add serialsock

2026-03-20 00:30:59 +03:00 · 2022-01-19 17:31:04 +03:00
parent 786ed54d03
commit 9192ee09a3
78 changed files with 5244 additions and 0 deletions
--- a/Socket_CAN/99-socketcan.rules
+++ b/Socket_CAN/99-socketcan.rules
@@ -0,0 +1 @@
+SUBSYSTEMS=="net", ACTION=="add", ENV{INTERFACE}=="can0", RUN+="/etc/udev/rules.d/socketcan0"
--- a/Socket_CAN/HOWTO.cert
+++ b/Socket_CAN/HOWTO.cert
@@ -0,0 +1,5 @@
+create:
+openssl req -newkey rsa:2048 -nodes -keyout cert.key -x509 -days 10100 -out cert.pem
+
+review:
+openssl x509 -text -noout -in cert.pem
--- a/Socket_CAN/Makefile
+++ b/Socket_CAN/Makefile
@@ -0,0 +1,63 @@
+# run `make DEF=...` to add extra defines
+CLIENT := soccanclient
+SERVER := soccanserver
+LDFLAGS += -fdata-sections -ffunction-sections -Wl,--gc-sections -Wl,--discard-all
+LDFLAGS += -lusefull_macros -lssl -lcrypto
+DEFINES := $(DEF) -D_GNU_SOURCE -D_XOPEN_SOURCE=1111
+SOBJDIR := mkserver
+COBJDIR := mkclient
+CFLAGS += -O2 -Wno-trampolines -std=gnu99 -pthread
+COMMSRCS := sslsock.c daemon.c cmdlnopts.c
+SSRC := server.c can_io.c $(COMMSRCS)
+CSRC := client.c $(COMMSRCS)
+SOBJS := $(addprefix $(SOBJDIR)/, $(SSRC:%.c=%.o))
+COBJS := $(addprefix $(COBJDIR)/, $(CSRC:%.c=%.o))
+SDEPS := $(SOBJS:.o=.d)
+CDEPS := $(COBJS:.o=.d)
+CC = gcc
+#CXX = g++
+
+
+all : $(SOBJDIR) $(COBJDIR) $(CLIENT) $(SERVER)
+
+debug: DEFINES += -DEBUG -Werror -Wall -Wextra 
+debug: all
+
+$(CLIENT) : DEFINES += -DCLIENT
+$(CLIENT) : $(COBJS)
+	@echo -e "\t\tLD $(CLIENT)"
+	$(CC) $(LDFLAGS) $(COBJS) -o $(CLIENT)
+
+
+$(SERVER) : DEFINES += -DSERVER
+$(SERVER) : $(SOBJS)
+	@echo -e "\t\tLD $(SERVER)"
+	$(CC) $(LDFLAGS) $(SOBJS) -o $(SERVER)
+
+$(SOBJDIR):
+	mkdir $(SOBJDIR)
+
+$(COBJDIR):
+	mkdir $(COBJDIR)
+
+ifneq ($(MAKECMDGOALS),clean)
+-include $(SDEPS) $(CDEPS)
+endif
+
+$(SOBJDIR)/%.o: %.c
+	@echo -e "\t\tCC $<"
+	$(CC) -MD -c $(LDFLAGS) $(CFLAGS) $(DEFINES) -o $@ $<
+
+$(COBJDIR)/%.o: %.c
+	@echo -e "\t\tCC $<"
+	$(CC) -MD -c $(LDFLAGS) $(CFLAGS) $(DEFINES) -o $@ $<
+
+clean:
+	@echo -e "\t\tCLEAN"
+	@rm -f $(SOBJS) $(SDEPS) $(COBJS) $(CDEPS) 2>/dev/null || true
+	@rmdir $(SOBJDIR) $(COBJDIR) 2>/dev/null || true
+
+xclean: clean
+	@rm -f $(PROGRAM)
+
+.PHONY: clean xclean
--- a/Socket_CAN/Makefile.bk
+++ b/Socket_CAN/Makefile.bk
@@ -0,0 +1,62 @@
+# run `make DEF=...` to add extra defines
+CLIENT := soccanclient
+SERVER := soccanserver
+LDFLAGS := -fdata-sections -ffunction-sections -Wl,--gc-sections -Wl,--discard-all
+LDFLAGS += -lusefull_macros
+DEFINES := $(DEF) -D_GNU_SOURCE -D_XOPEN_SOURCE=1111
+OBJDIR := mk
+CFLAGS += -O2 -Wno-trampolines -std=gnu99
+SSRC := server.c
+CSRC := client.c
+COMMSRCS := sslsock.c daemon.c cmdlnopts.c
+SOBJS := $(addprefix $(OBJDIR)/, $(SSRC:%.c=%.o))
+COBJS := $(addprefix $(OBJDIR)/, $(CSRC:%.c=%.o))
+COMMOBJS := $(addprefix $(OBJDIR)/, $(COMMSRCS:%.c=%.o))
+OBJS := $(SOBJS) $(COBJS) $(COMMOBJS)
+DEPS := $(OBJS:.o=.d)
+CC = gcc
+#CXX = g++
+
+
+all : $(OBJDIR) $(CLIENT) $(SERVER)
+
+debug: DEFINES += -DEBUG -Werror -Wall -Wextra 
+debug: all
+
+$(CLIENT) : DEFINES += -DCLIENT
+$(CLIENT) : $(COBJS)
+	@rm $(COMMOBJS) 2>/dev/null || true
+	@make DEF="$(DEFINES)" $(COMMOBJS)
+	@echo -e "\t\tLD $(CLIENT)"
+	$(CC) $(LDFLAGS) $(COBJS) $(COMMOBJS) -o $(CLIENT)
+
+
+$(SERVER) : DEFINES += -DSERVER
+$(SERVER) : $(SOBJS)
+	@rm $(COMMOBJS) 2>/dev/null || true
+	@make DEF="$(DEFINES)" $(COMMOBJS)
+	@echo -e "\t\tLD $(SERVER)"
+	$(CC) $(LDFLAGS) $(SOBJS) $(COMMOBJS) -o $(SERVER)
+	@rm $(COMMOBJS)
+
+
+$(OBJDIR):
+	mkdir $(OBJDIR)
+
+ifneq ($(MAKECMDGOALS),clean)
+-include $(DEPS)
+endif
+
+$(OBJDIR)/%.o: %.c
+	@echo -e "\t\tCC $<"
+	$(CC) -MD -c $(LDFLAGS) $(CFLAGS) $(DEFINES) -o $@ $<
+
+clean:
+	@echo -e "\t\tCLEAN"
+	@rm -f $(OBJS) $(DEPS)
+	@rmdir $(OBJDIR) 2>/dev/null || true
+
+xclean: clean
+	@rm -f $(PROGRAM)
+
+.PHONY: clean xclean
--- a/Socket_CAN/README_ports
+++ b/Socket_CAN/README_ports
@@ -0,0 +1,7 @@
+server:
+socat pty,link=/tmp/ttyX0,waitslave tcp:127.0.0.1:2002 &
+ssh -L 2002:robotel1:2000 -N -f robotel1 &
+
+client:
+
+socat TCP-LISTEN:2000 PTY,link=/tmp/ttyX0,raw,crnl &
--- a/Socket_CAN/Readme.md
+++ b/Socket_CAN/Readme.md
@@ -0,0 +1,15 @@
+CANbus messages retranslation from BTA bus into Dome bus
+
+RUN server:
+
+    ./soccanserver -i localhost -l log.log -a ca/ca/ca_cert.pem -c ca/server/server_cert.pem -k ca/server/private/server_key.pem
+
+
+RUN client:
+
+    ./soccanclient -i localhost -a ca/ca/ca_cert.pem -c ca/client/client_cert.pem -k ca/client/private/client_key.pem
+
+
+
+Compile i686: 
+export LDFLAGS=-m32
--- a/Socket_CAN/SocketCAN.cflags
+++ b/Socket_CAN/SocketCAN.cflags
@@ -0,0 +1 @@
+-std=c17
--- a/Socket_CAN/SocketCAN.config
+++ b/Socket_CAN/SocketCAN.config
@@ -0,0 +1,6 @@
+// Add predefined macros for your project here. For example:
+// #define THE_ANSWER 42
+#define EBUG
+#define SERVER
+#define CLIENT
+#define _GNU_SOURCE
--- a/Socket_CAN/SocketCAN.creator
+++ b/Socket_CAN/SocketCAN.creator
@@ -0,0 +1 @@
+[General]
--- a/Socket_CAN/SocketCAN.creator.user
+++ b/Socket_CAN/SocketCAN.creator.user
@@ -0,0 +1,159 @@
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--- a/Socket_CAN/SocketCAN.cxxflags
+++ b/Socket_CAN/SocketCAN.cxxflags
@@ -0,0 +1 @@
+-std=c++17
--- a/Socket_CAN/SocketCAN.files
+++ b/Socket_CAN/SocketCAN.files
@@ -0,0 +1,16 @@
+Makefile
+can4linux.h
+can_io.c
+can_io.h
+canbus.h
+cansock.c
+client.c
+client.h
+cmdlnopts.c
+cmdlnopts.h
+daemon.c
+daemon.h
+server.c
+server.h
+sslsock.c
+sslsock.h
--- a/Socket_CAN/SocketCAN.includes
+++ b/Socket_CAN/SocketCAN.includes
@@ -0,0 +1 @@
+.
--- a/Socket_CAN/ca/ca/ca_cert.pem
+++ b/Socket_CAN/ca/ca/ca_cert.pem
@@ -0,0 +1,32 @@
+-----BEGIN CERTIFICATE-----
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+-----END CERTIFICATE-----
--- a/Socket_CAN/ca/ca/ca_cert.srl
+++ b/Socket_CAN/ca/ca/ca_cert.srl
@@ -0,0 +1 @@
+1D339878EE448B717AB9855CC9DFBBC66C06FF8D
--- a/Socket_CAN/ca/ca/private/ca_key.pem
+++ b/Socket_CAN/ca/ca/private/ca_key.pem
@@ -0,0 +1,52 @@
+-----BEGIN PRIVATE KEY-----
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+XiPSjQhMjqLaniianqcVkhCKCicsk0c=
+-----END PRIVATE KEY-----
--- a/Socket_CAN/ca/client/client.csr
+++ b/Socket_CAN/ca/client/client.csr
@@ -0,0 +1,27 @@
+-----BEGIN CERTIFICATE REQUEST-----
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+dFl5goynSwo=
+-----END CERTIFICATE REQUEST-----
--- a/Socket_CAN/ca/client/client_cert.pem
+++ b/Socket_CAN/ca/client/client_cert.pem
@@ -0,0 +1,30 @@
+-----BEGIN CERTIFICATE-----
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+myCZgwzp8pk0xfV1
+-----END CERTIFICATE-----
--- a/Socket_CAN/ca/client/private/client_key.pem
+++ b/Socket_CAN/ca/client/private/client_key.pem
@@ -0,0 +1,51 @@
+-----BEGIN RSA PRIVATE KEY-----
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+-----END RSA PRIVATE KEY-----
--- a/Socket_CAN/ca/gen.sh
+++ b/Socket_CAN/ca/gen.sh
@@ -0,0 +1,49 @@
+#!/bin/sh
+
+# https://gist.github.com/zapstar/4b51d7cfa74c7e709fcdaace19233443
+mkdir -p ca/private
+chmod 700 ca/private
+# NOTE: I'm using -nodes, this means that once anybody gets
+# their hands on this particular key, they can become this CA.
