pre-pre alpha of Network_CAN_clientserver

2025-12-06 02:35:13 +03:00 · 2025-04-28 13:35:00 +03:00 · 2025-04-28 13:35:00 +03:00 · c16e343961
commit c16e343961
parent 882c782c52
18 changed files with 922 additions and 0 deletions
--- a/Network_CAN_clientserver/CMakeLists.txt
+++ b/Network_CAN_clientserver/CMakeLists.txt
@ -0,0 +1,73 @@
+cmake_minimum_required(VERSION 3.20)
+set(PROJ canserv)
+set(MINOR_VERSION "1")
+set(MID_VERSION "0")
+set(MAJOR_VERSION "0")
+set(VERSION "${MAJOR_VERSION}.${MID_VERSION}.${MINOR_VERSION}")
+
+project(${PROJ} VERSION ${VERSION} LANGUAGES C)
+
+message("VERSION: ${VERSION}")
+
+# list of options
+option(DEBUG "Compile in debug mode" OFF)
+option(EXAMPLES "Compile also all examples" ON)
+
+# default flags
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -W -Wextra -std=gnu99")
+set(CMAKE_COLOR_MAKEFILE ON)
+
+# here is one of two variants: all .c in directory or .c files in list
+aux_source_directory(${CMAKE_CURRENT_SOURCE_DIR} SOURCES)
+
+# cmake -DDEBUG=yes -> debugging
+if(DEBUG)
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Og -g3 -ggdb -fno-builtin-strlen -Werror")
+    add_definitions(-DEBUG)
+    set(CMAKE_BUILD_TYPE DEBUG)
+    set(CMAKE_VERBOSE_MAKEFILE "ON")
+else()
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -O3 -march=native -fdata-sections -ffunction-sections")
+    SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--gc-sections")
+    set(CMAKE_BUILD_TYPE RELEASE)
+endif()
+
+message("Build type: ${CMAKE_BUILD_TYPE}")
+
+###### pkgconfig ######
+# pkg-config modules (for pkg-check-modules)
+set(MODULES usefull_macros>=0.3.2)
+# find packages:
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(${PROJ} REQUIRED ${MODULES})
+
+# external modules like OpenMP:
+include(FindOpenMP)
+if(OPENMP_FOUND)
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
+    add_definitions(-DOMP_FOUND)
+endif()
+
+###### additional flags ######
+#list(APPEND ${PROJ}_LIBRARIES "-lfftw3_threads")
+add_executable(${PROJ} ${SOURCES} ${PO_FILE})
+# -I
+target_include_directories(${PROJ} PUBLIC ${${PROJ}_INCLUDE_DIRS} .)
+# -L
+target_link_directories(${PROJ} PUBLIC ${${PROJ}_LIBRARY_DIRS} )
+# -D
+add_definitions(-D_XOPEN_SOURCE=1234 -D_DEFAULT_SOURCE -D_GNU_SOURCE -DPACKAGE_VERSION=\"${VERSION}\"
+    -DMINOR_VERSION=\"${MINOR_VERSION}\" -DMID_VERSION=\"${MID_VERSION}\"
+    -DMAJOR_VERSION=\"${MAJOR_VESION}\")
+# -l
+target_link_libraries(${PROJ} ${${PROJ}_LIBRARIES} -lm)
+
+# Installation of the program
+include(GNUInstallDirs)
+install(TARGETS ${PROJ} DESTINATION "bin")
+
+# EXAMPLES
+if(EXAMPLES)
+    add_subdirectory(examples)
+endif()
--- a/Network_CAN_clientserver/Readme
+++ b/Network_CAN_clientserver/Readme
@ -0,0 +1 @@
+simple server for operate with FX3U-clone over TCP sockets
--- a/Network_CAN_clientserver/canproto.h
+++ b/Network_CAN_clientserver/canproto.h
@ -0,0 +1,92 @@
+/*
+ * This file is part of the fx3u project.
