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Line 4... Line 4...
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import sys
 4 
import sys
5 
import logging as log
 5 
import logging as log
6 
import getopt
 6 
import getopt
7 
import atexit
 7 
import atexit
8 
import time
 8 
import time
9 
 
 - 
 
10 
from CanPktHandlerBase import CanPktHandlerBase
 - 
 
11 
from CanPktHandler1 import CanPktHandler1
 - 
 
12 
 
 9 
 
13 
from NodeIfBase import NodeIfBase
 10 
from NodeIfBase import NodeIfBase
14 
from NodeIfCanStim import NodeIfCanStim
 11 
from NodeIfCanStim import NodeIfCanStim
15 
from NodeIfSerial import NodeIfSerial
 12 
from NodeIfSerial import NodeIfSerial
16 
from NodeIfTCP import NodeIfTCP
 13 
from NodeIfTCP import NodeIfTCP
Line 20... Line 17...
20 
daemonApp = None
 17 
daemonApp = None
21 
 
 18 
 
22 
class CanDaemon():
 19 
class CanDaemon():
23 
   
 20 
   
24 
    cfg = None
 21 
    cfg = None
25 
    nodeIf = None
 - 
 
26 
    ifNotifier = None
 22 
    ifNotifier = None
27 
    terminated = False
 23 
    terminated = False
28 
   
 24 
   
29 
    command_list = []
 25 
    command_list = []
30 
    command_map = {}
 26 
    command_map = {}
Line 120... Line 116...
120 
        def notify(self, msg):
 116 
        def notify(self, msg):
121 
            if msg == self.TERMINATE:
 117 
            if msg == self.TERMINATE:
122 
                print 'Main terminate notify'
 118 
                print 'Main terminate notify'
123 
            else:
 119 
            else:
124 
                print 'UNDEFINED NOTIFY'
 120 
                print 'UNDEFINED NOTIFY'
125 
       
 121 
       
126 
   
 122 
   
127 
    def __rightAdjust(self, refstr, str):
 123 
    def __rightAdjust(self, refstr, str):
128 
        spcstr = ''
 124 
        spcstr = ''
129 
        endpos = 25-len(refstr)
 125 
        endpos = 25-len(refstr)
130 
        for i in range(1,endpos):
 126 
        for i in range(1,endpos):
131 
            if i == endpos-5:
 127 
            if i == endpos-5:
132 
                spcstr += ':'
 128 
                spcstr += ':'
133 
            else:
 129 
            else:
134 
                spcstr += ' '
 130 
                spcstr += ' '
135 
        return (spcstr+str)
 131 
        return (spcstr+str)
136 
   
 132 
   
137 
    def helpCmd(self, *args):
 133 
    def helpCmd(self, *args):
138 
        try:
 134 
        try:
139 
            args = args[0]
 135 
            args = args[0]
140 
        except:
 136 
        except:
141 
            args = []
 137 
            args = []
142 
        if len(args) < 1:
 138 
        if len(args) < 1:
143 
            quitStr = 'quit, exit'
 139 
            quitStr = 'quit, exit'
144 
            print quitStr, self.__rightAdjust(quitStr, 'shutdown pyCanDaemon')
 140 
            print quitStr, self.__rightAdjust(quitStr, 'shutdown pyCanDaemon')
145 
            for cmd in self.command_list:
 141 
            for cmd in self.command_list:
146 
                cmdstr = cmd[self.CMDLIST_NAME] + ' ' + cmd[self.CMDLIST_PARAMINFO]
 142 
                cmdstr = cmd[self.CMDLIST_NAME] + ' ' + cmd[self.CMDLIST_PARAMINFO]
Line 154... Line 150...
154 
                print 'no help for ' + subCmd
 150 
                print 'no help for ' + subCmd
155 
        else:
 151 
        else:
156 
            print 'usage: help [topic]'
 152 
            print 'usage: help [topic]'
157 
 
