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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. use POSIX qw(setsid);
  22.  
  23. $binaryname = "canDaemon.pl";
  24. if ( @ARGV > 0 ) {
  25.     GetOptions( "baudrate=i"    => \$baudarg,           #
  26.             "server=s"  => \$serverarg,         #
  27.             "port=i"    => \$portarg,           #
  28.             "tcpport=i" => \$tcpportarg,        #
  29.             "device=s"  => \$devicearg,         #
  30.             "help"      => \$help,          #
  31.             "xDaemon"   => \$daemon,            #
  32.                         );
  33. } else {
  34.     $help = 1;
  35. }
  36.  
  37. if ($help) {
  38.     print "Usage ./$binaryname [options]\n";
  39.     print "Options:\n";
  40.     print "  -x                     Make canDaemon detach as a UNIX daemon\n";
  41.     print "  -d <device> (udp or /dev/ttyXYZ)   Choose hardware for communication\n";
  42.     print "  -b <baudrate>          Baudrate, for serial devices\n";
  43.     print "  -s <server>                Server, for udp devices\n";
  44.     print "  -p <port>              Port, for udp devices\n";
  45.     print "  -t <tcpport>               Port, for tcp server (default 1200)\n";
  46.     print "  -h                     Shows this usage\n";
  47.     print "\n";
  48.     print "example: ./$binaryname -d /dev/ttyUSB0 -b 38400\n";
  49.     print "example: ./$binaryname -d udp -s 192.168.0.10 -p 1100\n";
  50.  
  51.     exit 0;
  52. }
  53. if ($serverarg) {
  54.     $udpip = $serverarg;
  55. }
  56. #print $udpip;
  57. if ($portarg) {
  58.     $udpport = $portarg;
  59. }
  60. if ($tcpportarg) {
  61.     $hubport = $tcpportarg;
  62. }
  63.  
  64. if ($daemon) {
  65.     chdir '/'                 or die "Can't chdir to /: $!";
  66.     umask 0;
  67.     open STDIN, '/dev/null'   or die "Can't read /dev/null: $!";
  68.     open STDOUT, '>/dev/null' or die "Can't write to /dev/null: $!";
  69.     #open STDERR, '>/dev/null' or die "Can't write to /dev/null: $!";
  70.     defined(my $pid = fork)   or die "Can't fork: $!";
  71.     exit if $pid;
  72.     setsid                    or die "Can't start a new session: $!";
  73. }
  74.  
  75. $C2SSTARTSTR = 253;
  76. $C2SENDSTR = 250;
  77. $C2PINGSTR = 251;
  78.  
  79. ### create a tcp server ###
  80. $linelength=1000;
  81. &tcpServerInit;
  82. $thr = threads->new(\&tcpServerThread);
  83. $thr->detach;
  84.  
  85. ### create a connection to hardware ###
  86. if ($devicearg) {
  87.     if ($devicearg =~ m/^udp$/) {
  88.         ### if the hardware is an udp node ###
  89.         &udpServerInit;
  90.         $thr = threads->new(\&udpServerThread);
  91.         $thr->detach;
  92.     }
  93.     ### else, the hardware is serial, check for device, this might not work in windows ###
  94. #   elsif (-e $devicearg) {
  95.     else {
  96.         if (!$baudarg) {
  97.             print "For a serial device you need to specifiy baudrate, now using default 19200\n";
  98.             $baudarg = 19200;
  99.         }
  100.        
  101.         eval 'use Device::SerialPort';      ### install module with aptitude install libdevice-serialport-perl
  102.         if ($@) {
  103.             eval 'use Win32::SerialPort';
  104.             if ($@) {
  105.                 print "Could not find Device::SerialPort or Win32::SerialPort, I quit.\n";
  106.                 exit 0;
  107.             } else {
  108.                 $usingWin32Serial = 1;
  109.             }
  110.         } else {
  111.             $usingDeviceSerial = 1;
  112.         }
  113.        
  114.         &serialConnInit;
  115.         $thr = threads->new(\&serialConnThread);
  116.         $thr->detach;      
  117.     }
  118. #   } else {
  119. #       print "Argument $devicearg is not correct\n";
  120. #       exit 0;
  121. #   }
  122. }
  123.  