+openssl req \
+    -x509 \
+    -nodes \
+    -days 36524 \
+    -newkey rsa:4096 \
+    -keyout ca/private/ca_key.pem \
+    -out ca/ca_cert.pem \
+    -subj "/C=RU/ST=KChR/L=Bukovo/O=SAO RAS/CN=sao.ru"
+
+# Create server private key and certificate request
+mkdir -p server/private
+chmod 700 ca/private
+openssl genrsa -out server/private/server_key.pem 4096
+openssl req -new \
+    -key server/private/server_key.pem \
+    -out server/server.csr \
+    -subj "/C=RU/ST=KChR/L=Bukovo/O=SAO RAS"
+
+# Create client private key and certificate request
+mkdir -p client/private
+chmod 700 client/private
+openssl genrsa -out client/private/client_key.pem 4096
+openssl req -new \
+    -key client/private/client_key.pem \
+    -out client/client.csr \
+    -subj "/C=RU/ST=KChR/L=Bukovo/O=SAO RAS"
+
+# Generate certificates
+openssl x509 -req -days 36524 -in server/server.csr \
+    -CA ca/ca_cert.pem -CAkey ca/private/ca_key.pem \
+    -CAcreateserial -out server/server_cert.pem
+openssl x509 -req -days 36524 -in client/client.csr \
+    -CA ca/ca_cert.pem -CAkey ca/private/ca_key.pem \
+    -CAcreateserial -out client/client_cert.pem
+
+# Now test both the server and the client
+# On one shell, run the following
+# openssl s_server -CAfile ca/ca_cert.pem -cert server/server_cert.pem -key server/private/server_key.pem -Verify 1
+# On another shell, run the following
+# openssl s_client -CAfile ca/ca_cert.pem -cert client/client_cert.pem -key client/private/client_key.pem
+# Once the negotiation is complete, any line you type is sent over to the other side.
+# By line, I mean some text followed by a keyboard return press.
--- a/Socket_CAN/ca/server/private/server_key.pem
+++ b/Socket_CAN/ca/server/private/server_key.pem
@@ -0,0 +1,51 @@
+-----BEGIN RSA PRIVATE KEY-----
+MIIJKAIBAAKCAgEAz8ipyV2H7pR/BMnJKtjtanMWVROrZzSfBPK9EMM/X5H1HK3P
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+LhJ9KyPe+6ukqCrNKlDZwWAdmGr8lG+BI1aYJRtXih/Ug+nZfgUZ0Yd7w9c=
+-----END RSA PRIVATE KEY-----
--- a/Socket_CAN/ca/server/server.csr
+++ b/Socket_CAN/ca/server/server.csr
@@ -0,0 +1,27 @@
+-----BEGIN CERTIFICATE REQUEST-----
+MIIEhDCCAmwCAQAwPzELMAkGA1UEBhMCUlUxDTALBgNVBAgMBEtDaFIxDzANBgNV
+BAcMBkJ1a292bzEQMA4GA1UECgwHU0FPIFJBUzCCAiIwDQYJKoZIhvcNAQEBBQAD
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+5zpySGMozeg=
+-----END CERTIFICATE REQUEST-----
--- a/Socket_CAN/ca/server/server_cert.pem
+++ b/Socket_CAN/ca/server/server_cert.pem
@@ -0,0 +1,30 @@
+-----BEGIN CERTIFICATE-----
+MIIFGDCCAwACFB0zmHjuRItxermFXMnfu8ZsBv+MMA0GCSqGSIb3DQEBCwUAMFAx
+CzAJBgNVBAYTAlJVMQ0wCwYDVQQIDARLQ2hSMQ8wDQYDVQQHDAZCdWtvdm8xEDAO
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+Qx01GFwRqiRjVnId
+-----END CERTIFICATE-----
--- a/Socket_CAN/can4linux.h
+++ b/Socket_CAN/can4linux.h
@@ -0,0 +1,211 @@
+/*
+ * can4linux.h - can4linux CAN driver module
+ *
+ * This file is subject to the terms and conditions of the GNU General Public
+ * License.  See the file "COPYING" in the main directory of this archive
+ * for more details.
+ *
+ * Copyright (c) 2001 port GmbH Halle/Saale
+ *------------------------------------------------------------------
+ * $Header: /z2/cvsroot/products/0530/software/can4linux/src/can4linux.h,v 1.5 2004/05/14 10:02:54 oe Exp $
+ *
+ *--------------------------------------------------------------------------
+ *
+ *
+ * modification history
+ * --------------------
+ * $Log: can4linux.h,v $
+ * Revision 1.5  2004/05/14 10:02:54  oe
+ * - started supporting CPC-Card
+ * - version number in can4linux.h available
+ * - only one structure type for Config_par_t Command_par_t
+ * - new ioctl command CMD_CLEARBUFFERS
+ *
+ * Revision 1.4  2003/08/27 17:49:04  oe
+ * - New CanStatusPar structure
+ *
+ * Revision 1.3  2002/08/20 05:57:22  oe
+ * - new write() handling, now not ovrwriting buffer content if buffer fill
+ * - ioctl() get status returns buffer information
+ *
+ * Revision 1.2  2002/08/08 17:50:46  oe
+ * - MSG_ERR_MASK extended
+ *
+ * Revision 1.1  2002/01/10 19:13:19  oe
+ * - application header file changed name can.h -> can4linux.h
+ *
+ * Revision 1.2  2001/09/14 14:58:09  oe
+ * first free release
+ *
+ * Revision 1.1.1.1  2001/06/11 18:30:54  oe
+ * minimal version can4linux embedded, compile time Konfigurierbar
+ *
+ *
+ *
+ *
+ *--------------------------------------------------------------------------
+ */
+
+
+/**
+* \file can.h
+* \author Heinz-Jürgen Oertel, port GmbH
+* $Revision: 1.5 $
+* $Date: 2004/05/14 10:02:54 $
+*
+* can4linux interface definitions
+*
+*
+*
+*/
+
+
+#ifndef __CAN_H
+#define __CAN_H
+
+
+#define CAN4LINUXVERSION 0x0301 /*(Version 3.1)*/
+
+#ifndef __KERNEL__
+#include <sys/time.h>
+#endif
+ /*---------- the can message structure */
+
+#define CAN_MSG_LENGTH 8		/**< maximum length of a CAN frame */
+
+
+#define MSG_RTR		(1<<0)		/**< RTR Message */
+#define MSG_OVR		(1<<1)		/**< CAN controller Msg overflow error */
+#define MSG_EXT		(1<<2)		/**< extended message format */
+#define MSG_PASSIVE	(1<<4)		/**< controller in error passive */
+#define MSG_BUSOFF      (1<<5)		/**< controller Bus Off  */
+#define MSG_       	(1<<6)		/**<  */
+#define MSG_BOVR	(1<<7)		/**< receive/transmit buffer overflow */
+/**
+* mask used for detecting CAN errors in the canmsg_t flags field
+*/
+#define MSG_ERR_MASK	(MSG_OVR + MSG_PASSIVE + MSG_BUSOFF + MSG_BOVR)
+
+/**
+* The CAN message structure.
+* Used for all data transfers between the application and the driver
+* using read() or write().
+*/
+typedef struct {
+    /** flags, indicating or controlling special message properties */
+    int             flags;
+    int             cob;	 /**< CAN object number, used in Full CAN  */
+    unsigned   long id;		 /**< CAN message ID, 4 bytes  */
+    struct timeval  timestamp;	 /**< time stamp for received messages */
+    short      int  length;	 /**< number of bytes in the CAN message */
+    unsigned   char data[CAN_MSG_LENGTH]; /**< data, 0...8 bytes */
+} canmsg_t;
+
+
+
+/**
+---------- IOCTL requests */
+
+#define COMMAND 	 0	/**< IOCTL command request */
+#define CONFIG 		 1	/**< IOCTL configuration request */
+#define SEND 		 2	/**< IOCTL request */
+#define RECEIVE 	 3	/**< IOCTL request */
+#define CONFIGURERTR 	 4	/**< IOCTL request */
+#define STATUS           5      /**< IOCTL status request */
+
+/*---------- CAN ioctl parameter types */
+/**
+ IOCTL Command request parameter structure */
+struct Command_par {
+    int cmd;			/**< special driver command */
+    int target;			/**< special configuration target */
+    unsigned long val1;		/**< 1. parameter for the target */
+    unsigned long val2;		/**< 2. parameter for the target */
+    int error;	 		/**< return value */
+    unsigned long retval;	/**< return value */
+};
+
+
+typedef struct Command_par Command_par_t ;
+/**
+ PSW made them all the same
+ IOCTL Configuration request parameter structure */
+typedef struct Command_par  Config_par_t ;
+
+
+/**
+ IOCTL generic CAN controller status request parameter structure */
+typedef struct CanStatusPar { 
+    unsigned int baud;			/**< actual bit rate */
+    unsigned int status;		/**< CAN controller status register */
+    unsigned int error_warning_limit;	/**< the error warning limit */
+    unsigned int rx_errors;		/**< content of RX error counter */
+    unsigned int tx_errors;		/**< content of TX error counter */
+    unsigned int error_code;		/**< content of error code register */
+    unsigned int rx_buffer_size;	/**< size of rx buffer  */
+    unsigned int rx_buffer_used;	/**< number of messages */
+    unsigned int tx_buffer_size;	/**< size of tx buffer  */
+    unsigned int tx_buffer_used;	/**< number of messages */
+    unsigned long retval;		/**< return value */
+    unsigned int type;			/**< CAN controller / driver type */
+} CanStatusPar_t;
+
+/**
+ IOCTL  CanStatusPar.type CAN controller hardware chips */
+#define CAN_TYPE_UNSPEC		0
+#define CAN_TYPE_SJA1000	1
+#define CAN_TYPE_FlexCAN	2
+#define CAN_TYPE_TouCAN		3
+#define CAN_TYPE_82527		4
+#define CAN_TYPE_TwinCAN	5
+
+
+/**
+ IOCTL Send request parameter structure */
+typedef struct Send_par {
+    canmsg_t *Tx;		/**< CAN message struct  */
+    int error;	 		/**< return value for errno */
+    unsigned long retval;	/**< return value */
+} Send_par_t ;
+
+/**
+ IOCTL Receive request parameter structure */
+typedef struct Receive_par {
+    canmsg_t *Rx;		/**< CAN message struct  */
+    int error;	 		/**< return value for errno */
+    unsigned long retval;	/**< return value */
+} Receive_par_t ;
+
+/**
+IOCTL ConfigureRTR request parameter structure */
+typedef struct ConfigureRTR_par {
+    unsigned message;		/**< CAN message ID */
+    canmsg_t *Tx;		/**< CAN message struct  */
+    int error;	 		/**< return value for errno */
+    unsigned long retval;	/**< return value */
+} ConfigureRTR_par_t ;
+
+/**
+---------- IOCTL Command subcommands and there targets */
+
+# define CMD_START		1
+# define CMD_STOP 		2
+# define CMD_RESET		3
+# define CMD_CLEARBUFFERS	4
+
+
+
+
+/**
+---------- IOCTL Configure targets */
+
+# define CONF_ACC   	0	/* mask and code */
+# define CONF_ACCM   	1	/* mask only */
+# define CONF_ACCC   	2	/* code only */
+# define CONF_TIMING	3	/* bit timing */
+# define CONF_OMODE 	4	/* output control register */
+# define CONF_FILTER	5
+# define CONF_FENABLE	6
+# define CONF_FDISABLE	7
+
+#endif 	/* __CAN_H */
--- a/Socket_CAN/can_io.c
+++ b/Socket_CAN/can_io.c
@@ -0,0 +1,545 @@
+/* CAN I/O library (to use as a process)
+ * usage:
+ *   first: fork() + start_can_io(NULL) - start CAN Rx-buffering process
+ *   then:  fork() + Control_1(....) - start process that uses recv/send functions
+ *     ...........................