+ * Copyright 2024 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+// command parameter flag means this is a setter
+#define SETTER_FLAG     (0x80)
+#define ISSETTER(data)  ((data[2] & SETTER_FLAG))
+// parameter number 127 means there no parameter number at all (don't need paremeter or get all)
+#define NO_PARNO        (0x7f)
+// base value of parameter (even if it is a setter)
+#define PARBASE(x)      (x & 0x7f)
+// get parameter value of msg->data
+#define PARVAL(data)    (data[2] & 0x7f)
+
+// make error for CAN answer
+#define FORMERR(m, err) do{m->data[3] = err; if(m->length < 4) m->length = 4;}while(0)
+
+// error codes for answer message
+typedef enum{
+    ERR_OK,         // 0 - all OK
+    ERR_BADPAR,     // 1 - parameter is wrong
+    ERR_BADVAL,     // 2 - wrong value
+    ERR_WRONGLEN,   // 3 - wrong message length
+    ERR_BADCMD,     // 4 - unknown command
+    ERR_CANTRUN,    // 5 - can't run given command due to bad parameters or other
+    ERR_AMOUNT      // amount of error codes
+} errcodes;
+
+// set command bytes in CAN message
+#define MSG_SET_CMD(msg, cmd)       do{*((uint16_t*)msg.data) = (cmd);}while(0)
+#define MSGP_SET_CMD(msg, cmd)      do{*((uint16_t*)msg->data) = (cmd);}while(0)
+#define MSG_GET_CMD(msg)            (*(uint16_t*)msg.data)
+#define MSGP_GET_CMD(msg)           (*(uint16_t*)msg->data)
+// set command parameter number
+#define MSG_SET_PARNO(msg, n)       do{msg.data[2] = (n);}while(0)
+#define MSGP_SET_PARNO(msg, n)      do{msg->data[2] = (n);}while(0)
+// set error
+#define MSG_SET_ERR(msg, err)       do{msg.data[3] = (err);}while(0)
+#define MSGP_SET_ERR(msg, err)      do{msg->data[3] = (err);}while(0)
+// set uint32_t data
+#define MSG_SET_U32(msg, d)         do{*((uint32_t*)(&msg.data[4])) = (d);}while(0)
+#define MSGP_SET_U32(msg, d)        do{*((uint32_t*)(&msg->data[4])) = (d);}while(0)
+// get uint32_t data
+#define MSG_GET_U32(msg)            (*(uint32_t*)&msg.data[4])
+#define MSGP_GET_U32(msg)           (*(uint32_t*)&msg->data[4])
+
+// CAN commands indexes
+enum{
+    CMD_PING,       // just ping
+    CMD_RESET,      // reset MCU
+    CMD_TIME,       // get/set Tms
+    CMD_MCUTEMP,    // get MCU temperature (*10)
+    CMD_ADCRAW,     // get ADC raw values
+    CMD_CANSPEED,   // get/set CAN speed (kbps)
+    CMD_CANID,      // get/set common CAN ID (both in and out)
+    CMD_CANIDin,    // input CAN ID
+    CMD_CANIDout,   // output CAN ID
+    CMD_SAVECONF,   // save configuration
+    CMD_ERASESTOR,  // erase all flash storage
+    CMD_RELAY,      // switch relay ON/OFF
+    CMD_GETESW,     // current ESW state, bounce-free
+    CMD_GETESWNOW,  // current ESW state, absolute
+    CMD_BOUNCE,     // get/set bounce constant (ms)
+    CMD_USARTSPEED, // get/set USART1 speed
+    CMD_LED,        // onboard LED
+    CMD_FLAGS,      // flags setter/getter
+    CMD_INCHNLS,    // all bits set are active supported IN channels
+    CMD_OUTCHNLS,   // all bits set are active supported OUT channels
+    CMD_MODBUSID,   // set/get modbus slave ID (or 0 if master)
+    CMD_MODBUSIDOUT,// slave ID to send modbus relay command if IN changes
+    CMD_MODBUSSPEED,// speed of modbus interface
+    // should be the last:
+    CMD_AMOUNT     // amount of CAN commands
+};
+
+
--- a/Network_CAN_clientserver/canserver.cflags