  124.  
  125. ### loop here until user aborts with ctrl+c ###
  126. while (1) { sleep 1; }
  127.  
  128.  
  129. ##################### Hardware connection to TCP HUB ############################
  130. sub hardwareConnThread {
  131.     ### Check for data from HUB ###
  132.     while ( $newmsg = <$hwCremote> ) {
  133.         ### Convert to can2serial format ###
  134.         &stringToc2s($newmsg, $retstring);
  135.         if ($retstring) {
  136.             #print length($retstring)."\n";
  137.             #&c2sToString($retstring, $newretstring);
  138.             #print "TO SEND: ".$newretstring."\n";
  139.             #print $udpCsocket $retstring;
  140.            
  141.             ### Send data ###
  142.             if (length($hardwareSendFunction) > 0) {
  143.                 &{$hardwareSendFunction}($retstring);
  144.             }
  145.            
  146.         }
  147.     }  
  148. }
  149.  
  150. sub hardwareConnInit {
  151.     print "Connecting hardware to tcpServer\n";
  152.     $hwCremote = IO::Socket::INET->new(Proto    => "tcp", PeerAddr => "localhost", PeerPort => $hubport,)
  153.                   or die "cannot connect to $hubport port at localhost";
  154. }
  155.  
  156. ##################### Serial Connection ############################
  157. sub serialConnThread {
  158.     $serialBuffer = "";
  159.     while(1) {
  160.         my ($count,$saw)=$serialPort->read(1); # will read _up to_ 1 chars
  161.         if ($count > 0) {
  162.             $serialBuffer.=$saw;
  163.             serialConnProcessBuffer($serialBuffer);
  164.         }
  165.     }
  166. }
  167.  
  168. sub serialConnProcessBuffer {
  169.     my $input = $_[0];
  170.     my $output = $input;
  171.     my $newmsg;
  172.     my $retstring;
  173.        
  174.     ### Cut all leading chars that is not a start-char ###
  175.     for ($i = 0; $i < length($input); $i++) {
  176.         if (ord(substr($input, 0, 1)) != $C2SSTARTSTR) {
  177.             if (ord(substr($input, $i, 1)) == $C2SSTARTSTR) {
  178.                 $input = substr($input, $i);
  179.                 $output = $input;
  180.                 #print "debug: cutting character\n";
  181.                 break;
  182.             }
  183.             if (ord(substr($input, $i, 1)) == $C2PINGSTR) {
  184.                 print "Got pong from hardware\n";
  185.                 $input = substr($input, $i+1);
  186.                 $output = $input;
  187.             }
  188.         } else {
  189.             break;
  190.         }
  191.     }
  192.     ### Check for possible complete packets ###
  193.     for ($i = 0; $i < length($input)-16; $i++) {
  194.         my $newmsg = substr($input, $i, 17);
  195.         $retstring = "";
  196.         &c2sToString($newmsg, $retstring);
  197.         if (length($retstring)>0) {
  198.             if ($hwCremote) {
  199.                 ### Send to tcp hub ###
  200.                 print $hwCremote $retstring . "\n";
  201.             }
  202.             #print $retstring."\n";
  203.             $output = substr($input, $i+17);
  204.             $i+=16;
  205.         }
  206.     }
  207.    
  208.     ### Store modified buffer ###
  209.     $_[0] = $output;
  210. }
  211.  
  212. sub serialConnInit {
  213.     print "Connecting to hardware over serial port\n";
  214.     $quiet=0;
  215.     if ($usingDeviceSerial == 1) {
  216.         $serialPort = new Device::SerialPort($devicearg, $quiet) || die "failed to open serial port, $devicearg is not valid?";
  217.     } elsif ($usingWin32Serial == 1) {
  218.         $serialPort = new Win32::SerialPort($devicearg, $quiet) || die "failed to open serial port, $devicearg is not valid?";
  219.     }
  220.     $serialPort->databits(8)            || die "failed setting databits";
  221.     $serialPort->baudrate($baudarg)     || die "failed setting baudrate";
  222.     $serialPort->parity("none")         || die "failed setting parity";
  223.     $serialPort->stopbits(1)            || die "failed setting stopbits";
  224.     $serialPort->handshake("none")      || die "failed setting handshake";
  225.     $serialPort->write_settings         || die "no settings";
  226.    