+ *   then:  fork() + Control_N(....)
+ *
+ * note: use init_can_io() at the begining of every Control process
+ *       BUT DON't USE it in main() before Control process start
+ *       ^^^^^^^^^^^^^
+ */
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <errno.h>
+#include <signal.h>
+#include <string.h>
+#include <time.h>
+#include <sys/msg.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <sys/time.h>
+#include <fcntl.h>
+#include <sys/file.h>
+#include <sys/shm.h>
+
+#include "can4linux.h"
+#include "can_io.h"
+
+char can_dev[40] = "/dev/can0";
+int can_fd=-1;
+char can_lck[40] = "/tmp/dev_can0.lock";
+int can_lk=-1;
+static int server_mode=0;
+static int my_uid;
+
+#define CAN_SHM_SIZE ((sizeof(int)*3)+CAN_CTLR_SIZE+(CAN_RX_SIZE*sizeof(canmsg_t)))
+
+union ShMkey {
+      char  name[5];
+      key_t code;
+} can_shm_key;
+int can_shm_id=-1;
+char *can_shm_addr = NULL;
+#define can_pid      (*(((int *)can_shm_addr)+0)) /* PID of CAN I/O process */
+#define can_open     (*(((int *)can_shm_addr)+1)) /* file descr.of CAN-driver */
+#define rx_buff_pntr (*(((int *)can_shm_addr)+2)) /* from 0 till CAN_RX_SIZE-1 */
+void *can_ctrl_addr = NULL;  /* shm area reserved for control process purpose*/
+canmsg_t *rx_buff;           /* rx ring buffer: CAN_RX_SIZE*sizeof(canmsg_t)*/
+
+struct CMD_Queue {  /* ÏÐÉÓÁÎÉÅ ÏÞÅÒÅÄÉ (ËÁÎÁÌÁ) ËÏÍÁÎÄ */
+    union {
+      char  name[5];          /* ËÌÀÞ ÉÄÅÎÔÅÆÉËÁÃÉÉ ÏÞÅÒÅÄÉ */
+      key_t code;
+    } key;
+    int mode;                 /* ÒÅÖÉÍ ÄÏÓÔÕÐÁ (rwxrwxrwx) */
+    int side;                 /* ÔÉÐ ÐÏÄÓÏÅÄÉÎÅÎÉÑ: ëÌÉÅÎÔ/óÅÒ×ÅÒ (Sender/Receiver)*/
+    int id;                   /* ÄÅÓËÒÉÐÔÏÒ ÐÏÄÓÏÅÄÉÎÅÎÉÑ */
+    unsigned int acckey;      /* ËÌÀÞ ÄÏÓÔÕÐÁ (ÄÌÑ ÐÅÒÅÄÁÞÉ ëÌÉÅÎÔ->óÅÒ×ÅÒ) */
+};
+/* ËÁÎÁÌ ËÏÍÁÎÄ ÉÓÐÏÌØÚÕÅÍ ÄÌÑ ÐÅÒÅÄÁÞÉ CAN-ÆÒÅÊÍÏ× */
+static struct CMD_Queue canout = {{{'C','A','N',0,0}},0200,0,-1,0};
+
+/* ÓÔÒÕËÔÕÒÁ ÓÏÏÂÝÅÎÉÑ */
+struct my_msgbuf {
+   long mtype;            /* type of message */
+   unsigned long acckey;  /* ËÌÀÞ ÄÏÓÔÕÐÁ ËÌÉÅÎÔÁ */
+   unsigned long src_pid; /* ÎÏÍÅÒ ÐÒÏÃÅÓÓÁ ÉÓÔÏÞÎÉËÁ */
+   unsigned long src_ip;  /* IP-ÁÄÒ. ÉÓÔÏÞÎÉËÁ, =0 - ÌÏËÁÌØÎÁÑ ËÏÍÁÎÄÁ */
+   char mtext[100];       /* message text */
+};
+
+static void can_abort(int sig);
+
+void set_server_mode(int mode) {server_mode=mode;}
+int can_server() {return(server_mode);}
+int can_card() {return(can_fd>0);}
+int can_gate() {return(0);}
+double can_gate_time_offset() {return(0.0);}
+
+unsigned long get_acckey() {return(0);}
+
+static int shm_created=0;
+
+/* to use _AFTER_  process forking */
+void *init_can_io() { /* returns shared area addr. for client control process*/
+   int i;
+   int new_shm=0;
+   char *p, msg[100];
+
+   my_uid=geteuid();
+   if(can_shm_addr==NULL) {
+      if((p=strrchr(can_dev,'/'))!=NULL) {
+     memcpy(&can_lck[9], p+1, 4);
+     memcpy(can_shm_key.name, p+1, 4);
+     can_shm_key.name[4]='\0';
+      } else {
+         fprintf(stderr,"Wrong CAN device name: %s\n", can_dev);
+         return NULL;
+      }
+      can_shm_id = shmget(can_shm_key.code, CAN_SHM_SIZE, 0644);
+      if(can_shm_id<0 && errno==EACCES)
+     can_shm_id = shmget(can_shm_key.code, CAN_SHM_SIZE, 0444);
+      if(can_shm_id<0 && errno==ENOENT && server_mode) {
+     can_shm_id = shmget(can_shm_key.code, CAN_SHM_SIZE, IPC_CREAT|IPC_EXCL|0644);
+     new_shm = shm_created = 1;
+      }
+      if(can_shm_id<0) {
+     can_prtime(stderr);
+     if(new_shm)
+        sprintf(msg,"Can't create shm CAN buffer '%s'",can_shm_key.name);
+     else if(server_mode)
+        sprintf(msg,"CAN-I/O: Can't find shm segment for CAN buffer '%s'",can_shm_key.name);
+     else
+        sprintf(msg,"Can't find shm segment for CAN buffer '%s' (maybe no CAN-I/O process?)",can_shm_key.name);
+     perror(msg);
+     return NULL;
+      }
+      can_shm_addr = shmat(can_shm_id, NULL, 0);
+      if (can_shm_addr == (void*)-1 && errno==EACCES)
+     can_shm_addr = shmat(can_shm_id, NULL, SHM_RDONLY);
+      if (can_shm_addr == (void*)-1) {
+     sprintf(msg,"Can't attach shm CAN buffer '%s'",can_shm_key.name);
+     perror(msg);
+     shmctl(can_shm_id, IPC_RMID, NULL);
+     return NULL;
+      }
+   }
+   can_ctrl_addr = (canmsg_t *)(can_shm_addr+sizeof(int)*3);
+   rx_buff = (canmsg_t *)(can_ctrl_addr+CAN_CTLR_SIZE);
+
+   if(can_fd<0 && canout.id<0) {
+      if(server_mode) {
+     if(( can_fd = open(can_dev, O_RDWR )) < 0 ) {
+        sprintf(msg,"CAN-I/O: Error opening CAN device %s", can_dev);
+        can_prtime(stderr);
+        perror(msg);
+        shmctl(can_shm_id, IPC_RMID, NULL);
+        return NULL;
+     }
+      } else {
+     if((canout.id = msgget(canout.key.code, canout.mode)) < 0) {
+        sprintf(msg,"Error opening CAN output queue '%s'(maybe no CANqueue server process?) ",canout.key.name);
+        perror(msg);
+     }
+      }
+   }
+   if(can_lk>0) close(can_lk);
+   if(( can_lk = open(can_lck, O_RDWR|O_CREAT, S_IRUSR|S_IWUSR|S_IRGRP|S_IWGRP|S_IROTH|S_IWOTH )) < 0 ) {
+      sprintf(msg,"Error opening CAN device lock-file %s", can_lck);
+      perror(msg);
+      shmctl(can_shm_id, IPC_RMID, NULL);
+      close(can_fd);
+      return NULL;
+   }
+   fchmod(can_lk, S_IRUSR|S_IWUSR|S_IRGRP|S_IWGRP|S_IROTH|S_IWOTH);
+   if(new_shm) {
+      struct timeval tmv;
+      struct timezone tz;
+      gettimeofday(&tmv,&tz);
+      if(flock(can_lk, LOCK_EX)<0) perror("locking CAN");
+      can_pid = 0;
+      can_open = -1;
+      rx_buff_pntr = 0;
+      for(i=0; i<CAN_RX_SIZE; i++) {
+     rx_buff[i].id = 0;
+     rx_buff[i].timestamp = tmv;
+      }
+      if(flock(can_lk, LOCK_UN)<0) perror("unlocking CAN");
+   }
+   signal(SIGHUP, can_exit);
+   signal(SIGINT, can_exit);
+   signal(SIGQUIT,can_exit);
+   signal(SIGTERM,can_exit);
+   return(can_ctrl_addr);
+}
+
+/* CAN "Rx to buff" process */
+void *start_can_io() {
+
+   set_server_mode(1);
+   init_can_io();
+   if(can_io_ok()) {
+      can_prtime(stderr);
+      fprintf(stderr,"CAN I/O process(%d) already running!\n",can_pid);
+      sleep(1);
+      can_prtime(stderr);
+      fprintf(stderr,"New CAN I/O process(%d) exiting...!\n",getpid());
+      exit(0);
+   }
+   if( can_fd < 0 ) {
+      can_prtime(stderr);
+      fprintf(stderr,"Error opening CAN device %s\n", can_dev);
+      shmctl(can_shm_id, IPC_RMID, NULL);
+      exit(0);
+   }
+   can_pid = getpid();
+   can_open = can_fd;
+
+   signal(SIGHUP, can_abort);
+   signal(SIGINT, can_abort);
+   signal(SIGQUIT,can_abort);
+   signal(SIGFPE, can_abort);
+   signal(SIGPIPE,can_abort);
+   signal(SIGSEGV,can_abort);
+   signal(SIGALRM, SIG_IGN);
+   signal(SIGTERM,can_abort);
+
+   if(shmctl(can_shm_id, SHM_LOCK, NULL) < 0)
+      perror("CAN I/O: can't prevents swapping of Rx-buffer area");
+
+   while(1) {
+      int n;
+      canmsg_t rx;
+
+      if(!can_io_shm_ok()) {can_delay(0.3); continue;}
+
+      n = can_wait(can_fd, 0.3);
+      if(n < 0) sleep(1);
+      if(n <= 0) continue;
+
+//    do {
+     static struct timeval tm = {0,0};
+     n = read(can_fd, &rx, sizeof(canmsg_t));
+     if(n < 0)
+        perror("CAN Rx error");
+     else if(n > 0) {
+        /* work around the timestamp bug in old driver version */
+        while((double)rx.timestamp.tv_sec+(double)rx.timestamp.tv_usec/1e6 < (double)tm.tv_sec+(double)tm.tv_usec/1e6) {
+           rx.timestamp.tv_usec += 10000;
+           if(rx.timestamp.tv_usec > 1000000) {
+          rx.timestamp.tv_sec++;
+          rx.timestamp.tv_usec -= 1000000;
+           }
+        }
+        if(flock(can_lk, LOCK_EX)<0) perror("locking CAN");
+        rx_buff[rx_buff_pntr] = rx;
+        rx_buff_pntr = (rx_buff_pntr + 1) % CAN_RX_SIZE;
+        if(flock(can_lk, LOCK_UN)<0) perror("unlocking CAN");
+//fprintf(stderr,"%d read(id=%02x,len=%d)\n",rx_buff_pntr,rx.id,rx.length);fflush(stderr);
+       /*fprintf(stderr,"reading CAN: 1 frame\n");*/
+     } else {
+        fprintf(stderr,"reading CAN: nothing\n");fflush(stderr);
+     }
+//    } while(n>0);
+   }
+}
+
+/* put CAN-frame to recv-buffer  */
+void can_put_buff_frame(double rtime, int id, int length, unsigned char data[]) {
+   int i;
+   canmsg_t rx;
+   int sec = (int)rtime;
+   if(!server_mode) return;
+   if(length<0) length=0;
+   if(length>8) length=8;
+   rx.id=id;
+   rx.length=length;
+   for(i=0; i<length; i++) rx.data[i]=data[i];
+   rx.timestamp.tv_sec = sec;
+   rx.timestamp.tv_usec = (int)((rtime-sec)*1000000.);
+   if(flock(can_lk, LOCK_EX)<0) perror("locking CAN");
+   rx_buff[rx_buff_pntr] = rx;
+   rx_buff_pntr = (rx_buff_pntr + 1) % CAN_RX_SIZE;
+   if(flock(can_lk, LOCK_UN)<0) perror("unlocking CAN");
+}
+
+/* ÷ÓÅ ÎÏÒÍÁÌØÎÏ Ó SHM-ÂÕÆÅÒÏÍ CAN-I/O ÐÒÏÃÅÓÓÁ */
+int can_io_shm_ok() {
+   return(can_pid>0 && can_open>0);
+}
+
+
+/* ÷ÓÅ ÎÏÒÍÁÌØÎÏ Ó CAN-I/O ÐÒÏÃÅÓÓÏÍ */
+/*  (ÎÏ ÎÁÄÏ ÂÙÔØ ÓÕÐÅÒ-ÀÚÅÒÏÍ!)    */
+int can_io_ok() {
+   return(can_io_shm_ok() && (my_uid!=0||kill(can_pid, 0)==0));
