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wrong parameter to get opt, ws cleanup, and -O2

pull/2/head
Jeffrey Quesnelle 2016-08-01 13:53:50 -04:00
parent 2fd4d3f7d6
commit a269f09805
2 changed files with 108 additions and 108 deletions
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6
Makefile
View File

@ -1,13 +1,13 @@
CXX=g++
CC=gcc
CFLAGS=-g -c
CFLAGS=-g -c -O2
LDFLAGS=
AR=ar
all: icsscand
all: icsscand
icsscand: icsscand.o
$(CC) $(LDFLAGS) icsscand.o -o icsscand -lpthread -lftdi -licsneoapi
$(CC) $(LDFLAGS) icsscand.o -o icsscand -lpthread -licsneoapi
icsscand.o: icsscand.c
$(CC) $(CFLAGS) icsscand.c

210
icsscand.c
View File

@ -1,7 +1,7 @@
/*
* icsscd.c - Userspace daemon for Intrepid SocketCAN support
*
* Copyright (c) 2016 Intrepid Control Systems, Inc.
* Copyright (c) 2016 Intrepid Control Systems, Inc.
* All rights reserved.
*
* This program is free software; you can redistribute it and/or modify it
@ -31,12 +31,12 @@
* DAMAGE.
*
*/
#include <stdio.h>
#include <stdlib.h>
#include <pthread.h>
#include <unistd.h>
#include <string.h>
#include <string.h>
#include <signal.h>
#include <syslog.h>
#include <errno.h>
@ -51,7 +51,7 @@
#include <fcntl.h>
#include <pthread.h>
#include <ics/icsneo40API.h>
#define DAEMON_NAME "icsscand"
#define RUN_AS_USER "root"
#define NETDEVICE_PATH "/dev/intrepid_netdevice"
@ -104,12 +104,12 @@ static int netdevice = 0; /* fd of /dev/intrepid_netd
static int shared_mem_size = 0; /* size of shared kernel mem */
static int max_num_ifaces = 0; /* max ifaces the kernel supports */
static unsigned char *shared_mem = NULL; /* shared kernel mem */
static int exit_code;
static int exit_code;
static struct connected_device_t *connected = NULL; /* connected devices */
static struct netid_lookup_t *netid_lookup = NULL; /* iface index -> device/netid */
static pthread_mutex_t devices_mutex ; /* mutex for adding/removing devices */
#define RX_BOX_SIZE (shared_mem_size / (max_num_ifaces * 2))
#define TX_BOX_SIZE (shared_mem_size / 4)
#define GET_RX_BOX(DEVICE_INDEX) (shared_mem + (RX_BOX_SIZE * DEVICE_INDEX))
@ -127,33 +127,33 @@ static pthread_mutex_t devices_mutex ; /* mutex for adding/remo
static void print_usage(char *prg)
{
fprintf(stderr, "\nUsage: %s\n\n", prg);
fprintf(stderr, " -D (run as a daemon)\n");
fprintf(stderr, " -h (show this help page)\n");
fprintf(stderr, "\n");
exit(EXIT_FAILURE);
fprintf(stderr, "\nUsage: %s\n\n", prg);
fprintf(stderr, " -D (run as a daemon)\n");
fprintf(stderr, " -h (show this help page)\n");
fprintf(stderr, "\n");
exit(EXIT_FAILURE);
}
static void signal_handler(int signum)
{
switch (signum) {
switch (signum) {
case SIGUSR1:
exit(EXIT_SUCCESS);
break;
case SIGALRM:
case SIGCHLD:
LOG(LOG_NOTICE, "received signal %i\n", signum);
exit_code = EXIT_FAILURE;
icsscand_running = 0;
break;
case SIGINT:
case SIGTERM:
LOG(LOG_NOTICE, "received signal %i\n", signum);
exit_code = EXIT_SUCCESS;
icsscand_running = 0;
break;
}
case SIGUSR1:
exit(EXIT_SUCCESS);
break;
case SIGALRM:
case SIGCHLD:
LOG(LOG_NOTICE, "received signal %i\n", signum);
exit_code = EXIT_FAILURE;
icsscand_running = 0;
break;
case SIGINT:
case SIGTERM:
LOG(LOG_NOTICE, "received signal %i\n", signum);
exit_code = EXIT_SUCCESS;
icsscand_running = 0;
break;
}
}
static void free_connected_device(struct connected_device_t* device, int join_thread)
@ -161,7 +161,7 @@ static void free_connected_device(struct connected_device_t* device, int join_th
if (join_thread)
{
device->keep_running = 0;
pthread_join(device->rx_thread, NULL);
pthread_join(device->rx_thread, NULL);
}
if (device->handle)
{
@ -181,7 +181,7 @@ static void free_connected_device(struct connected_device_t* device, int join_th
memset(device, 0, sizeof(*device));
}
static void setup_interface_info(int device_index, int net_id,
static void setup_interface_info(int device_index, int net_id,
int iface_index, const char* name)
{
struct connected_device_t *device = &connected[device_index];