  227.     $serialPort->read_char_time(0);     # don't wait for each character
  228.     $serialPort->read_const_time(1000); # 1 second per unfulfilled "read" call
  229.  
  230.     print "Testing connection to hardware: ping (hardware should answer with a pong)\n";
  231.     serialConnSend(chr($C2PINGSTR));
  232.    
  233.     ### create a connection between the hardware and the tcp-server ###
  234.     &hardwareConnInit;
  235.     $hardwareSendFunction = "serialConnSend";       ### set up callback for a 'send data' function
  236.     $thr = threads->new(\&hardwareConnThread);
  237.     $thr->detach;
  238. }
  239.  
  240. sub serialConnSend {
  241.     $cnt = $serialPort->write($_[0]);
  242. }
  243.  
  244. ##################### UDP Connection ############################
  245. sub udpServerThread {
  246.     $MAXLEN = 1024;
  247.     my $newmsg;
  248.     my $retstring;
  249.     while ($udpSsocket->recv($newmsg, $MAXLEN)) {
  250.         my($udpport, $ipaddr) = sockaddr_in($udpSsocket->peername);
  251.         $peer_addr = inet_ntoa($ipaddr);
  252.        
  253.         ### check ipaddr to ip in commandlinearg ###
  254.         if ($udpip == $peer_addr) {
  255.             #check len of incomming data
  256.             if (length($newmsg) > 16 && length($newmsg) < 20) {
  257.                 $retstring = "";
  258.                 &c2sToString($newmsg, $retstring);
  259.                 if (length($retstring) > 0 && $hwCremote) {
  260.                     print $hwCremote $retstring . "\n";
  261.                 }
  262.             }
  263.         }
  264.     }
  265.    
  266. }
  267.  
  268. sub udpServerInit {
  269.     print "Starting udpServer\n";
  270.     $udpSsocket = IO::Socket::INET->new(LocalPort => $udpport, Proto => 'udp')
  271.         or die "socket: $@";
  272.  
  273.     $udpCsocket = IO::Socket::INET->new(PeerPort => $udpport, Proto => 'udp', PeerAddr => $udpip)
  274.         or die "socket: $@";
  275.    
  276.     #här ska keep-alive/start-paket skickas till ipt enligt commandline-arg
  277.     #just nu skickas bara ett initialiseringspaket
  278.     my $retstring;
  279.     &stringToc2s("PKT 00000000 1 0", $retstring);
  280.         if ($retstring) {
  281.         ### Send data ###
  282.         if (length($hardwareSendFunction) > 0) {
  283.             &{$hardwareSendFunction}($retstring);
  284.         }
  285.     }
  286.  
  287.     ### create a connection between the hardware and the tcp-server ###
  288.     &hardwareConnInit;
  289.     $hardwareSendFunction = "udpServerSend";        ### set up callback for a 'send data' function
  290.     $thr = threads->new(\&hardwareConnThread);
  291.     $thr->detach;
  292.    
  293. }
  294.  
  295. sub udpServerSend {
  296.     print $udpCsocket $_[0];
  297. }
  298.  
  299. ##################### TCP HUB ############################
  300. sub tcpServerThread {
  301.     while(@ready = $tcpSselect->can_read) {
  302.         for $tcpSsocket (@ready) {
  303.             if($tcpSsocket == $tcpSlisten) {
  304.                 &tcpServerConn;
  305.             } else {
  306.                 $tcpSsocket->recv($line,$linelength);
  307.                 if ($line eq "") {
  308.                     &tcpServerClientDis;
  309.                 } else {
  310.                     $line =~ s/\r//gm;  #remove linefeed
  311.                     @lines = split(/\n/, $line);
  312.                     foreach $line (@lines) {
  313.                         print "Got packet '".$line."' from client ".$tcpSsocket->fileno."\n";
  314.                         if ($line eq "PING") {
  315.                             print "Sending PONG to client ".$tcpSsocket->fileno."\n";
  316.                        