+}
+
+
+/* ÷ÏÚÍÏÖÎÁ ÒÁÂÏÔÁ c CAN ÄÌÑ ËÌÉÅÎÔÁ */
+int can_ok() {
+   return(can_io_shm_ok());
+}
+
+
+/* wait for CAN-frame  */
+int can_wait(int fd, double tout)
+{
+  int nfd,width;
+  struct timeval tv;
+  fd_set readfds;
+
+   if(fd==0 && tout>=0.01) {
+      double dt = can_dsleep(tout);
+      if(dt>0.) can_dsleep(dt);
+      return(0);
+   }
+   if(fd<0) fd=can_fd;
+   if(fd>0) {
+      FD_ZERO(&readfds);
+      FD_SET(fd, &readfds);
+      width = fd+1;
+   } else
+      width = 0;
+   tv.tv_sec = (int)tout;
+   tv.tv_usec = (int)((tout - tv.tv_sec)*1000000.+0.9);
+slipping:
+   if(fd>0 && can_fd>0)
+      nfd = select(width, &readfds, (fd_set *)NULL, (fd_set *)NULL,  &tv);
+   else
+      nfd = select(0, (fd_set *)NULL, (fd_set *)NULL, (fd_set *)NULL,  &tv);
+   if(nfd < 0) {
+      if(errno == EINTR)
+     goto slipping;
+      perror("Error in can_wait(){ select() }");
+      return(-1);
+   } else if(nfd == 0)                 /* timeout! */
+      return(0);
+   if(fd>0 && FD_ISSET(fd, &readfds))  /* Rx frame! */
+      return(1);
+   return(0);
+}
+
+/* cleanup recv-buffer in client process */
+void can_clean_recv(int *pbuf, double *rtime) {
+    struct timeval tmv;
+    struct timezone tz;
+    gettimeofday(&tmv,&tz);
+    *pbuf = rx_buff_pntr;
+    *rtime = tmv.tv_sec + (double)tmv.tv_usec/1000000.;
+}
+
+/* find next rx-frame in recv-buffer for client process */
+int can_recv_frame(int *pbuf, double *rtime,
+          int *id, int *length, unsigned char data[]) {
+   return(can_get_buff_frame(pbuf, rtime, id, length, data));
+}
+int can_get_buff_frame(int *pbuf, double *rtime,
+          int *id, int *length, unsigned char data[]) {
+    while(*pbuf != rx_buff_pntr) {
+       canmsg_t *rx = &rx_buff[*pbuf];
+       struct timeval *tv = &rx->timestamp;
+       double t_rx;
+
+       if(flock(can_lk, LOCK_EX)<0) perror("locking CAN");
+
+       t_rx = tv->tv_sec + (double)tv->tv_usec/1000000.;
+       if(t_rx+1. >= *rtime) {
+      int i;
+      *id = rx->id;
+      *length = rx->length;
+      for(i = 0; i < *length; i++)
+         data[i] = rx->data[i];
+      *rtime = t_rx;
+      *pbuf = (*pbuf + 1) % CAN_RX_SIZE;
+
+      if(flock(can_lk, LOCK_UN)<0) perror("unlocking CAN");
+      return(1);
+       }
+       *pbuf = (*pbuf + 1) % CAN_RX_SIZE;
+
+       if(flock(can_lk, LOCK_UN)<0) perror("unlocking CAN");
+    }
+    return(0);
+}
+
+/* send tx-frame from client process */
+/*  to CAN-driver or to output queue */
+int can_send_frame(int id, int length, unsigned char data[]) {
+    int i, ret=1;
+    if(can_fd<0 && canout.id<0)
+       return(0);
+    if(length>8) length=8;
+    if(length<0) length=0;
+    if(can_fd>=0) {
+       canmsg_t tx;
+       tx.id=id;
+       tx.cob=0;
+       tx.flags=0;
+       tx.length=length;
+       for(i=0;i<length;i++) tx.data[i]=data[i];
+       if(flock(can_lk, LOCK_EX)<0) perror("locking CAN");
+       ret = write(can_fd, &tx, sizeof(canmsg_t));
+       if(flock(can_lk, LOCK_UN)<0) perror("unlocking CAN");
+       if(server_mode)
+      /* copy tx CAN-frame back to recv-buffer  */
+      can_put_buff_frame(can_dtime(), id, length, data);
+    } else if(canout.id>=0) {
+       struct my_msgbuf mbuf;
+       mbuf.src_pid = getpid();
+       mbuf.src_ip = 0;
+       mbuf.acckey = canout.acckey;
+       mbuf.mtype = id;
+       for(i=0;i<length;i++) mbuf.mtext[i]=data[i];
+       msgsnd( canout.id, (struct msgbuf *)&mbuf, length+12, IPC_NOWAIT);
+    }
+    return(ret);
+}
+
+static void can_abort(int sig) {
+    char ss[10];
+    struct shmid_ds buf;
+
+    if(sig) signal(sig,SIG_IGN);
+    if(!server_mode) can_exit(sig);
+    switch (sig) {
+    case 0      : strcpy(ss," ");  break;
+    case SIGHUP : strcpy(ss,"SIGHUP -");  break;
+    case SIGINT : strcpy(ss,"SIGINT -");  break;
+    case SIGQUIT: strcpy(ss,"SIGQUIT -"); break;
+    case SIGFPE : strcpy(ss,"SIGFPE -");  break;
+    case SIGPIPE: strcpy(ss,"SIGPIPE -"); break;
+    case SIGSEGV: strcpy(ss,"SIGSEGV -"); break;
+    case SIGTERM: strcpy(ss,"SIGTERM -"); break;
+    default:  sprintf(ss,"SIG_%d -",sig); break;
+    }
+    switch (sig) {
+    default:
+    case SIGHUP :
+    case SIGINT :
+         can_prtime(stderr);
+         fprintf(stderr,"CAN I/O: %s Ignore .....\n",ss);
+         fflush(stderr);
+         signal(sig, can_abort);
+         return;
+    case SIGPIPE:
+    case SIGQUIT:
+    case SIGFPE :
+    case SIGSEGV:
+    case SIGTERM:
+         signal(SIGALRM, can_abort);
+         alarm(2);
+         can_prtime(stderr);
+         fprintf(stderr,"CAN I/O: %s process should stop after 2sec delay...\n",ss);
+         fflush(stderr);
+         close(can_fd);
+         can_fd = can_open = -1;
+         return;
+    case SIGALRM:
+         can_prtime(stderr);
+         fprintf(stderr,"CAN I/O: process stop!\n");
+         fflush(stderr);
+         close(can_lk);
+         can_lk = -1;
+         can_pid = 0;
+         shmdt(can_shm_addr);
+         shmctl(can_shm_id, IPC_STAT, &buf);
+         if(buf.shm_nattch==0) {
+            shmctl(can_shm_id, SHM_UNLOCK, NULL);
+            shmctl(can_shm_id, IPC_RMID, NULL);
+         }
+         exit(sig);
+    }
+}
+
+void can_exit(int sig) {
+    char ss[12];
+
+    struct shmid_ds buf;
+    if(sig) signal(sig,SIG_IGN);
+    if(server_mode) can_abort(sig);
+    switch (sig) {
+    case 0      : strcpy(ss,"Exiting - ");  break;
+    case SIGHUP : strcpy(ss,"SIGHUP -");  break;
+    case SIGINT : strcpy(ss,"SIGINT -");  break;
+    case SIGQUIT: strcpy(ss,"SIGQUIT -"); break;
+    case SIGFPE : strcpy(ss,"SIGFPE -");  break;
+    case SIGPIPE: strcpy(ss,"SIGPIPE -"); break;
+    case SIGSEGV: strcpy(ss,"SIGSEGV -"); break;
+    case SIGTERM: strcpy(ss,"SIGTERM -"); break;
+    default:  sprintf(ss,"SIG_%d -",sig); break;
+    }
+    switch (sig) {
+    default:
+    case SIGHUP :
+         can_prtime(stderr);
+         fprintf(stderr,"%s Ignore .....\n",ss);
+         fflush(stderr);
+         signal(sig, can_exit);
+         return;
+    case 0:
+    case SIGINT :
+    case SIGPIPE:
+    case SIGQUIT:
+    case SIGFPE :
+    case SIGSEGV:
+    case SIGTERM:
+         if(can_fd>=0) close(can_fd);
+         can_prtime(stderr);
+         fprintf(stderr,"%s process stop!\n",ss);
+         fflush(stderr);
+         close(can_lk);
+         shmdt(can_shm_addr);
+         shmctl(can_shm_id, IPC_STAT, &buf);
+         if(buf.shm_nattch==0)
+            shmctl(can_shm_id, IPC_RMID, NULL);
+         exit(sig);
+    }
+}
+
+char *time2asc(double t)
+{
+ static char stmp[10][20];
+ static int itmp=0;
+    char *lin = stmp[itmp];
+    int h, min;
+    double sec;
+    h   = (int)(t/3600.);
+    min = (int)((t - (double)h*3600.)/60.);
+    sec = t - (double)h*3600. - (double)min*60.;
+    h %= 24;
+    sprintf(lin, "%02d:%02d:%09.6f", h,min,sec);
+    itmp = (itmp+1)%10;
+    return lin;
+}
+
+double can_dsleep(double dt) {
+   struct timespec ts,tsr;
+   ts.tv_sec = (time_t)dt;
+   ts.tv_nsec = (long)((dt-ts.tv_sec)*1e9);
+   nanosleep(&ts,&tsr);
+   return((double)ts.tv_sec + (double)ts.tv_nsec/1e9);
+}
+
+double can_dtime() {
+   struct timeval ct;
+   struct timezone tz;
+   gettimeofday(&ct, &tz);
+   return ((double)ct.tv_sec + (double)ct.tv_usec/1e6);
+}
+
+char *can_atime() {return(time2asc(can_dtime()));}
+
+void can_prtime(FILE *fd) {
+   static double otime=0.0;
+   double ntime=can_dtime();
+   time_t itime = (int)ntime;
+   if(otime==0.0) tzset();
+   ntime -= (double)timezone;
+   if((((int)ntime)%(24*3600) < ((int)otime)%(24*3600)) || otime==0.0)
+      fprintf(fd,"========================\n%s",ctime(&itime));
+   fprintf(fd,"%s ",time2asc(ntime));
+   otime=ntime;
+}
--- a/Socket_CAN/can_io.h
+++ b/Socket_CAN/can_io.h
@@ -0,0 +1,29 @@
+#define CAN_CTLR_SIZE 300      /* size of client process shared area */
+#define CAN_RX_SIZE  1000      /* max. # frames in Rx-buffer */
+
+int can_wait(int fd, double tout);
+#define can_delay(Tout) can_wait(0, Tout)
+void set_server_mode(int mode);
+int can_server();
+int can_card();
+int can_gate();
+double can_gate_time_offset();
+unsigned long get_acckey();
+void *init_can_io();
+void *start_can_io();
+void can_put_buff_frame(double rtime, int id, int length, unsigned char data[]);
+int can_io_ok();
+int can_io_shm_ok();
+int can_ok();
+void can_clean_recv(int *pbuf, double *rtime);
+int can_get_buff_frame(int *pbuf, double *rtime,
+          int *id, int *length, unsigned char data[]);
+int can_recv_frame(int *pbuf, double *rtime,
+          int *id, int *length, unsigned char data[]);
+int can_send_frame(int id, int length, unsigned char data[]);
+void can_exit(int sig);
+char *time2asc(double t);
+double can_dsleep(double dt);
+double can_dtime();
+char *can_atime();
+void can_prtime(FILE *fd);
--- a/Socket_CAN/canbus.h
+++ b/Socket_CAN/canbus.h
@@ -0,0 +1,39 @@
+/*
+ * This file is part of the SocketCAN project.