 153 
 
158 
    def filterCmd(self, *args):
 154 
    def filterCmd(self, *args):
159 
        try:
 155 
        try:
160 
            args = args[0]
 156 
            args = args[0]
161 
        except:
 157 
        except:
162 
            args = []
 158 
            args = []
163 
        log.debug('filterCmd ' + str(args))
 159 
        log.debug('filterCmd ' + str(args))
164 
        if len(args) < 2:
 160 
        if len(args) < 2:
165 
            print 'Invalid arguments\n' + self.filterHelp
 161 
            print 'Invalid arguments\n' + self.filterHelp
166 
            return
 162 
            return
167 
        cmd = args[0]
 163 
        cmd = args[0]
168 
        filterName = args[1]
 164 
        filterName = args[1]
169 
        # FIXME: verify
165 
        # FIXME: verify
170 
        if cmd == 'add':
 166 
        if cmd == 'add':
171 
            print 'Importing filter: ' + filterName
 167 
            print 'Importing filter: ' + filterName
172 
            self.cfg.filterCfg.importFilter(filterName)
 168 
            self.cfg.filterCfg.importFilter(filterName)
173 
        elif cmd == 'rem' or cmd == 'remove':
 169 
        elif cmd == 'rem' or cmd == 'remove':
174 
            print 'Deleting filter: ' + filterName
 170 
            print 'Deleting filter: ' + filterName
175 
            # FIXME: actually delete
 171 
            # FIXME: actually delete
176 
            raise 'Not implemented'
 172 
            raise 'Not implemented'
177 
   
 173 
   
178 
    def stateCmd(self, *args):
 174 
    def stateCmd(self, *args):
179 
        try:
 175 
        try:
180 
            args = args[0]
 176 
            args = args[0]
181 
        except:
 177 
        except:
182 
            args = []
 178 
            args = []
Line 194... Line 190...
194 
            print 'Deleting state space: ' + spaceName
 190 
            print 'Deleting state space: ' + spaceName
195 
            # FIXME: actually delete statespace
 191 
            # FIXME: actually delete statespace
196 
            raise 'Not implemented'
 192 
            raise 'Not implemented'
197 
   
 193 
   
198 
    def ifAddCmd(self, *args):
 194 
    def ifAddCmd(self, *args):
199 
        raise 'not implemented'
 195 
        raise 'not implemented'
200 
   
 196 
   
201 
    def ifRemCmd(self, *args):
 197 
    def ifRemCmd(self, *args):
202 
        raise 'not implemented'
 198 
        raise 'not implemented'
203 
 
 199 
 
204 
    def ifUpCmd(self, *args):
 200 
    def ifUpCmd(self, *args):
205 
        raise 'not implemented'
 201 
        raise 'not implemented'
Line 252... Line 248...
252 
            self.command_list[self.command_map[cmd[0]]][self.CMDLIST_HANDLER](cmd[1:])
 248 
            self.command_list[self.command_map[cmd[0]]][self.CMDLIST_HANDLER](cmd[1:])
253 
        else:
 249 
        else:
254 
            print 'unknown command: ' + cmd[0]
 250 
            print 'unknown command: ' + cmd[0]
255 
   
 251 
   
256 
    def exitHelper(self):
 252 
    def exitHelper(self):
- 
 
 253 
        pass
257 
        if self.nodeIf is not None and self.nodeIf.running():
 254 
#        if self.nodeIf is not None and self.nodeIf.running():
258 
            self.nodeIf.stop()
 255 
#            self.nodeIf.stop()
259 
           
 256 
           
260 
    def exceptHelper(self, type, value, tb):
 257 
    def exceptHelper(self, type, value, tb):
261 
        import traceback
 258 
        import traceback
262 
        traceback.print_exception(type, value, tb)
 259 
        traceback.print_exception(type, value, tb)
263 
        print '\nException in main program, shutting down threads'
 260 
        print '\nException in main program, shutting down threads'
264 
        self.terminated = True
 261 
        self.terminated = True
265 
        self.exitHelper()
 262 
        self.exitHelper()
266 
 #       sys.exit(-1)
 - 
 
- 
 
 263 
 
267 
 
 264 
 
268 
    def run(self):
 265 
    def run(self):
269 
        try:
 266 
        try:
270 
            myPath = os.path.dirname(__file__)
 267 
            myPath = os.path.dirname(__file__)
271 
            os.chdir(myPath)
 268 
            os.chdir(myPath)
Line 296... Line 293...
296 
                pass
 293 
                pass
297 
    #            output = a
 294 
    #            output = a
298 
 
 295 
 
299 
        """load config defaults, or last config if exists"""
 296 
        """load config defaults, or last config if exists"""
300 
        """run startup.cfg"""
 297 
        """run startup.cfg"""
301 
       
 - 
 
302 
#        print 'INIT: Loading filters and spaces'
 298 
        print 'INIT: Loading daemon configuration'
303 
#       self.cfg.filterCfg.importFilter('DefaultFilter')
 - 
 