+++ b/Network_CAN_clientserver/canserver.cflags
@ -0,0 +1 @@
+-std=c17
--- a/Network_CAN_clientserver/canserver.config
+++ b/Network_CAN_clientserver/canserver.config
@ -0,0 +1,5 @@
+// Add predefined macros for your project here. For example:
+// #define THE_ANSWER 42
+#define XOPEN_SOURCE 1234
+#define DEFAULT_SOURCE 
+#define GNU_SOURCE 
--- a/Network_CAN_clientserver/canserver.creator
+++ b/Network_CAN_clientserver/canserver.creator
@ -0,0 +1 @@
+[General]
--- a/Network_CAN_clientserver/canserver.creator.user
+++ b/Network_CAN_clientserver/canserver.creator.user
@ -0,0 +1,184 @@
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--- a/Network_CAN_clientserver/canserver.cxxflags
+++ b/Network_CAN_clientserver/canserver.cxxflags
@ -0,0 +1 @@
+-std=c++17
--- a/Network_CAN_clientserver/canserver.files
+++ b/Network_CAN_clientserver/canserver.files
@ -0,0 +1,8 @@
+canproto.h
+clientserver.c
+clientserver.h
+globopts.c
+globopts.h
+main.c
+parsecanmsgs.c
+parsecanmsgs.h
--- a/Network_CAN_clientserver/canserver.includes
+++ b/Network_CAN_clientserver/canserver.includes
--- a/Network_CAN_clientserver/clientserver.c
+++ b/Network_CAN_clientserver/clientserver.c
@ -0,0 +1,245 @@
+/*
+ * This file is part of the canserver project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <inttypes.h>
+#include <stdio.h>
+#include <string.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include "clientserver.h"
+#include "parsecanmsgs.h"
+
+static pthread_t clientthread;
+sl_sock_t *serialsock = NULL;
+
+#define CMDIN       "in"
+#define CMDOUT      "out"
+#define CMDMCUT     "mcut"
+#define CMDLED      "led"
+#define CMDINCH     "inchnls"
+#define CMDOUTCH    "outchnls"
+#define CMDTIME     "time"
+#define CMDPING     "ping"
+
+typedef struct{
+    const char *textcmd;
+    int cancmd;
+    int havesetter;
+} commands;
+
+// list of all supported commands
+static commands allcommands[] = {
+    {CMDIN, CMD_GETESW, 0},
+    {CMDOUT, CMD_RELAY, 1},
+    {CMDMCUT, CMD_MCUTEMP, 0},
+    {CMDLED, CMD_LED, 1},
+    {CMDINCH, CMD_INCHNLS, 0},
+    {CMDOUTCH, CMD_OUTCHNLS, 0},
+    {CMDTIME, CMD_TIME, 1},
+    {CMDPING, CMD_PING, 1},
+    {NULL, 0, 0}
+};
+
+static int Relay1cmds(CAN_message *msg, char buf[BUFSIZ]){
+    int L = 0;
+    uint16_t cmd = MSGP_GET_CMD(msg);
+    uint8_t par = PARVAL(msg->data);
+    uint32_t data = MSGP_GET_U32(msg);
+    commands *c = allcommands;
+    while(c->textcmd){
+        if(cmd == c->cancmd) break;
+        ++c;
+    }
+    if(!c->textcmd) return 0;
+    DBG("found text cmd is %s (%u)", c->textcmd, data);
+    if(par == NO_PARNO) L = snprintf(buf, BUFSIZ-1, "%s=%u\n", c->textcmd, data);
+    else L = snprintf(buf, BUFSIZ-1, "%s[%d]=%u\n", c->textcmd, par, data);
+    return L;
+}
+
+// check CAN_message and if recognize send ans to all clients
+static void gotCANans(CAN_message *msg){
+    if(!msg) return;
+    char buf[BUFSIZ];
+    int L = 0;
+    switch(msg->ID){
+        case CANIDOUT:
+            L = Relay1cmds(msg, buf);
+        break;
+        default:
+            return;
+    }
+    if(L < 1) return;
+    DBG("BUF: %s", buf);
+    int N = sl_sock_sendall((uint8_t*) buf, L);
+    green("Send to %d clients\n", N);
+}
+
+/**
+ * @brief clientproc - process data received from serial terminal
+ * @param par - socket
+ * @return NULL
+ */