+ * Copyright 2021 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
+#ifndef CANBUS_H__
+#define CANBUS_H__
+
+#include <stdint.h>
+
+// CAN packet MAGICK
+#define CANMAGICK   (0xdeadbeef)
+// BTA SEW mask
+#define ID_MASK     (0xD80)
+// BTA SEW-dome frames
+#define ID_DOME     (0x580)
+
+typedef struct{
+    uint32_t magick;
+    uint16_t ID;
+    uint8_t len;
+    uint8_t data[8];
+} can_packet;
+
+#endif // CANBUS_H__
--- a/Socket_CAN/cansock.c
+++ b/Socket_CAN/cansock.c
@@ -0,0 +1,76 @@
+/*
+ * This file is part of the SocketCAN project.
+ * Copyright 2021 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/>.
+ */
+
+
+int readCAN(int sock, struct can_frame *frame){
+    fd_set fds;
+    struct timeval timeout;
+    timeout.tv_sec = 0;
+    timeout.tv_usec = 1000; // wait not more than 1millisecond
+    FD_ZERO(&fds);
+    FD_SET(sock, &fds);
+    do{
+        int rc = select(sock+1, &fds, NULL, NULL, &timeout);
+        if(rc < 0){
+            if(errno != EINTR){
+                WARN("select()");
+                return 0;
+            }
+            continue;
+        }
+        break;
+    }while(1);
+    if(FD_ISSET(sock, &fds)){
+        return read(sock, frame, sizeof(struct can_frame));
+    }
+    return 0;
+}
+
+
+
+int sock = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+if(sock < 0) ERR("Can't create socket");
+struct sockaddr_can addr;
+struct ifreq ifr;
+strcpy(ifr.ifr_name, "can0");
+if(ioctl(sock, SIOCGIFINDEX, &ifr) < 0) ERR("ioctl()");
+addr.can_family = AF_CAN;
+addr.can_ifindex = ifr.ifr_ifindex;
+if(bind(sock, (struct sockaddr *)&addr, sizeof(addr)) < 0) ERR("bind()");
+int nbytes = 0;
+struct can_frame frame = {0};
+double dt = dtime();
+do{
+    nbytes = readCAN(sock, &frame);
+    if(nbytes < 0) ERR("can raw socket read");
+}while(nbytes == 0 && dtime() - dt < 10.);
+printf("got frame len=%d id=%d", frame.can_dlc, frame.can_id);
+if(frame.can_dlc) printf(", data: ");
+for(int i = 0; i < frame.can_dlc; ++i)
+    printf("0x%02x ", frame.data[i]);
+printf("\n");
+frame.can_dlc = 6;
+frame.can_id = 0xaa;
+const uint8_t d[] = {1, 2, 3, 4, 5, 6, 0, 0};
+memcpy(&frame.data, d, 8);
+int n = write(sock, &frame, sizeof(struct can_frame));
+if(sizeof(struct can_frame) != n){
+    printf("n=%d\n", n);
+    WARN("write()");
+}
+close(sock);
--- a/Socket_CAN/cert.key
+++ b/Socket_CAN/cert.key
@@ -0,0 +1,28 @@
+-----BEGIN PRIVATE KEY-----
+MIIEvQIBADANBgkqhkiG9w0BAQEFAASCBKcwggSjAgEAAoIBAQCocrggX/uMcOfG
+bVqeVZpqzX/RPl0YZf9R5ym0YhCeZPj4Ribl59vLsjFShR0PtwV3pCffZUazQJHs
+yA/UxrIG3JN9sk5B3+SdBUdmFDXcjI/vTYAFjqa6cqQ7GqQENNSKnvIW2PWe+TS8
+KepPQKEqdXLb2k7MTTLx7sFeS3RyNHnQ9V1Ef7ZTjmYGrGe6QQA1irf3QgZ8c47Q
+oIUQBEIj1JFyXhChU15BRwVEcAGDrcp8QCYjSba8ac+eBDmn/c8Ojrw3MIsgB38q
+I18xXIfuf4jSN+hZjMktFr/IZwePOUFqQjSNkMlUsZvUdkFWfEoEamP3b5Pft1IC
+okeg4+rDAgMBAAECggEAYHRoOKmdadrQ7Q97H0UXSeboNNHIDwuAus5qVA7/QyPA
+aLIK3gT5F9euZHkynegIKm0GI+ZjKItlw7b/UbCBCmrNzeEG7LOevcbjDnGuMd8P
+IFE5aHU5xXOV1P45QutZdRL0vt53LxO1/bTmpYD1iFF+dqO4EUZ3UI+NjEgaorW5
+x9kZwV6PE4Cnfcx8kdDNvBrQDs/AXJz3zNNsIU7cEFAVLvtkDnw5+aa0O52lLa+D
+2vtpctxCyPrKtV5Z7Cgd+KkvXKDYbSgrld/Pb6Bhwj+cD39s5Jd/JRBnhpprHq5Y
+X8nCs0rZP901rTbGPRcOAu1qUrgdtEyFyiAMnCBGWQKBgQDWQGD87w2E7cbNxZAp
+nYBc4LizChtvFRu5hDmbblhvRt93XWh4H5wrJuKbFBM/O38KHy/9GCEVv8XwCkgd
+DKhNlAPwMkszxYkVw4cmc3FwKEQhfX4KpzwfrWFbPFTGlCtt3EAP5g6wvXYJeWZZ
+T+KXCOzWG5b+v38LLZzxctPp7QKBgQDJRYHKK4txrbXIfqSILk1k9C3+8H6lPFfk
+S0gemPP7TuE2jHH/OsK36qtgH+i6pWrqZVKL9QmpFugiSvI/SP0DWk7t17iFnJ6s
+bltn8gftASRnx8yFVZBYUO9TbmriS0ZRJG8Yz7f79jj2TGDunBVgeu560X6Syjyk
+WpzEjEPRbwKBgFL2MNggNOrxK5cIVi9XFppgRgTF+COGV+r5IVlnXAUSu3s8BzTk
+gJNRBlQobN+CSUoBE5L8YetLC/lL8eqVuSH5G6FJyEbuyYtM4CtqblWQsfkJ3+F+
+KlDV0SoD7YvLWhm7PG8rlSqo4mj+wjv5K/Nx+Etb+ZcBTc9lRS1VWmttAoGBAMSC
+GnA7B5Bb26n/C8DyBBpW1TmdsOi++8knPyiwiTWKFBTgFsTsqARNGDlnrh/dNX/Y
+oTmIaoAun0IsDkx/hJfrajiJb9zzx2/u50ubYOWjQdoZlrNvkNjJXIEGw1Bh0iuS
+O0ukSFtirveYp1UwwJJw+Eh/QRwc7i7x2eW0vf9AoGAVPIZuGkwafu4yfsKBKqx
+Qvmgm7+iCywBz6jj70Zk1uS2+l/Kvc1sFD3vF9QS6LzxWgotMqqTR+JTLqMhw/SW
+nTSoickIlkchWWnOF0tg1Gx9qHj9iTXufSwAqtYa18Srf/lQKB/HM24BSugGAxK/
+W+UrzBJIZnVyR/HkDSk5VWY=
+-----END PRIVATE KEY-----
--- a/Socket_CAN/cert.pem
+++ b/Socket_CAN/cert.pem
@@ -0,0 +1,21 @@
+-----BEGIN CERTIFICATE-----
+MIIDXzCCAkegAwIBAgIUBo309dQtnbIqVJIYQ0929yXmRB0wDQYJKoZIhvcNAQEL
+BQAwPzELMAkGA1UEBhMCUlUxDTALBgNVBAgMBEtDaFIxDzANBgNVBAcMBkJ1a292
+bzEQMA4GA1UECgwHU0FPIFJBUzAeFw0yMTEyMTYwODA3NDNaFw00OTA4MTEwODA3
+NDNaMD8xCzAJBgNVBAYTAlJVMQ0wCwYDVQQIDARLQ2hSMQ8wDQYDVQQHDAZCdWtv
+dm8xEDAOBgNVBAoMB1NBTyBSQVMwggEiMA0GCSqGSIb3DQEBAQUAA4IBDwAwggEK
+AoIBAQCocrggX/uMcOfGbVqeVZpqzX/RPl0YZf9R5ym0YhCeZPj4Ribl59vLsjFS
+hR0PtwV3pCffZUazQJHsyA/UxrIG3JN9sk5B3+SdBUdmFDXcjI/vTYAFjqa6cqQ7
+GqQENNSKnvIW2PWe+TS8KepPQKEqdXLb2k7MTTLx7sFeS3RyNHnQ9V1Ef7ZTjmYG
+rGe6QQA1irf3QgZ8c47QoIUQBEIj1JFyXhChU15BRwVEcAGDrcp8QCYjSba8ac+e
+BDmn/c8Ojrw3MIsgB38qI18xXIfuf4jSN+hZjMktFr/IZwePOUFqQjSNkMlUsZvU
+dkFWfEoEamP3b5Pft1ICokeg4+rDAgMBAAGjUzBRMB0GA1UdDgQWBBRqwlIH5zOT
+171ywLEMmP1WfJ3ZdjAfBgNVHSMEGDAWgBRqwlIH5zOT171ywLEMmP1WfJ3ZdjAP
+BgNVHRMBAf8EBTADAQH/MA0GCSqGSIb3DQEBCwUAA4IBAQAwgUv4mlGxwqmyQsTg
+LHVppuLl4TA1EMrUuvJfSBClfStnWiCDJmNMn7OMAuNVmpLZHz2gPbAz5fHRnm0N
+Ey3nQNS0X18/jq4NCjaONoSjcRxHDbw0V0E2Kap+t9YZbzw83FWKcJM3WKMAL51p
+xiUWQ9bP5E7CFY+j+kcty3HfSgoGcEqanTK94QQqlKxczI1kKkR/Bdow3jTk6PG7
+fMPU6c8FL3NkRacKGoc5VNq8A7HI5Hll4gu1fYxXVYnkKc45NrLsipdhInFNJOmx
+O16CWm+S/YEJFVio6Eke9FhLehaHagY0oMhadaV4sxtTDXGosfoI/XorGsYE79sU
+uqgK
+-----END CERTIFICATE-----
--- a/Socket_CAN/client.c
+++ b/Socket_CAN/client.c
@@ -0,0 +1,43 @@
+/*
+ * This file is part of the SocketCAN project.
