  265.             } else {
  266.                 $tcpSsocket->recv($line,$linelength);
  267.                 if ($line eq "") {
  268.                     &tcpServerClientDis;
  269.                 } else {
  270.                     $line =~ s/\n.*//gm;    #remove newline and everything after it
  271.                     $line =~ s/\r.*//gm;    #remove linefeed and everything after it
  272.                     print "Got packet '".$line."' from client ".$tcpSsocket->fileno."\n";
  273.                    
  274.                     $rxerror = 0;
  275.                     testPacket($line, 0, $rxerror);
  276.                    
  277.                     if ($rxerror == 0) {
  278.                         #Add newline to each packet
  279.                         $line .= "\n";
  280.                                            
  281.                         &tcpServerBroadcastExcept($line, $tcpSsocket);
  282.                     }
  283.                 }
  284.             }
  285.         }
  286.     }
  287. }
  288.  
  289. #initiate the tcp server
  290. sub tcpServerInit {
  291.     $tcpSlisten = IO::Socket::INET->new(Proto => "tcp", LocalPort => $hubport, Listen => 1, Reuse => 1)
  292.                 or die $!;
  293.  
  294.     $tcpSselect = IO::Select->new($tcpSlisten);
  295.     print "Starting tcpServer\n";
  296. }
  297.  
  298. #a client connected
  299. sub tcpServerConn {
  300.     $new = $tcpSlisten->accept;
  301.     $tcpSselect->add($new);
  302.     print $new->fileno . ": connected\n";
  303. }
  304.  
  305. #a client disconnected
  306. sub tcpServerClientDis {
  307.     print $tcpSsocket->fileno . ": disconnected\n";
  308.     $tcpSselect->remove($tcpSsocket);
  309.     $tcpSsocket->close;
  310. }
  311.  
  312. #subroutine sends data to all connected clients except for one specified
  313. sub tcpServerBroadcastExcept {
  314.     my $first = 0;
  315.     my $data = $_[0];
  316.     my $exception = $_[1];
  317.     for $eachsocket ($tcpSselect->handles) {
  318.         if ($eachsocket==$tcpSlisten) {     #dont send to self
  319.             next;
  320.         } elsif ($eachsocket==$exception) {     #dont send to the specified exception
  321.             next;
  322.         } else {
  323.             if ($first==0) {
  324.                 $first = 1;
  325.                 print "Sending to client ".$eachsocket->fileno;
  326.             } else {
  327.                 print ", ".$eachsocket->fileno;
  328.             }
  329.             $eachsocket->send($data) or do {
  330.                 &tcpServerClientDis;
  331.             }
  332.         }
  333.     }
  334.     if ($first==1) {
  335.         print "\n";
  336.     }
  337. }
  338.  
  339. ##################### General functions ############################
  340.  
  341. #this function should do a number of tests on $_[0] and print messages if packet is malformed and return 1 in $_[2]
  342. #messages can be suppressed by having $_[1] as 1
  343. sub testPacket {
  344.     my $input = $_[0];
  345.     my $messages = $_[1];
  346.    
  347.     #line should be parsed somewhat here, check PKT, AUT and so on
  348.     $testErr = 0;
  349.     if (length($input) < 16) {
  350.         $testErr = 1;
  351.         if ($messages!=1) {print "Packet was malformed, not long enough\n";}
  352.     }
  353.     if ($testErr == 0 && substr($input, 0, 4) != "PKT ") {
  354.         $testErr = 1;
  355.         if ($messages!=1) {print "Packet was malformed, should start with PKT\n";}
  356.     }
  357.     #if (substr($line, 12, 1) != " " || substr($line, 14, 1) != " ") {
  358.     #   $testErr = 1;
  359.     #   print "Packet was malformed, spaces not in the correct place\n";
  360.     #}
  361.     @splitinput = split(/ +/, $input);
  362.     $inputarrlen = @splitinput;
  363.     if ($testErr == 0 && ($inputarrlen < 4 || $inputarrlen > 12)) {
  364.         $testErr = 1;
  365.         if ($messages!=1) {print "Packet was malformed, to many or to few parts\n";}
  366.     }
  367.     if ($testErr == 0 && length($splitinput[1]) != 8) {
  368.         $testErr = 1;
  369.         if ($messages!=1) {print "Packet was malformed, id part must be 8 digits (padded with zeros)\n";}
  370.     }
  371.     if ($testErr == 0 && length($splitinput[2]) != 1) {
  372.         $testErr = 1;
  373.         if ($messages!=1) {print "Packet was malformed, ext part must be 1 digit\n";}
  374.     }
  375.     if ($testErr == 0 && length($splitinput[3]) != 1) {
  376.         $testErr = 1;
  377.         if ($messages!=1) {print "Packet was malformed, rtr part must be 1 digit\n";}
  378.     }
  379.     for ($i = 4; $i < $inputarrlen; $i++) {
  380.         if ($testErr == 0 && length($splitinput[$i]) != 2) {
  381.             $testErr = 1;
  382.             if ($messages!=1) {print "Packet was malformed, data parts must be 2 digits (padded with zero)\n";}
  383.         }
  384.     }
  385.     $checkstrlen = length($input)-4;
  386.     $checkstr = substr($input, 4, $checkstrlen);
  387.     if ($testErr == 0 && $checkstr !~ m/^[0-9a-fA-F ]*$/) {
  388.         $testErr = 1;
  389.         if ($messages!=1) {print "Packet was malformed, not hex\n";}
  390.     }
  391.    