  317.                             $tcpSsocket->send("PONG\n");
  318.                         }
  319.                         else
  320.                         {
  321.                             $rxerror = 0;
  322.                             testPacket($line, 0, $rxerror);
  323.                        
  324.                             if ($rxerror == 0) {
  325.                                 #Add newline to each packet
  326.                                 $line .= "\n";
  327.                                                
  328.                                 &tcpServerBroadcastExcept($line, $tcpSsocket);
  329.                             }
  330.                         }
  331.                     }
  332.                 }
  333.             }
  334.         }
  335.     }
  336. }
  337.  
  338. #initiate the tcp server
  339. sub tcpServerInit {
  340.     $tcpSlisten = IO::Socket::INET->new(Proto => "tcp", LocalPort => $hubport, Listen => 1, Reuse => 1)
  341.                 or die $!;
  342.  
  343.     $tcpSselect = IO::Select->new($tcpSlisten);
  344.     print "Starting tcpServer\n";
  345. }
  346.  
  347. #a client connected
  348. sub tcpServerConn {
  349.     $new = $tcpSlisten->accept;
  350.     $tcpSselect->add($new);
  351.     print $new->fileno . ": connected\n";
  352. }
  353.  
  354. #a client disconnected
  355. sub tcpServerClientDis {
  356.     print $tcpSsocket->fileno . ": disconnected\n";
  357.     $tcpSselect->remove($tcpSsocket);
  358.     $tcpSsocket->close;
  359. }
  360.  
  361. #subroutine sends data to all connected clients except for one specified
  362. sub tcpServerBroadcastExcept {
  363.     my $first = 0;
  364.     my $data = $_[0];
  365.     my $exception = $_[1];
  366.     for $eachsocket ($tcpSselect->handles) {
  367.         if ($eachsocket==$tcpSlisten) {     #dont send to self
  368.             next;
  369.         } elsif ($eachsocket==$exception) {     #dont send to the specified exception
  370.             next;
  371.         } else {
  372.             if ($first==0) {
  373.                 $first = 1;
  374.                 print "Sending to client ".$eachsocket->fileno;
  375.             } else {
  376.                 print ", ".$eachsocket->fileno;
  377.             }
  378.             $eachsocket->send($data) or do {
  379.                 &tcpServerClientDis;
  380.             }
  381.         }
  382.     }
  383.     if ($first==1) {
  384.         print "\n";
  385.     }
  386. }
  387.  
  388. ##################### General functions ############################
  389.  
  390. #this function should do a number of tests on $_[0] and print messages if packet is malformed and return 1 in $_[2]
  391. #messages can be suppressed by having $_[1] as 1
  392. sub testPacket {
  393.     my $input = $_[0];
  394.     my $messages = $_[1];
  395.    
  396.     #line should be parsed somewhat here, check PKT, AUT and so on
  397.     $testErr = 0;
  398.     if (length($input) < 16) {
  399.         $testErr = 1;
  400.         if ($messages!=1) {print "Packet was malformed, not long enough\n";}
  401.     }
  402.     if ($testErr == 0 && substr($input, 0, 4) != "PKT ") {
  403.         $testErr = 1;
  404.         if ($messages!=1) {print "Packet was malformed, should start with PKT\n";}
  405.     }
  406.     #if (substr($line, 12, 1) != " " || substr($line, 14, 1) != " ") {
  407.     #   $testErr = 1;
  408.     #   print "Packet was malformed, spaces not in the correct place\n";
  409.     #}
  410.     @splitinput = split(/ +/, $input);
  411.     $inputarrlen = @splitinput;
  412.     if ($testErr == 0 && ($inputarrlen < 4 || $inputarrlen > 12)) {
  413.         $testErr = 1;
  414.         if ($messages!=1) {print "Packet was malformed, to many or to few parts\n";}
  415.     }
  416.     if ($testErr == 0 && length($splitinput[1]) != 8) {
  417.         $testErr = 1;
  418.         if ($messages!=1) {print "Packet was malformed, id part must be 8 digits (padded with zeros)\n";}
  419.     }
  420.     if ($testErr == 0 && length($splitinput[2]) != 1) {
  421.         $testErr = 1;
  422.         if ($messages!=1) {print "Packet was malformed, ext part must be 1 digit\n";}
  423.     }
  424.     if ($testErr == 0 && length($splitinput[3]) != 1) {
  425.         $testErr = 1;
  426.         if ($messages!=1) {print "Packet was malformed, rtr part must be 1 digit\n";}
  427.     }
  428.     for ($i = 4; $i < $inputarrlen; $i++) {
  429.         if ($testErr == 0 && length($splitinput[$i]) != 2) {
  430.             $testErr = 1;
  431.             if ($messages!=1) {print "Packet was malformed, data parts must be 2 digits (padded with zero)\n";}
  432.         }
  433.     }
  434.     $checkstrlen = length($input)-4;
  435.     $checkstr = substr($input, 4, $checkstrlen);
  436.     if ($testErr == 0 && $checkstr !~ m/^[0-9a-fA-F ]*$/) {
  437.         $testErr = 1;
  438.         if ($messages!=1) {print "Packet was malformed, not hex\n";}
  439.     }
  440.    