+ * Copyright 2021 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 <sys/ioctl.h>
+#include <sys/select.h>
+#include <sys/socket.h>
+#include <linux/can.h>
+#include <net/if.h>
+#include <usefull_macros.h>
+
+#include "cmdlnopts.h"
+#include "daemon.h"
+#include "sslsock.h"
+
+
+int main(int argc, char **argv){
+    char *self = argv[0];
+    initial_setup();
+    parse_args(argc, argv);
+    // check args
+    if(!G.serverhost) ERR("Point server IP address");
+#ifdef EBUG
+    printf("Server: %s\n", G.serverhost);
+#endif
+    return start_daemon(self);
+}
--- a/Socket_CAN/client.h
+++ b/Socket_CAN/client.h
@@ -0,0 +1,24 @@
+/*
+ * This file is part of the SocketCAN project.
+ * Copyright 2021 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
+#ifndef CLIENT_H__
+#define CLIENT_H__
+
+#include "canbus.h"
+
+#endif // CLIENT_H__
--- a/Socket_CAN/cmdlnopts.c
+++ b/Socket_CAN/cmdlnopts.c
@@ -0,0 +1,89 @@
+/*
+ * This file is part of the SocketCAN project.
+ * Copyright 2021 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 <assert.h>
+#include <stdio.h>
+#include <string.h>
+#include <strings.h>
+#include <usefull_macros.h>
+
+#include "cmdlnopts.h"
+
+
+/*
+ * here are global parameters initialisation
+ */
+static int help;
+glob_pars  G;
+
+//            DEFAULTS
+// default global parameters
+static glob_pars const Gdefault = {
+    .pidfile = DEFAULT_PIDFILE,
+    .port = DEFAULT_PORT,
+    .cert = "cert.pem",
+    .key = "cert.key",
+};
+
+/*
+ * Define command line options by filling structure:
+ *  name        has_arg     flag    val     type        argptr              help
+*/
+static myoption cmdlnopts[] = {
+// common options
+    {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&help),        _("show this help")},
+    {"logfile", NEED_ARG,   NULL,   'l',    arg_string, APTR(&G.logfile),   _("file to save logs")},
+    {"pidfile", NEED_ARG,   NULL,   'P',    arg_string, APTR(&G.pidfile),   _("pidfile (default: " DEFAULT_PIDFILE ")")},
+    {"certificate",NEED_ARG,NULL,   'c',    arg_string, APTR(&G.cert),      _("path to SSL sertificate (default: cert.pem)")},
+    {"key",     NEED_ARG,   NULL,   'k',    arg_string, APTR(&G.key),       _("path to SSL key (default: cert.key)")},
+    {"ca",      NEED_ARG,   NULL,   'a',    arg_string, APTR(&G.ca),        _("path to SSL ca (default: ca.pem)")},
+    {"port",    NEED_ARG,   NULL,   'p',    arg_string, APTR(&G.port),      _("port to open (default: " DEFAULT_PORT ")")},
+    {"verbose", NO_ARGS,    NULL,   'v',    arg_none,   APTR(&G.verbose),   _("increase log verbose level (default: LOG_WARN)")},
+#ifdef SERVER
+#endif
+#ifdef CLIENT
+    {"server",  NEED_ARG,   NULL,   'i',    arg_string, APTR(&G.serverhost),  _("server IP address")},
+#endif
+   end_option
+};
+
+/**
+ * Parse command line options and return dynamically allocated structure
+ *      to global parameters
+ * @param argc - copy of argc from main
+ * @param argv - copy of argv from main
+ */
+void parse_args(int argc, char **argv){
+    int i;
+    void *ptr;
+    ptr = memcpy(&G, &Gdefault, sizeof(G)); assert(ptr);
+    size_t hlen = 1024;
+    char helpstring[1024], *hptr = helpstring;
+    snprintf(hptr, hlen, "Usage: %%s [args]\n\n\tWhere args are:\n");
+    // format of help: "Usage: progname [args]\n"
+    change_helpstring(helpstring);
+    // parse arguments
+    parseargs(&argc, &argv, cmdlnopts);
+    if(help) showhelp(-1, cmdlnopts);
+    if(argc > 0){
+        red("Ignored options:\n");
+        for (i = 0; i < argc; i++)
+            printf("\t%s\n", argv[i]);
+    }
+}
+
--- a/Socket_CAN/cmdlnopts.h
+++ b/Socket_CAN/cmdlnopts.h
@@ -0,0 +1,54 @@
+/*
+ * This file is part of the SocketCAN project.
+ * Copyright 2021 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
+#ifndef CMDLNOPTS_H__
+#define CMDLNOPTS_H__
+
+// default PID filename:
+#ifndef DEFAULT_PIDFILE
+#define DEFAULT_PIDFILE "/tmp/soccan.pid"
+#endif
+#ifndef DEFAULT_PORT
+#define DEFAULT_PORT    "4444"
+#endif
+
+/*
+ * here are some typedef's for global data
+ */
+typedef struct{
+    char *pidfile;          // name of PID file
+    char *logfile;          // logging to this file
+    char *cert;             // sertificate
+    char *key;              // key
+    char *ca;               // ca
+    char *port;             // port number
+    int verbose;            // logfile verbose level
+#ifdef SERVER
+#endif
+#ifdef CLIENT
+    char *serverhost;         // server IP address
+    int speed;              // connection speed
+#endif
+} glob_pars;
+
+extern glob_pars G;
+
+void parse_args(int argc, char **argv);
+
+#endif // CMDLNOPTS_H__
--- a/Socket_CAN/daemon.c
+++ b/Socket_CAN/daemon.c
@@ -0,0 +1,99 @@
+/*
+ * This file is part of the SocketCAN project.
+ * Copyright 2021 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 <sys/prctl.h>      // prctl
+#include <sys/wait.h>       // wait
+#include <unistd.h>
+#include <usefull_macros.h>
+
+#include "cmdlnopts.h"
+#include "daemon.h"
+#include "sslsock.h"
+
+static pid_t childpid = 0;
+
+void signals(int sig){
+    if(childpid == 0){
+        LOGWARN("Child killed with sig=%d", sig);
+        exit(sig); // slave process
+    }
+    // master process
+    if(sig){
+        signal(sig, SIG_IGN);
+        LOGERR("Exit with signal %d", sig);
+    }else LOGERR("Exit");
+    if(G.pidfile) unlink(G.pidfile);
+    exit(sig);
+}
+
+/**
+ * @brief start_daemon - daemonize
+ * @param self - self name of process
+ * @return error code or 0
+ */
+int start_daemon(_U_ char *self){
+    // check args
+    int port = atoi(G.port);
+    if(port < 1024 || port > 65535){
+        LOGERR("Wrong port value: %d", port);
+        return 1;
+    }
+    FILE *f = fopen(G.cert, "r");
+    if(!f) ERR("Can't open certificate file %s", G.cert);
+    fclose(f);
+    f = fopen(G.key, "r");
+    if(!f) ERR("Can't open certificate key file %s", G.key);
+    fclose(f);
+#ifdef EBUG
+    printf("cert: %s, key: %s\n", G.cert, G.key);
+#endif
+    if(G.logfile){
+        int lvl = LOGLEVEL_WARN + G.verbose;
+        DBG("level = %d", lvl);
+        if(lvl > LOGLEVEL_ANY) lvl = LOGLEVEL_ANY;
+        green("Log file %s @ level %d\n", G.logfile, lvl);
+        OPENLOG(G.logfile, lvl, 1);
+    }
+    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
+#ifdef SERVER
+    check4running(self, G.pidfile);
+#endif
+    LOGMSG("Started");
+#ifndef EBUG
+    while(1){
+        childpid = fork();
+        if(childpid){ // master
+            LOGMSG("Created child with pid %d", childpid);
+            wait(NULL);
+            LOGWARN("Child %d died", childpid);
+            sleep(1); // wait a little before respawn
+        }else{ // slave
+            prctl(PR_SET_PDEATHSIG, SIGTERM); // send SIGTERM to child when parent dies
+            break;
+        }
+    }
+#endif
+    // parent should never reach this part of code
+    return open_socket();
+}
--- a/Socket_CAN/daemon.h
+++ b/Socket_CAN/daemon.h
@@ -0,0 +1,25 @@
+/*
+ * This file is part of the SocketCAN project.
+ * Copyright 2021 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
+#ifndef DAEMON_H__
+#define DAEMON_H__
+
+int start_daemon(char *self);
+
+#endif // DAEMON_H__
--- a/Socket_CAN/diff/clientscript
+++ b/Socket_CAN/diff/clientscript
@@ -0,0 +1,5 @@
+#!/bin/bash
+
+for ((x=0; x<10; ++x)); do
+	socat TCP-LISTEN:2000 PTY,link=/tmp/ttyX0,raw,crnl 
+done
--- a/Socket_CAN/diff/serverscript
+++ b/Socket_CAN/diff/serverscript
@@ -0,0 +1,6 @@
+#!/bin/bash
+
+#for ((x=0; x<10; ++x)); do
+	socat pty,link=/tmp/ttyX0,waitslave tcp:127.0.0.1:2002 &
+	ssh -L 2002:robotel1:2000 -N -f robotel1 
+#done
--- a/Socket_CAN/log.log
+++ b/Socket_CAN/log.log
@@ -0,0 +1,121 @@
+[ERR]	2021/12/20-09:51:56	open_socket(): UNREACHABLE CODE REACHED!