304 
#       self.cfg.stateSpaceCfg.importSpace('DefaultStateSpace')
 - 
 
305 
#        self.cfg.stateSpaceCfg.loadSpaces()
 - 
 
306 
#        self.cfg.filterCfg.loadFilters()
 - 
 
307 
#        self.cfg.setupFilterBindings()
 299 
        self.cfg = DaemonConfig()
308 
#        self.cfg.setupFilterChain()
 300 
        self.cfg.load()
309 
 
 301 
 
310 
#        print 'INIT: Starting selected can interface'
 - 
 
311 
#        ''' nodeif thread launch '''
 - 
 
312 
        self.ifNotifier = self.IfNotifier(self)
 302 
        self.ifNotifier = self.IfNotifier(self)        
313 
        pktHandler = CanPktHandler1(self.cfg)
 303 
        for nodeIf in self.cfg.nodeInterfaces:
314 
#        
 - 
 
315 
#        ifConfig = NodeIfCanStim.DEFAULT_CONFIG
 - 
 
316 
#        self.nodeIf = NodeIfCanStim(ifConfig, pktHandler, self.ifNotifier)
 304 
            nodeIf.setIfNotifier(self.ifNotifier)
317 
# #       ifConfig = NodeIfSerial.DEFAULT_CONFIG
 - 
 
318 
        ifConfig = NodeIfTCP.DEFAULT_CONFIG
 - 
 
319 
#    
 305 
           
320 
        atexit.register(self.exitHelper)
 306 
        atexit.register(self.exitHelper)
321 
        sys.excepthook = self.exceptHelper
 307 
        sys.excepthook = self.exceptHelper
- 
 
 308 
 
322 
        self.nodeIf = NodeIfTCP(pktHandler, self.ifNotifier, None)
 309 
        print 'INIT: Starting configured node interfaces'
323 
#       self.nodeIf = NodeIfSerial(pktHandler, ifConfig)
 310 
        for nodeIf in self.cfg.nodeInterfaces:
324 
#        
 - 
 
325 
        if not self.nodeIf.start():
 311 
            if not nodeIf.start():
326 
            print 'FATAL: Failed to initialize node interface.'
 312 
                print 'FATAL: Failed to initialize node interface.'
327 
            print 'This may indicate that the interface is unavailable, ' \
 313 
                print 'This may indicate that the interface is unavailable, ' \
328 
                  'or that you do not have permission to access it.'
 314 
                      'or that you do not have permission to access it.'
329 
            sys.exit(-1)
 315 
                sys.exit(-1)
330 
 
 316 
 
331 
        print 'Initialize/gather info on connected can nodes and load associated state'
 317 
        print 'INIT: Initialize/gather info on connected can nodes and load associated state'
332 
        print 'Start selected TCP and UDP server(s)'
 318 
        print 'INIT: Starting configured servers'
333 
        # server threads launch
 - 
 
334 
       
 319 
       
335 
        print 'CanDaemon v1 ready'
 320 
        print 'CanDaemon v1 ready'
336 
        print 'Enter command or type \"help\" for a list of commands'
 321 
        print 'Enter command or type \"help\" for a list of commands'
337 
        while not self.terminated:
 322 
        while not self.terminated:
338 
            input = raw_input('> ')
 323 
            input = raw_input('> ')
339 
            self.parseCommand(input)
 324 
            self.parseCommand(input)
340 
 
 325 
 
341 
        print 'Shutdown'
 326 
        print 'Shutdown'
342 
#        if self.nodeIf.running():
 327 
        self.cfg.save()
- 
 
 328 
       
343 
#            print 'Stopping If thread'
 329 
        for nodeIf in self.cfg.nodeInterfaces:
344 
#            self.nodeIf.stop()
 330 
            if self.nodeIf.running():
345 
 
 - 
 
346 
#        self.cfg.stateSpaceCfg.saveSpaces()
 331 
                print 'Stopping If thread'
347 
#        self.cfg.filterCfg.saveFilters()
 332 
                self.nodeIf.stop()
348 
       
 333 
       
349 
        print 'Waiting 0.1..'
 334 
        print 'Waiting 0.1..'
350 
        time.sleep(0.1) # wait for threads
 335 
        time.sleep(0.1) # wait for threads
351 
        print 'Terminating'
 336 
        print 'Terminating'
352 
        sys.exit(0) # will except if there are threads remaining
 337 
        sys.exit(0) # will except if there are threads remaining