+void *clientproc(void _U_ *par){
+    FNAME();
+    char rbuf[BUFSIZ];
+    if(!serialsock) return NULL;
+    do{
+        ssize_t got = sl_sock_readline(serialsock, rbuf, BUFSIZ);
+        if(got < 0){ // disconnected
+            WARNX("Serial server disconnected");
+            if(serialsock) sl_sock_delete(&serialsock);
+            return NULL;
+        }else if(got == 0){ // nothing to read from serial port
+            usleep(1000);
+            continue;
+        }
+        // process data
+        DBG("GOT: %s", rbuf);
+        CAN_message msg;
+        if(parseCANstr(rbuf, &msg)){
+            DBG("Got CAN message");
+            gotCANans(&msg);
+        }
+    } while(serialsock && serialsock->connected);
+    WARNX("disconnected");
+    if(serialsock) sl_sock_delete(&serialsock);
+    return NULL;
+}
+
+static sl_sock_hresult_e dtimeh(sl_sock_t *client, _U_ sl_sock_hitem_t *item, _U_ const char *req){
+    char buf[32];
+    snprintf(buf, 31, "UNIXT=%.2f\n", sl_dtime());
+    sl_sock_sendstrmessage(client, buf);
+    return RESULT_SILENCE;
+}
+
+static sl_sock_hresult_e procUserCmd(sl_sock_t _U_ *client, sl_sock_hitem_t *item, const char *req){
+#define CBUFLEN (128)
+    char buf[CBUFLEN];
+    int buflen = 0;
+    CAN_message msg;
+    msg.ID = CANIDIN;
+    int issetter = 0;
+    uint8_t parno = NO_PARNO;
+    uint32_t setterval = 0;
+    if(req){
+        int N;
+        if(!sl_str2i(&N, req) || N < 0){
+            DBG("BAD value %d", N);
+            return RESULT_BADVAL;
+        }
+        setterval = (uint32_t) N;
+        issetter = 1;
+    }
+    commands *c = allcommands;
+    while(c->textcmd){
+        if(0 == strcmp(c->textcmd, item->key)) break;
+        ++c;
+    }
+    if(!c->textcmd) return RESULT_BADKEY;
+    if(issetter){
+        DBG("setter");
+        if(!c->havesetter) return RESULT_BADVAL;
+        if(CANu32setter(c->cancmd, parno, setterval, &msg) && (buflen = formCANmsg(&msg, buf, CBUFLEN-1)) > 0){
+        }else{
+            WARNX("Can't form message");
+            return RESULT_FAIL;
+        }
+    }else{
+        DBG("getter");
+        if(CANu32getter(c->cancmd, parno, &msg) && (buflen = formCANmsg(&msg, buf, CBUFLEN-1)) > 0){
+        }else{
+            WARNX("Can't form message");
+            return RESULT_FAIL;
+        }
+    }
+    if(buflen) sl_sock_sendstrmessage(serialsock, buf);
+    return RESULT_SILENCE;
+#undef CBUFLEN
+}
+/*
+static sl_sock_hresult_e show(sl_sock_t *client, _U_ sl_sock_hitem_t *item, _U_ const char *req){
+    if(!client) return RESULT_FAIL;
+    if(client->type != SOCKT_UNIX){
+        if(*client->IP){
+            printf("Client \"%s\" (fd=%d) ask for flags:\n", client->IP, client->fd);
+        }else printf("Can't get client's IP, flags:\n");
+    }else printf("Socket fd=%d asks for flags:\n", client->fd);
+    return RESULT_OK;
+}*/
+
+// Too much clients handler
+static void toomuch(int fd){
+    const char m[] = "Try later: too much clients connected\n";
+    send(fd, m, sizeof(m)-1, MSG_NOSIGNAL);
+    shutdown(fd, SHUT_WR);
+    DBG("shutdown, wait");
+    double t0 = sl_dtime();
+    uint8_t buf[8];
+    while(sl_dtime() - t0 < 11.){
+        if(sl_canread(fd)){
+            ssize_t got = read(fd, buf, 8);
+            DBG("Got=%zd", got);
+            if(got < 1) break;
+        }
+    }