+[WARN]	2021/12/20-09:51:57	SSL_accept()
+[WARN]	2021/12/20-09:51:57	Child killed with sig=9
+[ERR]	2021/12/20-09:54:18	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/20-09:54:19	SSL_accept()
+[ERR]	2021/12/20-09:54:33	open_socket(): UNREACHABLE CODE REACHED!
+[WARN]	2021/12/20-09:54:39	Child killed with sig=2
+[ERR]	2021/12/20-09:55:27	open_socket(): UNREACHABLE CODE REACHED!
+[WARN]	2021/12/20-09:55:30	Child killed with sig=2
+[ERR]	2021/12/20-10:00:07	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/20-10:00:14	open_socket(): UNREACHABLE CODE REACHED!
+[WARN]	2021/12/20-10:00:17	Child killed with sig=2
+[WARN]	2021/12/20-11:30:15	Could not set the CA file location
+[WARN]	2021/12/20-11:30:15	Child killed with sig=9
+[ERR]	2021/12/20-11:31:48	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/20-11:31:48	SSL_accept()
+[ERR]	2021/12/20-11:32:38	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/20-11:32:38	SSL_accept()
+[WARN]	2021/12/20-11:33:54	Child killed with sig=2
+[ERR]	2021/12/20-11:33:57	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/20-11:33:57	SSL_accept()
+[WARN]	2021/12/20-11:37:21	Child killed with sig=2
+[ERR]	2021/12/20-11:37:24	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/20-11:37:40	open_socket(): UNREACHABLE CODE REACHED!
+[WARN]	2021/12/20-11:37:42	Child killed with sig=2
+[ERR]	2021/12/20-11:38:03	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/20-11:38:03	SSL_accept()
+[WARN]	2021/12/20-11:38:14	Child killed with sig=2
+[ERR]	2021/12/20-14:44:30	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/20-14:44:30	SSL_accept()
+[WARN]	2021/12/20-14:44:30	Child killed with sig=9
+[ERR]	2021/12/20-14:44:38	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/20-14:44:38	SSL_accept()
+[WARN]	2021/12/20-14:44:38	Child killed with sig=9
+[ERR]	2021/12/20-14:44:53	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/20-14:45:16	open_socket(): UNREACHABLE CODE REACHED!
+[WARN]	2021/12/20-14:46:13	Child killed with sig=2
+[ERR]	2021/12/20-14:46:20	open_socket(): UNREACHABLE CODE REACHED!
+[WARN]	2021/12/20-14:47:49	Child killed with sig=2
+[ERR]	2021/12/20-14:47:52	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/20-14:50:22	open_socket(): UNREACHABLE CODE REACHED!
+[WARN]	2021/12/20-14:50:24	Child killed with sig=2
+[ERR]	2021/12/20-14:50:28	open_socket(): UNREACHABLE CODE REACHED!
+[WARN]	2021/12/20-14:52:08	Child killed with sig=2
+[ERR]	2021/12/20-14:52:28	open_socket(): UNREACHABLE CODE REACHED!
+[WARN]	2021/12/20-14:53:09	Child killed with sig=2
+[ERR]	2021/12/20-14:53:11	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/20-14:53:12	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/20-14:54:40	open_socket(): UNREACHABLE CODE REACHED!
+[WARN]	2021/12/20-14:55:40	Child killed with sig=2
+[ERR]	2021/12/20-14:55:42	open_socket(): UNREACHABLE CODE REACHED!
+[WARN]	2021/12/20-14:56:01	Child killed with sig=2
+[ERR]	2021/12/21-09:17:21	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:17:21	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:17:21	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:17:21	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:17:21	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:17:21	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:17:21	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:17:21	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:17:21	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:17:21	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:17:21	SSL_accept()
+[ERR]	2021/12/21-09:17:21	open_socket(): UNREACHABLE CODE REACHED!
+[WARN]	2021/12/21-09:17:21	Child killed with sig=9
+[ERR]	2021/12/21-09:17:27	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:17:27	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:17:27	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:17:27	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:17:27	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:17:27	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:17:27	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:17:27	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:17:27	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:17:27	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:17:27	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:17:27	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:17:27	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:17:27	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:17:27	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:17:27	SSL_accept()
+[WARN]	2021/12/21-09:17:27	Child killed with sig=9
+[ERR]	2021/12/21-09:17:27	SSL_accept()
+[ERR]	2021/12/21-09:17:27	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:32:32	open_socket(): UNREACHABLE CODE REACHED!
+[WARN]	2021/12/21-09:34:25	Child killed with sig=2
+[ERR]	2021/12/21-09:34:28	open_socket(): UNREACHABLE CODE REACHED!
+[WARN]	2021/12/21-09:34:48	Child killed with sig=2
+[ERR]	2021/12/21-09:36:00	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:36:00	SSL_accept()
+[WARN]	2021/12/21-09:36:00	Child killed with sig=9
+[ERR]	2021/12/21-09:44:24	open_socket(): UNREACHABLE CODE REACHED!
+[WARN]	2021/12/21-09:55:33	Child killed with sig=2
+[ERR]	2021/12/21-09:55:38	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:55:38	SSL_accept()
+[WARN]	2021/12/21-09:55:38	Child killed with sig=9
+[ERR]	2021/12/21-09:56:50	open_socket(): UNREACHABLE CODE REACHED!
+[ERR]	2021/12/21-09:57:36	open_socket(): UNREACHABLE CODE REACHED!
+[WARN]	2021/12/21-09:57:39	Child killed with sig=2
+[ERR]	2021/12/21-09:58:13	open_socket(): UNREACHABLE CODE REACHED!
+[WARN]	2021/12/21-09:58:36	Child killed with sig=2
+[ERR]	2021/12/21-09:58:45	open_socket(): UNREACHABLE CODE REACHED!
+[WARN]	2021/12/21-09:58:47	Child killed with sig=2
+[ERR]	2021/12/21-10:03:33	open_socket(): UNREACHABLE CODE REACHED!
+[WARN]	2021/12/21-10:03:40	Child killed with sig=2
+[ERR]	2021/12/21-12:39:08	open_socket(): UNREACHABLE CODE REACHED!
+[WARN]	2021/12/21-12:39:16	Child killed with sig=2
+[ERR]	2021/12/21-12:40:52	open_socket(): UNREACHABLE CODE REACHED!
+[WARN]	2021/12/21-12:41:02	Child killed with sig=2
+[ERR]	2021/12/21-14:52:19	Can't init CAN bus, will try later
+[WARN]	2021/12/21-14:52:27	Child killed with sig=2
+[ERR]	2021/12/21-14:54:28	Can't init CAN bus, will try later
+[WARN]	2021/12/21-14:54:50	Child killed with sig=2
+[WARN]	2021/12/21-14:56:52	Child killed with sig=2
+[WARN]	2021/12/21-14:57:08	Max amount of connections: disconnect fd=6
+[WARN]	2021/12/21-14:57:12	Max amount of connections: disconnect fd=6
+[WARN]	2021/12/21-14:57:20	Child killed with sig=2
+[ERR]	2021/12/21-14:57:39	SSL error 5
+[WARN]	2021/12/21-14:57:40	Child killed with sig=2
+[ERR]	2021/12/21-16:27:13	SSL error 5
+[WARN]	2021/12/21-16:27:16	Child killed with sig=2
--- a/Socket_CAN/server.c
+++ b/Socket_CAN/server.c
@@ -0,0 +1,74 @@
+/*
+ * This file is part of the SocketCAN project.
+ * Copyright 2021 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 <usefull_macros.h>
+
+#include "can_io.h"
+#include "daemon.h"
+#include "cmdlnopts.h"
+#include "server.h"
+#include "sslsock.h"
+
+int can_inited = 0;
+
+static int try2initBTAcan(){
+    static double t0 = 0., t1 = 0.;
+    can_inited = 0;
+    if(dtime() - t1 < 1.) return 0; // try not more then once per second
+    t1 = dtime();
+    if(!init_can_io() || !can_ok()){
+        if(dtime() - t0 > 30.){ // show errors not more than onse per 30s
+            LOGERR("Can't init CAN bus, will try later");
+            WARNX("Can't init CAN bus");
+            t0 = dtime();
+        }
+    }else{
+        can_inited = 1;
+        int rxpnt; double rxtime;
+        can_clean_recv(&rxpnt, &rxtime);
+    }
+    return can_inited;
+}
+
+// read next message from CAN
+// @parameter pk - packet (allocated outside)
+// @return pointer to pk or NULL if none/error
+can_packet *readBTAcan(can_packet *pk){
+    if((!can_inited || !can_ok()) && !try2initBTAcan()) return NULL;
+    int rxpnt, idr, len;
+    double rxtime;
+    if(!can_recv_frame(&rxpnt, &rxtime, &idr, &len, pk->data)) return NULL;
+    if((idr & ID_MASK) == ID_DOME){
+        pk->ID = (uint16_t)idr;
+        pk->len = (uint8_t)len;
+        pk->magick = CANMAGICK;
+        return pk;
+    }
+    return NULL;
+}
+
+int main(int argc, char **argv){
+    char *self = argv[0];
+    initial_setup();
+    parse_args(argc, argv);
+#ifdef EBUG
+#endif
+    try2initBTAcan();
+    return start_daemon(self);
+}
--- a/Socket_CAN/server.h
+++ b/Socket_CAN/server.h
@@ -0,0 +1,29 @@
+/*
+ * This file is part of the SocketCAN project.
+ * Copyright 2021 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
+#ifndef SERVER_H__
+#define SERVER_H__
+
+#include "canbus.h"
+
+can_packet *readBTAcan(can_packet *pk);
+
+extern int can_inited;
+
+
+#endif // SERVER_H__
--- a/Socket_CAN/soccanclient
+++ b/Socket_CAN/soccanclient
--- a/Socket_CAN/soccanserver
+++ b/Socket_CAN/soccanserver
--- a/Socket_CAN/sslsock.c
+++ b/Socket_CAN/sslsock.c
@@ -0,0 +1,322 @@
+/*
+ * This file is part of the SocketCAN project.