@ -193,10 +193,10 @@ static void setup_interface_info(int device_index, int net_id,
netid_lookup[iface->kernel_handle].netid = net_id;
/* this is apparently how you change a netdevice's name */
if (name)
if (name)
{
char new_name[IFNAMSIZ];
struct ifreq ifr;
struct ifreq ifr;
int s = socket(PF_INET, SOCK_DGRAM, 0);
sprintf(new_name, "ics%d%s", device_index, name);
@ -215,8 +215,8 @@ static void setup_interface_info(int device_index, int net_id,
strncpy(iface->name, new_name, IFNAMSIZ);
close(s);
}
}
}
}
}
static void* rx(void* arg)
@ -228,14 +228,14 @@ static void* rx(void* arg)
sizeof(icsSpyMessage) * MSG_BUFFER_NUM_MSGS);
int *box_count = (int*)malloc(sizeof(int) * dev->num_interfaces);
int max_num_msgs = MAX_NUM_RX_MSGS;
/* we pass the num of written messages as a short, so cap at this amount */
if (max_num_msgs >= 1 << 16)
max_num_msgs = (1 << 16) - 1;
max_num_msgs = (1 << 16) - 1;
if (!msgs || !box_count)
{
LOG(LOG_ERR, "could not allocate a %d message buffer\n",
LOG(LOG_ERR, "could not allocate a %d message buffer\n",
MSG_BUFFER_NUM_MSGS);
goto exit;
}
@ -248,7 +248,7 @@ static void* rx(void* arg)
int ret = icsneoWaitForRxMessagesWithTimeOut(dev->handle, 100);
if (ret < 0)
{
LOG(LOG_ERR, "error waiting for messages on device %d\n",
LOG(LOG_ERR, "error waiting for messages on device %d\n",
dev->device.SerialNumber);
goto error;
}
@ -259,7 +259,7 @@ static void* rx(void* arg)
ret = icsneoGetMessages(dev->handle, msgs, &num_msgs, &num_errors);
if (ret == 0)
{
LOG(LOG_ERR, "error reading messages on device %d\n",
LOG(LOG_ERR, "error reading messages on device %d\n",
dev->device.SerialNumber);
goto error;
}
@ -280,17 +280,17 @@ static void* rx(void* arg)
if (iface_index == -1)
continue; /* unknown network */
iface = &dev->interfaces[iface_index];
/* find the appropriate box for writing to this iface */
box = (icsSpyMessage*)iface->to_kernel;
/* copy to kernel memory */
memcpy(box + box_count[iface_index], msg, sizeof(icsSpyMessage));
memcpy(box + box_count[iface_index], msg, sizeof(icsSpyMessage));
/* check to see if the box is full -- if so, notify the kernel */
if (++box_count[iface_index] == max_num_msgs)
{
unsigned int ioctl_arg =
unsigned int ioctl_arg =
(iface->kernel_handle << 16) | max_num_msgs;
ret = ioctl(netdevice, SIOCSMSGSWRITTEN, ioctl_arg);
@ -299,9 +299,9 @@ static void* rx(void* arg)
LOG(LOG_ERR, "error transferring to kernel: %s\n",
strerror(ret));
goto error;
}
box_count[iface_index] = 0;
}
}
box_count[iface_index] = 0;
}
}
/* notify the kernel of any boxes that didn't fill up */
@ -310,8 +310,8 @@ static void* rx(void* arg)
struct interface_t *iface = &dev->interfaces[i];
if(box_count[i] > 0)
{
unsigned int ioctl_arg =
(iface->kernel_handle << 16) | box_count[i];
unsigned int ioctl_arg =
(iface->kernel_handle << 16) | box_count[i];
ret = ioctl(netdevice, SIOCSMSGSWRITTEN, ioctl_arg);
if (ret < 0)
@ -319,7 +319,7 @@ static void* rx(void* arg)
LOG(LOG_ERR, "error transferring to kernel: %s\n",
strerror(ret));
goto error;
}
}
}
}
}
@ -350,7 +350,7 @@ static void probe_new_devices()
{
free(detected);
return;
}
}
pthread_mutex_lock(&devices_mutex);
for (i = 0 ; i < num_devices ; ++i)
@ -359,7 +359,7 @@ static void probe_new_devices()
struct connected_device_t *device = NULL;
/* see if we're already connected to this device, and if we aren't,
* find a spot for this device in our array */
* find a spot for this device in our array */
for(j = 0 ; j < max_num_ifaces ; ++j)
{
if (connected[j].handle != NULL &&
@ -382,43 +382,43 @@ static void probe_new_devices()
ret = icsneoOpenNeoDevice(&detected[i], &device->handle, NULL, 1, 0);
if (ret != 1)
{
LOG(LOG_ERR, "Unable to open device with serial %i\n",
LOG(LOG_ERR, "Unable to open device with serial %i\n",
device->device.SerialNumber);
continue;
}
device->device = detected[i];
/* figure out how many interfaces we need to make */
/* figure out how many interfaces we need to make */
switch(device->device.DeviceType)
{
case NEODEVICE_VCAN3:
num_nets = 2;