+    DBG("Disc after %gs", sl_dtime() - t0);
+    LOGWARN("Client fd=%d tried to connect after MAX reached", fd);
+}
+// new connections handler
+static void connected(sl_sock_t *c){
+    if(c->type == SOCKT_UNIX) LOGMSG("New client fd=%d connected", c->fd);
+    else LOGMSG("New client fd=%d, IP=%s connected", c->fd, c->IP);
+}
+// disconnected handler
+static void disconnected(sl_sock_t *c){
+    if(c->type == SOCKT_UNIX) LOGMSG("Disconnected client fd=%d", c->fd);
+    else LOGMSG("Disconnected client fd=%d, IP=%s", c->fd, c->IP);
+}
+
+static sl_sock_hitem_t handlers[] = {
+    {dtimeh, "dtime", "get server's UNIX time for all clients connected", NULL},
+    {procUserCmd, CMDOUT, "outputs setter/getter", NULL},
+    {procUserCmd, CMDIN, "inputs getter", NULL},
+    {procUserCmd, CMDMCUT, "get MCU temperature (/10degC)", NULL},
+    {procUserCmd, CMDLED, "onboard LED set/get", NULL},
+    {procUserCmd, CMDINCH, "get available input channels mask", NULL},
+    {procUserCmd, CMDOUTCH, "get available output channels mask", NULL},
+    {procUserCmd, CMDTIME, "get MCU milliseconds counter value", NULL},
+    {procUserCmd, CMDPING, "ping controller", NULL},
+    {NULL, NULL, NULL, NULL}
+};
+
+sl_sock_t *RunSrv(sl_socktype_e type, const char *node){
+    sl_sock_maxclhandler(toomuch);
+    sl_sock_connhandler(connected);
+    sl_sock_dischandler(disconnected);
+    return sl_sock_run_server(type, node, 4096, handlers);
+}
+
+sl_sock_t *RunClt(sl_socktype_e type, const char *node){
+    serialsock = sl_sock_run_client(type, node, 4096);
+    if(!serialsock){
+        DBG("Can't run client");
+        return NULL;
+    }
+    if(pthread_create(&clientthread, NULL, clientproc, NULL)) return NULL;
+    return serialsock;
+}
--- a/Network_CAN_clientserver/clientserver.h
+++ b/Network_CAN_clientserver/clientserver.h
@ -0,0 +1,24 @@
+/*
+ * This file is part of the canserver project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include <usefull_macros.h>
+
+sl_sock_t *RunSrv(sl_socktype_e type, const char *node);
+sl_sock_t *RunClt(sl_socktype_e type, const char *node);
--- a/Network_CAN_clientserver/globopts.c
+++ b/Network_CAN_clientserver/globopts.c
@ -0,0 +1,41 @@
+/*
+ * This file is part of the canserver project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "globopts.h"
+#include <usefull_macros.h>
+
+globopts UserOpts = {
+    .maxclients = 10,
+};
+
+static sl_option_t cmdlnopts[] = {
+    {"help",        NO_ARGS,    NULL,   'h',    arg_int,    APTR(&UserOpts.help),       "show this help"},
+    {"verbose",     NO_ARGS,    NULL,   'v',    arg_none,   APTR(&UserOpts.verbose),    "verbose level (each -v adds 1)"},
+    {"logfile",     NEED_ARG,   NULL,   'l',    arg_string, APTR(&UserOpts.logfile),    "log file name"},
+    {"srvnode",     NEED_ARG,   NULL,   'N',    arg_string, APTR(&UserOpts.srvnode),    "server node \"port\", \"name:port\" or path (could be \"\\0path\" for anonymous UNIX-socket)"},
+    {"srvunix",     NO_ARGS,    NULL,   'U',    arg_int,    APTR(&UserOpts.srvunix),    "server use UNIX socket instead of INET"},
+    {"maxclients",  NEED_ARG,   NULL,   'm',    arg_int,    APTR(&UserOpts.maxclients), "max amount of clients connected to server (default: 2)"},
+    {"cltnode",     NEED_ARG,   NULL,   'n',    arg_string, APTR(&UserOpts.cltnode),    "serial client node \"IP\", \"name:IP\" or path (could be \"\\0path\" for anonymous UNIX-socket)"},