+ * Copyright 2021 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 <arpa/inet.h>  // inet_ntop
+#include <fcntl.h>
+#include <netdb.h>      // addrinfo
+#include <netinet/in.h>
+#include <openssl/err.h>
+#include <openssl/ssl.h>
+#include <poll.h>
+#include <pthread.h>
+#include <resolv.h>
+#include <signal.h>     // pthread_kill
+#include <stdio.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <usefull_macros.h>
+
+#include "cmdlnopts.h"
+#include "sslsock.h"
+#ifdef SERVER
+#include "server.h"
+#else
+#include "client.h"
+#endif
+
+#ifdef SERVER
+static int OpenConn(int port){
+    int sd = socket(PF_INET, SOCK_STREAM, 0);
+    if(sd < 0){
+        LOGERR("Can't open socket");
+        ERRX("socket()");
+    }
+    int enable = 1;
+    // allow reuse of descriptor
+    if(setsockopt(sd, SOL_SOCKET,  SO_REUSEADDR, (void *)&enable, sizeof(int)) < 0){
+        LOGERR("Can't apply SO_REUSEADDR to socket");
+        ERRX("setsockopt()");
+    }
+    struct sockaddr_in addr = {0};
+    addr.sin_family = AF_INET;
+    addr.sin_port = htons(port);
+    addr.sin_addr.s_addr = INADDR_ANY;
+    if(bind(sd, (struct sockaddr*)&addr, sizeof(addr))){
+        LOGWARN("Can't bind port %d", port);
+        ERRX("bind()");
+    }
+    if(listen(sd, BACKLOG)){
+        LOGWARN("Can't listen()");
+        ERRX("listen()");
+    }
+    return sd;
+}
+
+// return 0 if client disconnected
+static int handle_connection(SSL *ssl){
+    char buf[1025];
+    int bytes = SSL_read(ssl, buf, sizeof(buf)-1);
+    int sd = SSL_get_fd(ssl);
+    if(bytes < 1){
+        int sslerr = SSL_get_error(ssl, bytes);
+        if(SSL_ERROR_WANT_READ == sslerr ||
+            SSL_ERROR_WANT_WRITE == sslerr) return 1; // empty call
+        LOGERR("SSL error %d", sslerr);
+        WARNX("SSL error %d", sslerr);
+        return 0;
+    }else{
+        buf[bytes] = '\0';
+        printf("Client %d msg: \"%s\"\n", sd, buf);
+        LOGDBG("fd=%d, message=%s", sd, buf);
+        snprintf(buf, 1024, "Hello, yout FD=%d", sd);
+        SSL_write(ssl, buf, strlen(buf));
+    }
+    return 1;
+}
+#endif
+
+#ifdef CLIENT
+static int SSL_nbread(SSL *ssl, char *buf, int bufsz){
+    struct pollfd fds = {0};
+    int fd = SSL_get_fd(ssl);
+    fds.fd = fd;
+    fds.events = POLLIN;
+    if(poll(&fds, 1, 1) < 0){ // wait no more than 1ms
+        LOGWARN("SSL_nbread(): poll() failed");
+        WARNX("poll()");
+        return 0;
+    }
+    if(fds.revents == POLLIN){
+        DBG("Got info in fd #%d", fd);
+        int bytes = SSL_read(ssl, buf, bufsz);
+        DBG("read %d bytes", bytes);
+        if(bytes == 0) return -1;
+        if(bytes < 0){
+            int sslerr = SSL_get_error(ssl, bytes);
+            if(SSL_ERROR_WANT_READ == sslerr ||
+                SSL_ERROR_WANT_WRITE == sslerr) return 0; // empty call
+            LOGERR("SSL error %d", sslerr);
+            WARNX("SSL error %d", sslerr);
+            return bytes;
+        }
+        return bytes;
+    }
+    return 0;
+}
+
+static int OpenConn(int port){
+    int sd;
+    struct hostent *host;
+    struct sockaddr_in addr;
+    if((host = gethostbyname(G.serverhost)) == NULL ){
+        LOGWARN("gethostbyname(%s) error", G.serverhost);
+        ERRX("gethostbyname()");
+    }
+    sd = socket(PF_INET, SOCK_STREAM, 0);
+    bzero(&addr, sizeof(addr));
+    addr.sin_family = AF_INET;
+    addr.sin_port = htons(port);
+    addr.sin_addr.s_addr = *(long*)(host->h_addr);
+    if(connect(sd, (struct sockaddr*)&addr, sizeof(addr))){
+        close(sd);
+        LOGWARN("Can't connect to %s", G.serverhost);
+        ERRX("connect()");
+    }
+    return sd;
+}
+
+static void clientproc(SSL_CTX *ctx, int fd){
+    FNAME();
+    SSL *ssl;
+    char buf[1024];
+    char acClientRequest[1024] = {0};
+    int bytes;
+    ssl = SSL_new(ctx);
+    SSL_set_fd(ssl, fd);
+    if(-1 == SSL_connect(ssl)){
+        LOGERR("SSL_connect()");
+        ERRX("SSL_connect() error");
+    }
+    int enable = 1;
+    if(ioctl(fd, FIONBIO, (void *)&enable) < 0){
+        LOGERR("Can't make socket nonblocking");
+        ERRX("ioctl()");
+    }
+    double t0 = dtime();
+    int N = 0;
+    while(1){
+        if(dtime() - t0 > 3.){
+            DBG("Sent test message");
+            sprintf(acClientRequest, "Test connection #%d", ++N);
+            SSL_write(ssl, acClientRequest, strlen(acClientRequest));
+            t0 = dtime();
+        }
+        bytes = SSL_nbread(ssl, buf, sizeof(buf));
+        if(bytes > 0){
+            if(bytes == sizeof(can_packet) && ((can_packet*)buf)->magick == CANMAGICK){ // can packet
+                can_packet *pk = (can_packet*)buf;
+#ifdef EBUG
+                green("Got CAN message for ID 0x%X: ", pk->ID);
+                for(int i = 0; i < pk->len; ++i)
+                    printf("0x%X ", pk->data[i]);
+#endif
+            }else{ // text message
+                buf[bytes] = 0;
+                printf("Received: \"%s\"\n", buf);
+            }
+        }else if(bytes < 0){
+            LOGWARN("Server disconnected or other error");
+            ERRX("Disconnected");
+        }
+    }
+    SSL_free(ssl);
+}
+#endif
+
+static SSL_CTX* InitCTX(void){
+    const SSL_METHOD *method;
+    SSL_CTX *ctx;
+    OpenSSL_add_all_algorithms();
+    SSL_load_error_strings();
+    method =
+#ifdef CLIENT
+      TLS_client_method();
+#else
+      TLS_server_method();
+#endif
+    ctx = SSL_CTX_new(method);
+    if(!ctx){
+        LOGWARN("Can't create SSL context");
+        ERRX("SSL_CTX_new()");
+    }
+    if(SSL_CTX_load_verify_locations(ctx, G.ca, NULL) != 1){
+        LOGWARN("Could not set the CA file location\n");
+        ERRX("Could not set the CA file location\n");
+    }
+#ifdef SERVER
+    SSL_CTX_set_client_CA_list(ctx, SSL_load_client_CA_file(G.ca));
+#endif
+    if(SSL_CTX_use_certificate_file(ctx, G.cert, SSL_FILETYPE_PEM) <= 0){
+        LOGWARN("Can't use SSL certificate %s", G.cert);
+        ERRX("Can't use SSL certificate %s", G.cert);
+    }
+    if(SSL_CTX_use_PrivateKey_file(ctx, G.key, SSL_FILETYPE_PEM) <= 0){
+        LOGWARN("Can't use SSL key %s", G.key);
+        ERRX("Can't use SSL key %s", G.key);
+    }
+    if(!SSL_CTX_check_private_key(ctx)){
+        LOGWARN("Private key does not match the public certificate\n");
+        ERRX("Private key does not match the public certificate\n");
+    }
+    SSL_CTX_set_mode(ctx, SSL_MODE_AUTO_RETRY);
+#ifdef SERVER
+    SSL_CTX_set_verify(ctx, // Specify that we need to verify the client as well
+       SSL_VERIFY_PEER | SSL_VERIFY_FAIL_IF_NO_PEER_CERT,
+       NULL);
+#else
+    SSL_CTX_set_verify(ctx, SSL_VERIFY_PEER, NULL);
+#endif
+    SSL_CTX_set_verify_depth(ctx, 1); // We accept only certificates signed only by the CA himself
+    return ctx;
+}
+
+int open_socket(){
+    int fd;
+    SSL_library_init();
+    SSL_CTX *ctx = InitCTX();
+    fd = OpenConn(atoi(G.port));
+#ifdef SERVER
+    int enable = 1;
+    if(ioctl(fd, FIONBIO, (void *)&enable) < 0){
+        LOGERR("Can't make socket nonblocking");
+        ERRX("ioctl()");
+    }
+    int nfd = 1; // only one socket @start
+    struct pollfd poll_set[BACKLOG+1];
+    memset(poll_set, 0, sizeof(poll_set));
+    poll_set[0].fd = fd;
+    poll_set[0].events = POLLIN;
+    SSL *ssls[BACKLOG] = {0};
+double t0 = dtime();
+char buf[64]; int P = 0;
+    while(1){
+        // check CAN bus and send data to all connected
+        can_packet canpack;
+        if(readBTAcan(&canpack)){
+            DBG("GOT CAN packet");
+            for(int i = nfd-1; i > -1; --i)
+                SSL_write(ssls[i], &canpack, sizeof(canpack));
+        }
+        if(dtime() - t0 > 5. && nfd > 1){
+            DBG("send ping");
+            snprintf(buf, 63, "ping #%d", ++P);
+            for(int i = nfd-2; i > -1; --i)
+                SSL_write(ssls[i], buf, strlen(buf));
+            t0 = dtime();
+        }
+        poll(poll_set, nfd, 1); // max timeout - 1ms
+        // check main for accept()
+        if(poll_set[0].revents & POLLIN){
+            struct sockaddr_in addr;
+            socklen_t len = sizeof(addr);
+            int client = accept(fd, (struct sockaddr*)&addr, &len);
+            DBG("Connection: %s: %d\n", inet_ntoa(addr.sin_addr), ntohs(addr.sin_port));
+            LOGMSG("Client %s connected to port %d (fd=%d)", inet_ntoa(addr.sin_addr), ntohs(addr.sin_port), client);
+            if(nfd == BACKLOG + 1){
+                LOGWARN("Max amount of connections: disconnect fd=%d", client);
+                WARNX("Limit of connections reached");
+                close(client);
+            }else{
+                SSL *ssl = SSL_new(ctx);
+                SSL_set_fd(ssl, client);
+                if(-1 == SSL_accept(ssl)){
+                    LOGERR("SSL_accept()");
+                    WARNX("SSL_accept()");
+                    SSL_free(ssl);
+                }else{
+                    ssls[nfd-1] = ssl;
+                    memset(&poll_set[nfd], 0, sizeof(struct pollfd));
+                    poll_set[nfd].fd = client;
+                    poll_set[nfd].events = POLLIN;
+                    ++nfd;
+                }
+            }
+        }
+        // scan connections
+        for(int fdidx = 1; fdidx < nfd; ++fdidx){
+            if((poll_set[fdidx].revents & POLLIN) == 0) continue;
+            int fd = poll_set[fdidx].fd;
+            if(!handle_connection(ssls[fdidx-1])){ // socket closed
+                SSL_free(ssls[fdidx-1]);
+                DBG("Client fd=%d disconnected", fd);
+                LOGMSG("Client fd=%d disconnected", fd);
+                close(fd);
+                // move last FD to current position
+                poll_set[fdidx] = poll_set[nfd - 1];
+                ssls[fdidx - 1] = ssls[nfd - 2];
+            }
+        }
+    }
+#else
+    clientproc(ctx, fd);
+#endif
+    close(fd);
+    SSL_CTX_free(ctx);
+    return 0;
+}
--- a/Socket_CAN/sslsock.h
+++ b/Socket_CAN/sslsock.h
@@ -0,0 +1,35 @@
+/*
+ * This file is part of the SocketCAN project.
+ * Copyright 2021 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
+#ifndef SSLSOCK_H__
+#define SSLSOCK_H__
+
+#if ! defined CLIENT && ! defined SERVER
+#error "Define CLIENT or SERVER before including this file"
+#endif
+#if defined CLIENT && defined SERVER
+#error "Both CLIENT and SERVER defined"
+#endif
+
+#define BACKLOG     10
+
+int open_socket();
+
+
+#endif // SSLSOCK_H__
				`@@ -0,0 +1 @@`
				`SUBSYSTEMS=="net", ACTION=="add", ENV{INTERFACE}=="can0", RUN+="/etc/udev/rules.d/socketcan0"`