  392.     $_[2] = $testErr;
  393. }
  394.  
  395. #this function should parse $_[0] (can2serial-data) and save in $_[1] as string
  396. sub c2sToString {
  397.     my $input = $_[0];
  398.     my $output = "";
  399.     #if not correct input data, then dont save anything in $_[1]
  400.     if (ord(substr($input, 0, 1))==$C2SSTARTSTR && ord(substr($input, 16, 1))==$C2SENDSTR) {
  401.         #$output = "boundaries=ok ";
  402.         $id = ord(substr($input, 1, 1)) + ord(substr($input, 2, 1))*256 + ord(substr($input, 3, 1))*256*256 + ord(substr($input, 4, 1))*256*256*256;
  403.         $ext = ord(substr($input, 5, 1));
  404.         $rtr = ord(substr($input, 6, 1));
  405.         $dl = ord(substr($input, 7, 1));
  406.         if ($ext < 2 && $rtr < 2 && $dl < 9) {
  407.             $output .= sprintf "%08x ", $id;
  408.             $output .= $ext . " " . $rtr;
  409.             for ($i = 0; $i < $dl; $i++) {
  410.                 $data = ord(substr($input, 8+$i, 1));
  411.                 $output .= sprintf " %02x", $data;
  412.             }
  413.             $_[1] = "PKT ".$output;
  414.         }
  415.     }
  416. }
  417.  
  418. #this function should parse $_[0] (string) and save in $_[1] as can2serial-data
  419. sub stringToc2s {
  420.     my $input = $_[0];
  421.     my $output = "";
  422.     #if not correct input data, then dont save anything in $_[1]
  423.     if (length($input) > 15) {
  424.         #minor checks, the data from the tcp-server should be valid
  425.         @splitinput = split(/ +/, $input);
  426.         $inputarrlen = @splitinput;
  427.         if (substr($input, 0, 4) == "PKT " && substr($input, 12, 1) == " " && substr($input, 14, 1) == " " && $inputarrlen > 3 && $inputarrlen < 13) {
  428.             $id = hex($splitinput[1]);
  429.             $ext = hex($splitinput[2]);
  430.             $rtr = hex($splitinput[3]);
  431.             @data = @splitinput[4..($inputarrlen-1)];
  432.             $dl = @data;
  433.            
  434.             $output .= chr($C2SSTARTSTR);
  435.             $output .= chr($id & 0xff);
  436.             $output .= chr(($id>>8) & 0xff);
  437.             $output .= chr(($id>>16) & 0xff);
  438.             $output .= chr(($id>>24) & 0xff);
  439.             $output .= chr($ext);
  440.             $output .= chr($rtr);
  441.             $output .= chr($dl);
  442.             for ($i = 0; $i < 8; $i++) {
  443.                 if ($i < $dl) {
  444.                     $output .= chr(hex($data[$i]));
  445.                 } else {
  446.                     $output .= chr(" ");
  447.                 }
  448.             }
  449.             $output .= chr($C2SENDSTR);
  450.             $_[1] = $output;
  451.         }
  452.     }
  453. }
  454.