+    {"cltunix",     NO_ARGS,    NULL,   'u',    arg_int,    APTR(&UserOpts.cltunix),    "serial client use UNIX socket instead of INET"},
+    end_option
+};
+
+void parseargs(int argc, char **argv){
+    sl_parseargs(&argc, &argv, cmdlnopts);
+    if(UserOpts.help) sl_showhelp(-1, cmdlnopts);
+}
--- a/Network_CAN_clientserver/globopts.h
+++ b/Network_CAN_clientserver/globopts.h
@ -0,0 +1,34 @@
+/*
+ * This file is part of the canserver project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+typedef struct{
+    int help;
+    int verbose;
+    int srvunix;
+    int cltunix;
+    int maxclients;
+    char *logfile;
+    char *srvnode;
+    char *cltnode;
+} globopts;
+
+extern globopts UserOpts;
+
+void parseargs(int argc, char **argv);
--- a/Network_CAN_clientserver/main.c
+++ b/Network_CAN_clientserver/main.c
@ -0,0 +1,81 @@
+/*
+ * This file is part of the canserver project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <signal.h>
+#include <stdio.h>
+#include <usefull_macros.h>
+
+#include "clientserver.h"
+#include "globopts.h"
+
+static sl_sock_t *srv = NULL, *clt = NULL;
+
+void signals(int sig){
+    if(sig){
+        signal(sig, SIG_IGN);
+        DBG("Get signal %d, quit.\n", sig);
+        LOGERR("Exit with status %d", sig);
+    }else LOGERR("Exit");
+    if(srv){
+        DBG("Del server");
+        sl_sock_delete(&srv);
+    }
+    if(clt){
+        DBG("Del client");
+        sl_sock_delete(&clt);
+    }
+    exit(sig);
+}
+
+
+int main(int argc, char **argv){
+    sl_init();
+    parseargs(argc, argv);
+    if(!UserOpts.srvnode) ERRX("Point server node");
+    if(!UserOpts.cltnode) ERRX("Point serial client node");
+    sl_socktype_e type = (UserOpts.srvunix) ? SOCKT_UNIX : SOCKT_NET;
+    sl_sock_changemaxclients(UserOpts.maxclients);
+    srv = RunSrv(type, UserOpts.srvnode);
+    if(!srv) ERRX("Server: can't create socket and/or run threads");
+    DBG("Server done");
+    type = (UserOpts.cltunix) ? SOCKT_UNIX : SOCKT_NET;
+    clt = RunClt(type, UserOpts.cltnode);
+    if(!clt) ERRX("Serial client: can't connect to socket and/or run threads");
+    DBG("Client done");
+    sl_loglevel_e lvl = UserOpts.verbose + LOGLEVEL_ERR;
+    if(lvl >= LOGLEVEL_AMOUNT) lvl = LOGLEVEL_AMOUNT - 1;
+    if(UserOpts.logfile) OPENLOG(UserOpts.logfile, lvl, 1);
+    LOGMSG("Started");
+    signal(SIGTERM, signals);
+    signal(SIGINT, signals);
+    signal(SIGQUIT, signals);
+    signal(SIGTSTP, SIG_IGN);
+    signal(SIGHUP, signals);
+    while(srv && srv->connected && clt && clt->connected){
+        if(!srv->rthread){
+            WARNX("Server handlers thread is dead");
+            LOGERR("Server handlers thread is dead");
+            break;
+        }
+    }
+    LOGMSG("End");
+    DBG("Close");
+    if(srv) sl_sock_delete(&srv);
+    if(clt) sl_sock_delete(&clt);
+    return 0;
+}
--- a/Network_CAN_clientserver/parsecanmsgs.c
+++ b/Network_CAN_clientserver/parsecanmsgs.c
@ -0,0 +1,91 @@
+/*
+ * This file is part of the canserver project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdio.h>
+#include <string.h>
+#include <usefull_macros.h>
+
+#include "parsecanmsgs.h"
+
+
+/**
+ * @brief parseCANstr - parser of string like "timestamp #ID [data0 data1 ...]"
