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#!/usr/bin/perl

# 

# for use with serial ports, install module with apt-get install libdevice-serialport-perl

# 

# 

# 

$hubport = 1200;

#$udpip = "193.11.254.22";

#$udpport = 1100;

require 5.002;

use IO::Socket;

use IO::Select;

use threads;

use Getopt::Long;

use POSIX qw(setsid);

$binaryname = "canDaemon.pl";

if ( @ARGV > 0 ) {

    GetOptions( "baudrate=i"    => \$baudarg,           #

            "server=s"  => \$serverarg,         #

            "port=i"    => \$portarg,           #

            "tcpport=i" => \$tcpportarg,        #

            "device=s"  => \$devicearg,         #

            "help"      => \$help,          #

            "xDaemon"   => \$daemon,            #

                        );

} else {

    $help = 1;

}

if ($help) {

    print "Usage ./$binaryname [options]\n";

    print "Options:\n";

    print "  -x                     Make canDaemon detach as a UNIX daemon\n";

    print "  -d <device> (udp or /dev/ttyXYZ)   Choose hardware for communication\n";

    print "  -b <baudrate>          Baudrate, for serial devices\n";

    print "  -s <server>                Server, for udp devices\n";

    print "  -p <port>              Port, for udp devices\n";

    print "  -t <tcpport>               Port, for tcp server (default 1200)\n";

    print "  -h                     Shows this usage\n";

    print "\n";

    print "example: ./$binaryname -d /dev/ttyUSB0 -b 38400\n";

    print "example: ./$binaryname -d udp -s 192.168.0.10 -p 1100\n";

    exit 0;

}

if ($serverarg) {

    $udpip = $serverarg;

}

#print $udpip;

if ($portarg) {

    $udpport = $portarg;

}

if ($tcpportarg) {

    $hubport = $tcpportarg;

}

if ($daemon) {

    chdir '/'                 or die "Can't chdir to /: $!";

    umask 0;

    open STDIN, '/dev/null'   or die "Can't read /dev/null: $!";

    open STDOUT, '>/dev/null' or die "Can't write to /dev/null: $!";

    #open STDERR, '>/dev/null' or die "Can't write to /dev/null: $!";

    defined(my $pid = fork)   or die "Can't fork: $!";

    exit if $pid;

    setsid                    or die "Can't start a new session: $!";

}

$C2SSTARTSTR = 253;

$C2SENDSTR = 250;

$C2PINGSTR = 251;

### create a tcp server ###

$linelength=1000;

&tcpServerInit;

$thr = threads->new(\&tcpServerThread);

$thr->detach;

### create a connection to hardware ###

if ($devicearg) {

    if ($devicearg =~ m/^udp$/) {

        ### if the hardware is an udp node ###

        &udpServerInit;

        $thr = threads->new(\&udpServerThread);

        $thr->detach;

    }

    ### else, the hardware is serial, check for device, this might not work in windows ###

#   elsif (-e $devicearg) {

    else {

        if (!$baudarg) {

            print "For a serial device you need to specifiy baudrate, now using default 19200\n";

            $baudarg = 19200;

        }

        eval 'use Device::SerialPort';      ### install module with aptitude install libdevice-serialport-perl

        if ($@) {

            eval 'use Win32::SerialPort';

            if ($@) {

                print "Could not find Device::SerialPort or Win32::SerialPort, I quit.\n";

                exit 0;

            } else {

                $usingWin32Serial = 1;

            }

        } else {

            $usingDeviceSerial = 1;

        }

        &serialConnInit;

        $thr = threads->new(\&serialConnThread);

        $thr->detach;      

    }

#   } else {

#       print "Argument $devicearg is not correct\n";

#       exit 0;

#   }

}

### loop here until user aborts with ctrl+c ###

while (1) { sleep 1; }

##################### Hardware connection to TCP HUB ############################

sub hardwareConnThread {

    ### Check for data from HUB ###

    while ( $newmsg = <$hwCremote> ) {

        ### Convert to can2serial format ### 

        &stringToc2s($newmsg, $retstring);

        if ($retstring) {

            #print length($retstring)."\n";

            #&c2sToString($retstring, $newretstring);

            #print "TO SEND: ".$newretstring."\n";

            #print $udpCsocket $retstring;