  441.     $_[2] = $testErr;
  442. }
  443.  
  444. #this function should parse $_[0] (can2serial-data) and save in $_[1] as string
  445. sub c2sToString {
  446.     my $input = $_[0];
  447.     my $output = "";
  448.     #if not correct input data, then dont save anything in $_[1]
  449.     if (ord(substr($input, 0, 1))==$C2SSTARTSTR && ord(substr($input, 16, 1))==$C2SENDSTR) {
  450.         #$output = "boundaries=ok ";
  451.         $id = ord(substr($input, 1, 1)) + ord(substr($input, 2, 1))*256 + ord(substr($input, 3, 1))*256*256 + ord(substr($input, 4, 1))*256*256*256;
  452.         $ext = ord(substr($input, 5, 1));
  453.         $rtr = ord(substr($input, 6, 1));
  454.         $dl = ord(substr($input, 7, 1));
  455.         if ($ext < 2 && $rtr < 2 && $dl < 9) {
  456.             $output .= sprintf "%08x ", $id;
  457.             $output .= $ext . " " . $rtr;
  458.             for ($i = 0; $i < $dl; $i++) {
  459.                 $data = ord(substr($input, 8+$i, 1));
  460.                 $output .= sprintf " %02x", $data;
  461.             }
  462.             $_[1] = "PKT ".$output;
  463.         } else {
  464.             #print "debug: incorrect ext, rtr or dl\n";
  465.  
  466.         }
  467.     } else {
  468.         #print "debug: incorrect boundaries\n";
  469.  
  470.     }
  471. }
  472.  
  473. #this function should parse $_[0] (string) and save in $_[1] as can2serial-data
  474. sub stringToc2s {
  475.     my $input = $_[0];
  476.     my $output = "";
  477.     #if not correct input data, then dont save anything in $_[1]
  478.     if (length($input) > 15) {
  479.         #minor checks, the data from the tcp-server should be valid
  480.         @splitinput = split(/ +/, $input);
  481.         $inputarrlen = @splitinput;
  482.         if (substr($input, 0, 4) == "PKT " && substr($input, 12, 1) == " " && substr($input, 14, 1) == " " && $inputarrlen > 3 && $inputarrlen < 13) {
  483.             $id = hex($splitinput[1]);
  484.             $ext = hex($splitinput[2]);
  485.             $rtr = hex($splitinput[3]);
  486.             @data = @splitinput[4..($inputarrlen-1)];
  487.             $dl = @data;
  488.            
  489.             $output .= chr($C2SSTARTSTR);
  490.             $output .= chr($id & 0xff);
  491.             $output .= chr(($id>>8) & 0xff);
  492.             $output .= chr(($id>>16) & 0xff);
  493.             $output .= chr(($id>>24) & 0xff);
  494.             $output .= chr($ext);
  495.             $output .= chr($rtr);
  496.             $output .= chr($dl);
  497.             for ($i = 0; $i < 8; $i++) {
  498.                 if ($i < $dl) {
  499.                     $output .= chr(hex($data[$i]));
  500.                 } else {
  501.                     $output .= chr(" ");
  502.                 }
  503.             }
  504.             $output .= chr($C2SENDSTR);
  505.             $_[1] = $output;
  506.         }
  507.     }
  508. }
  509.