+ * @param str - input string
+ * @param msg - message to fill
+ * @return FALSE if given string isn't CAN message
+ */
+int parseCANstr(const char *str, CAN_message *msg){
+    if(!str || !msg) return FALSE;
+    const char *IDstart = strchr(str, '#');
+    if(!IDstart) return FALSE;
+    ++IDstart;
+    msg->timestamp = atoi(str);
+    DBG("Timestamp: %u", msg->timestamp);
+    unsigned bytes[9];
+    int N = sscanf(IDstart, "%x %x %x %x %x %x %x %x %x",
+            &bytes[0], &bytes[1], &bytes[2], &bytes[3], &bytes[4], &bytes[5], &bytes[6], &bytes[7], &bytes[8]);
+    if(N < 1) return FALSE; // where's ID?
+    DBG("ID=%u", bytes[0]);
+    msg->length = N - 1;
+    msg->ID = bytes[0];
+    for(int i = 0; i < msg->length; ++i) msg->data[i] = bytes[i + 1];
+    DBG("length: %u", msg->length);
+    return TRUE;
+}
+
+// return result of snprintf
+int formCANmsg(CAN_message *msg, char *buf, int buflen){
+    if(!msg || !buf || buflen < 8) return 0;
+    DBG("msg ID=%u, len=%u", msg->ID, msg->length);
+    int L = snprintf(buf, buflen, "s %u ", msg->ID);
+    for(int i = 0; i < msg->length && L < buflen; ++i)
+        L += snprintf(buf + L, buflen - L, "%u ", msg->data[i]);
+    if(L >= buflen){
+        WARNX("buffer overflow");
+        return 0;
+    }
+    L += snprintf(buf + L, buflen - L, "\n");
+    DBG("convert CAN message to %d symbols: _%s_", L, buf);
+    return L;
+}
+
+// fill command and parameter into message
+// !!!!! msg->ID should be set by user !!!!!
+static int fillcmd(int cancmd, uint8_t par, CAN_message *msg){
+    if(!msg || cancmd > 0xffff) return FALSE;
+    MSGP_SET_CMD(msg, cancmd);
+    MSGP_SET_PARNO(msg, par);
+    MSGP_SET_ERR(msg, 0);
+    msg->length = 4;
+    return TRUE;
+}
+
+int CANu32setter(int cancmd, uint8_t par, uint32_t data, CAN_message *msg){
+    if(!msg) return FALSE;
+    par |= SETTER_FLAG;
+    if(!fillcmd(cancmd, par, msg)) return FALSE;
+    MSGP_SET_U32(msg, data);
+    msg->length = 8;
+    return TRUE;
+}
+
+int CANu32getter(int cancmd, uint8_t par, CAN_message *msg){
+    if(!msg) return FALSE;
+    if(!fillcmd(cancmd,  par, msg)) return FALSE;
+    return TRUE;
+}
--- a/Network_CAN_clientserver/parsecanmsgs.h
+++ b/Network_CAN_clientserver/parsecanmsgs.h
@ -0,0 +1,39 @@
+/*
+ * This file is part of the canserver project.
+ * Copyright 2025 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include <stdint.h>
+
+#include "canproto.h"
+
+#define CANIDIN         1
+#define CANIDOUT        2
+
+typedef struct{
+    uint16_t ID;        // message ID
+    uint32_t timestamp; // milliseconds timestamp
+    uint8_t length;     // data length
+    uint8_t data[8];    // up to 8 bytes of data
+} CAN_message;
+
+int parseCANstr(const char *str, CAN_message *msg);
+int formCANmsg(CAN_message *msg, char *buf, int buflen);
+
+int CANu32setter(int cancmd, uint8_t par, uint32_t data, CAN_message *msg);
+int CANu32getter(int cancmd, uint8_t par, CAN_message *msg);
--- a/Network_CAN_clientserver/run
+++ b/Network_CAN_clientserver/run
@ -0,0 +1 @@
+socat tcp-l:22222,reuseaddr,fork file:/dev/multistepper0,rawer
				`@ -0,0 +1 @@`
				`simple server for operate with FX3U-clone over TCP sockets`
				`@ -0,0 +1 @@`
				`socat tcp-l:22222,reuseaddr,fork file:/dev/multistepper0,rawer`