            ### Send data ###

            if (length($hardwareSendFunction) > 0) {

                &{$hardwareSendFunction}($retstring);

            }

        }

    }  

}

sub hardwareConnInit {

    print "Connecting hardware to tcpServer\n";

    $hwCremote = IO::Socket::INET->new(Proto    => "tcp", PeerAddr => "localhost", PeerPort => $hubport,)

                  or die "cannot connect to $hubport port at localhost";

}

##################### Serial Connection ############################

sub serialConnThread {

    $serialBuffer = "";

    while(1) {

        my ($count,$saw)=$serialPort->read(1); # will read _up to_ 1 chars

        if ($count > 0) {

            $serialBuffer.=$saw;

            serialConnProcessBuffer($serialBuffer);

        }

    }

}

sub serialConnProcessBuffer {

    my $input = $_[0];

    my $output = $input;

    my $newmsg;

    my $retstring;

    ### Cut all leading chars that is not a start-char ###

    for ($i = 0; $i < length($input); $i++) {

        if (ord(substr($input, 0, 1)) != $C2SSTARTSTR) {

            if (ord(substr($input, $i, 1)) == $C2SSTARTSTR) {

                $input = substr($input, $i);

                $output = $input;

                #print "debug: cutting character\n";

                break;

            }

            if (ord(substr($input, $i, 1)) == $C2PINGSTR) {

                print "Got pong from hardware\n";

                $input = substr($input, $i+1);

                $output = $input;

            }

        } else {

            break;

        }

    }

    ### Check for possible complete packets ###

    for ($i = 0; $i < length($input)-16; $i++) {

        my $newmsg = substr($input, $i, 17);

        $retstring = "";

        &c2sToString($newmsg, $retstring);

        if (length($retstring)>0) {

            if ($hwCremote) {

                ### Send to tcp hub ###

                print $hwCremote $retstring . "\n";

            }

            #print $retstring."\n";

            $output = substr($input, $i+17);

            $i+=16;

        }

    }

    ### Store modified buffer ###

    $_[0] = $output;

}

sub serialConnInit {

    print "Connecting to hardware over serial port\n";

    $quiet=0;

    if ($usingDeviceSerial == 1) {

        $serialPort = new Device::SerialPort($devicearg, $quiet) || die "failed to open serial port, $devicearg is not valid?";

    } elsif ($usingWin32Serial == 1) {

        $serialPort = new Win32::SerialPort($devicearg, $quiet) || die "failed to open serial port, $devicearg is not valid?";

    }

    $serialPort->databits(8)            || die "failed setting databits";

    $serialPort->baudrate($baudarg)     || die "failed setting baudrate";

    $serialPort->parity("none")         || die "failed setting parity";

    $serialPort->stopbits(1)            || die "failed setting stopbits";

    $serialPort->handshake("none")      || die "failed setting handshake";

    $serialPort->write_settings         || die "no settings";

    $serialPort->read_char_time(0);     # don't wait for each character

    $serialPort->read_const_time(1000); # 1 second per unfulfilled "read" call

    print "Testing connection to hardware: ping (hardware should answer with a pong)\n";

    serialConnSend(chr($C2PINGSTR));

    ### create a connection between the hardware and the tcp-server ###

    &hardwareConnInit;

    $hardwareSendFunction = "serialConnSend";       ### set up callback for a 'send data' function

    $thr = threads->new(\&hardwareConnThread);

    $thr->detach;

}

sub serialConnSend {

    $cnt = $serialPort->write($_[0]);

}

##################### UDP Connection ############################

sub udpServerThread {

    $MAXLEN = 1024;

    my $newmsg;

    my $retstring;

    while ($udpSsocket->recv($newmsg, $MAXLEN)) {

        my($udpport, $ipaddr) = sockaddr_in($udpSsocket->peername);

        $peer_addr = inet_ntoa($ipaddr);

        ### check ipaddr to ip in commandlinearg ###

        if ($udpip == $peer_addr) {

            #check len of incomming data

            if (length($newmsg) > 16 && length($newmsg) < 20) {

                $retstring = "";

                &c2sToString($newmsg, $retstring);

                if (length($retstring) > 0 && $hwCremote) {

                    print $hwCremote $retstring . "\n";

                }

            }

        }

    }

}

sub udpServerInit {

    print "Starting udpServer\n";

