add serialsockCANmanage

2026-03-21 09:11:03 +03:00 · 2022-01-31 17:37:08 +03:00
parent 830716fd1c
commit 7ecdf689d3
14 changed files with 614 additions and 0 deletions
--- a/serialsockCANmanage/main.c
+++ b/serialsockCANmanage/main.c
@@ -0,0 +1,93 @@
+/*
+ * This file is part of the SEWmanage project.
+ * Copyright 2022 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 <string.h>
+#include <sys/prctl.h>
+#include <sys/wait.h>
+#include <usefull_macros.h>
+
+#include "cmdlnopts.h"
+#include "sersock.h"
+
+static pid_t childpid = 0;
+
+void signals(int sig){
+    if(childpid){ // slave process
+        DBG("Child killed with sig=%d", sig);
+        LOGWARN("Child killed with sig=%d", sig);
+        exit(sig);
+    }
+    if(sig){
+        DBG("Exit with signal %d", sig);
+        signal(sig, SIG_IGN);
+        LOGERR("Exit with signal %d", sig);
+    }else LOGERR("Exit");
+    exit(sig);
+}
+
+int main(int argc, char **argv){
+    initial_setup();
+    parse_args(argc, argv);
+    if(GP->logfile){
+        int lvl = LOGLEVEL_WARN + GP->verbose;
+        DBG("level = %d", lvl);
+        if(lvl > LOGLEVEL_ANY) lvl = LOGLEVEL_ANY;
+        verbose(1, "Log file %s @ level %d\n", GP->logfile, lvl);
+        OPENLOG(GP->logfile, lvl, 1);
+        if(!globlog) WARNX("Can't create log file");
+    }
+    // signal reactions:
+    signal(SIGTERM, signals); // kill (-15) - quit
+    signal(SIGHUP, SIG_IGN);  // hup - ignore
+    signal(SIGINT, signals);  // ctrl+C - quit
+    signal(SIGQUIT, signals); // ctrl+\ - quit
+    signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
+    DBG("start");
+    LOGMSG("Started");
+    /*
+#ifndef EBUG
+    unsigned int pause = 5;
+    while(1){
+        childpid = fork();
+        if(childpid){ // master
+            double t0 = dtime();
+            LOGMSG("Created child with pid %d", childpid);
+            wait(NULL);
+            LOGWARN("Child %d died", childpid);
+            if(dtime() - t0 < 1.) pause += 5;
+            else pause = 1;
+            if(pause > 900) pause = 900;
+            sleep(pause); // wait a little before respawn
+        }else{ // slave
+            prctl(PR_SET_PDEATHSIG, SIGTERM); // send SIGTERM to child when parent dies
+            break;
+        }
+    }
+#endif
+*/
+    CANcmd mesg = CMD_GETSPEED;
+    if(GP->setspeed){
+        if(GP->stop) ERRX("Commands 'stop' and 'set speed' can't be together");
+        if(GP->setspeed < -0xffff/5 || GP->setspeed > 0xffff/5) ERRX("Parameter 'set speed' should be |int16_t| < %d", 0xffff/5);
+        mesg = CMD_SETSPEED;
+    }else if(GP->stop) mesg = CMD_STOP;
+    signals(start_socket(GP->path, mesg, GP->setspeed));
+    return 0;
+}