    $udpSsocket = IO::Socket::INET->new(LocalPort => $udpport, Proto => 'udp')

        or die "socket: $@";

    $udpCsocket = IO::Socket::INET->new(PeerPort => $udpport, Proto => 'udp', PeerAddr => $udpip)

        or die "socket: $@";

    #här ska keep-alive/start-paket skickas till ipt enligt commandline-arg

    #just nu skickas bara ett initialiseringspaket

    my $retstring;

    &stringToc2s("PKT 00000000 1 0", $retstring);

        if ($retstring) {

        ### Send data ###

        if (length($hardwareSendFunction) > 0) {

            &{$hardwareSendFunction}($retstring);

        }

    }

    ### create a connection between the hardware and the tcp-server ###

    &hardwareConnInit;

    $hardwareSendFunction = "udpServerSend";        ### set up callback for a 'send data' function

    $thr = threads->new(\&hardwareConnThread);

    $thr->detach;

}

sub udpServerSend {

    print $udpCsocket $_[0];

}

##################### TCP HUB ############################

sub tcpServerThread {

    while(@ready = $tcpSselect->can_read) {

        for $tcpSsocket (@ready) {

            if($tcpSsocket == $tcpSlisten) {

                &tcpServerConn;

            } else {

                $tcpSsocket->recv($line,$linelength);

                if ($line eq "") {

                    &tcpServerClientDis;

                } else {

                    $line =~ s/\r//gm;  #remove linefeed

                    @lines = split(/\n/, $line);

                    foreach $line (@lines) {

                        print "Got packet '".$line."' from client ".$tcpSsocket->fileno."\n";

                        if ($line eq "PING") {

                            print "Sending PONG to client ".$tcpSsocket->fileno."\n";

                            $tcpSsocket->send("PONG\n");

                        }

                        else

                        {

                            $rxerror = 0;

                            testPacket($line, 0, $rxerror);

                            if ($rxerror == 0) {

                                #Add newline to each packet

                                $line .= "\n";

                                &tcpServerBroadcastExcept($line, $tcpSsocket);

                            }

                        }

                    }

                }

            }

        }

    }

}

#initiate the tcp server

sub tcpServerInit {

    $tcpSlisten = IO::Socket::INET->new(Proto => "tcp", LocalPort => $hubport, Listen => 1, Reuse => 1)

                or die $!;

    $tcpSselect = IO::Select->new($tcpSlisten);

    print "Starting tcpServer\n";

}

#a client connected

sub tcpServerConn {

    $new = $tcpSlisten->accept;

    $tcpSselect->add($new);

    print $new->fileno . ": connected\n";

}

#a client disconnected

sub tcpServerClientDis {

    print $tcpSsocket->fileno . ": disconnected\n";

    $tcpSselect->remove($tcpSsocket);

    $tcpSsocket->close;

}

#subroutine sends data to all connected clients except for one specified 

sub tcpServerBroadcastExcept {

    my $first = 0;

    my $data = $_[0];

    my $exception = $_[1];

    for $eachsocket ($tcpSselect->handles) {

        if ($eachsocket==$tcpSlisten) {     #dont send to self

            next;

        } elsif ($eachsocket==$exception) {     #dont send to the specified exception

            next;

        } else {

            if ($first==0) {

                $first = 1;

                print "Sending to client ".$eachsocket->fileno;

            } else {

                print ", ".$eachsocket->fileno;

            }

            $eachsocket->send($data) or do {

                &tcpServerClientDis;

            }

        }

    }

    if ($first==1) {

        print "\n";

    }

}

##################### General functions ############################

#this function should do a number of tests on $_[0] and print messages if packet is malformed and return 1 in $_[2]

#messages can be suppressed by having $_[1] as 1

sub testPacket {

    my $input = $_[0];

    my $messages = $_[1];

    #line should be parsed somewhat here, check PKT, AUT and so on

    $testErr = 0;

    if (length($input) < 16) {

        $testErr = 1;

        if ($messages!=1) {print "Packet was malformed, not long enough\n";}

    }

    if ($testErr == 0 && substr($input, 0, 4) != "PKT ") {

        $testErr = 1;

        if ($messages!=1) {print "Packet was malformed, should start with PKT\n";}

    }

    #if (substr($line, 12, 1) != " " || substr($line, 14, 1) != " ") {

    #   $testErr = 1;

    #   print "Packet was malformed, spaces not in the correct place\n";

    #}

    @splitinput = split(/ +/, $input);

    $inputarrlen = @splitinput;

    if ($testErr == 0 && ($inputarrlen < 4 || $inputarrlen > 12)) {

        $testErr = 1;

        if ($messages!=1) {print "Packet was malformed, to many or to few parts\n";}

    }

    if ($testErr == 0 && length($splitinput[1]) != 8) {

        $testErr = 1;

        if ($messages!=1) {print "Packet was malformed, id part must be 8 digits (padded with zeros)\n";}

    }

    if ($testErr == 0 && length($splitinput[2]) != 1) {

        $testErr = 1;

        if ($messages!=1) {print "Packet was malformed, ext part must be 1 digit\n";}

    }

    if ($testErr == 0 && length($splitinput[3]) != 1) {

        $testErr = 1;

        if ($messages!=1) {print "Packet was malformed, rtr part must be 1 digit\n";}

    }

    for ($i = 4; $i < $inputarrlen; $i++) {

        if ($testErr == 0 && length($splitinput[$i]) != 2) {

            $testErr = 1;

            if ($messages!=1) {print "Packet was malformed, data parts must be 2 digits (padded with zero)\n";}

        }

    }

    $checkstrlen = length($input)-4;

    $checkstr = substr($input, 4, $checkstrlen);

    if ($testErr == 0 && $checkstr !~ m/^[0-9a-fA-F ]*$/) {

        $testErr = 1;

        if ($messages!=1) {print "Packet was malformed, not hex\n";}

    }

    $_[2] = $testErr;

}

#this function should parse $_[0] (can2serial-data) and save in $_[1] as string

sub c2sToString {

    my $input = $_[0];

    my $output = "";

    #if not correct input data, then dont save anything in $_[1]

    if (ord(substr($input, 0, 1))==$C2SSTARTSTR && ord(substr($input, 16, 1))==$C2SENDSTR) {

        #$output = "boundaries=ok ";

        $id = ord(substr($input, 1, 1)) + ord(substr($input, 2, 1))*256 + ord(substr($input, 3, 1))*256*256 + ord(substr($input, 4, 1))*256*256*256;

        $ext = ord(substr($input, 5, 1));

        $rtr = ord(substr($input, 6, 1));

        $dl = ord(substr($input, 7, 1));

        if ($ext < 2 && $rtr < 2 && $dl < 9) {

            $output .= sprintf "%08x ", $id;

            $output .= $ext . " " . $rtr;

            for ($i = 0; $i < $dl; $i++) {

                $data = ord(substr($input, 8+$i, 1));

                $output .= sprintf " %02x", $data;

            }

            $_[1] = "PKT ".$output;

        } else {

            #print "debug: incorrect ext, rtr or dl\n";

        }

    } else {

        #print "debug: incorrect boundaries\n";

    }

}

#this function should parse $_[0] (string) and save in $_[1] as can2serial-data

sub stringToc2s {

    my $input = $_[0];

    my $output = "";

    #if not correct input data, then dont save anything in $_[1]

    if (length($input) > 15) {

        #minor checks, the data from the tcp-server should be valid

        @splitinput = split(/ +/, $input);

        $inputarrlen = @splitinput;

        if (substr($input, 0, 4) == "PKT " && substr($input, 12, 1) == " " && substr($input, 14, 1) == " " && $inputarrlen > 3 && $inputarrlen < 13) {

            $id = hex($splitinput[1]);

            $ext = hex($splitinput[2]);

            $rtr = hex($splitinput[3]);

            @data = @splitinput[4..($inputarrlen-1)];

            $dl = @data;

            $output .= chr($C2SSTARTSTR);

            $output .= chr($id & 0xff);

            $output .= chr(($id>>8) & 0xff);

            $output .= chr(($id>>16) & 0xff);

            $output .= chr(($id>>24) & 0xff);

            $output .= chr($ext);

            $output .= chr($rtr);

            $output .= chr($dl);

            for ($i = 0; $i < 8; $i++) {

                if ($i < $dl) {

                    $output .= chr(hex($data[$i]));

                } else {

                    $output .= chr(" ");

                }

            }

            $output .= chr($C2SENDSTR);

            $_[1] = $output;

        }

    }

}