case NEODEVICE_VCAN3:
num_nets = 2;
break;
case NEODEVICE_FIRE:
case NEODEVICE_FIRE:
case NEODEVICE_PLASMA_1_11:
case NEODEVICE_PLASMA_1_12:
case NEODEVICE_PLASMA_1_12:
case NEODEVICE_PLASMA_1_13:
case NEODEVICE_ION_2:
case NEODEVICE_ION_3:
/* some ions and plasmas actually have 8,
/* some ions and plasmas actually have 8,
* but we can't tell from the PID */
num_nets = 6;
num_nets = 6;
break;
case NEODEVICE_FIRE2:
/* todo: software selectable networks */
num_nets = 6;
break;
}
if(num_nets <= 0)
{
LOG(LOG_ERR, "Unknown device with serial %d\n",
LOG(LOG_ERR, "Unknown device with serial %d\n",
device->device.SerialNumber);
free_connected_device(device, 0);
continue;
continue;
}
device->interfaces = (struct interface_t*)malloc(
sizeof(struct interface_t) * num_nets
);
@ -432,29 +432,29 @@ static void probe_new_devices()
iface->kernel_handle = ret;
iface->to_kernel = GET_RX_BOX(ret);
}
}
}
/* make sure we got all the interfaces we wanted */
if (device->num_interfaces != num_nets)
{
LOG(LOG_ERR, "Could not create all interfaces for %d\n",
LOG(LOG_ERR, "Could not create all interfaces for %d\n",
device->device.SerialNumber);
free_connected_device(device, 0);
free_connected_device(device, 0);
continue;
}
}
/* build a mapping from network id -> interface id */
for(j = 0 ; j < NETID_MAX ; ++j)
device->netid_to_interface[j] = -1;
device->netid_to_interface[j] = -1;
switch(device->device.DeviceType)
{
case NEODEVICE_VCAN3:
case NEODEVICE_VCAN3:
setup_interface_info(device_index, NETID_HSCAN, 0, "can0");
setup_interface_info(device_index, NETID_MSCAN, 1, "can1");
break;
case NEODEVICE_FIRE:
case NEODEVICE_FIRE:
case NEODEVICE_PLASMA_1_11:
case NEODEVICE_PLASMA_1_12:
case NEODEVICE_PLASMA_1_12:
case NEODEVICE_PLASMA_1_13:
case NEODEVICE_ION_2:
case NEODEVICE_ION_3:
@ -481,11 +481,11 @@ static void probe_new_devices()
ret = pthread_create(&device->rx_thread, NULL, rx, device);
if (ret)
{
LOG(LOG_ERR, "Error creating thread for %d\n",
device->device.SerialNumber);
LOG(LOG_ERR, "Error creating thread for %d\n",
device->device.SerialNumber);
free_connected_device(device, 0);
continue;
}
}
}
pthread_mutex_unlock(&devices_mutex);
@ -516,7 +516,7 @@ static void tx(int index, int count)
* lookup and set the correct NetworkID */
if (msg->NetworkID < 0 || msg->NetworkID >= max_num_ifaces)
continue;
lookup = &netid_lookup[msg->NetworkID];
lookup = &netid_lookup[msg->NetworkID];
if (lookup->device_index < 0 || lookup->device_index > max_num_ifaces)
continue;
@ -525,14 +525,14 @@ static void tx(int index, int count)
dev = &connected[lookup->device_index];
ret = icsneoTxMessages(dev->handle, msg, lookup->netid, 1);
if (ret == 0)
{
LOG(LOG_ERR, "error transmitting on device %d\n",
LOG(LOG_ERR, "error transmitting on device %d\n",
dev->device.SerialNumber);
pthread_mutex_lock(&devices_mutex);
free_connected_device(dev, 1);
free_connected_device(dev, 1);
pthread_mutex_unlock(&devices_mutex);
break;
@ -556,14 +556,14 @@ static void* probe_device_thread(void* arg)
int main(int argc, char **argv)
{
int opt, ret, i, opened_devices = 0;
unsigned long last_probe = 0;
unsigned long last_probe = 0;
fd_set fds;
struct timeval timeout;
struct timespec clock;
pthread_t probe_thread;
/* process command line switches */
while ((opt = getopt(argc, argv, "hF")) != -1)
while ((opt = getopt(argc, argv, "hD")) != -1)
{
switch(opt)
{
@ -571,44 +571,44 @@ int main(int argc, char **argv)
run_as_daemon = 1;
break;
case 'h':
case '?':
default:
print_usage(argv[0]);
break;
case '?':
default:
print_usage(argv[0]);
break;
}
}
/* setup logging, signals, and daemonize if requested */
openlog(DAEMON_NAME, LOG_PID, LOG_LOCAL5);
if (run_as_daemon)
if (run_as_daemon)
{
if (daemon(0, 0))
if (daemon(0, 0))
{
LOG_NOARGS(LOG_ERR, "failed to daemonize");
exit(EXIT_FAILURE);
}
}
else
LOG_NOARGS(LOG_ERR, "failed to daemonize");
exit(EXIT_FAILURE);
}
}
else
{
signal(SIGINT, signal_handler);
signal(SIGTERM, signal_handler);
}
signal(SIGINT, signal_handler);
signal(SIGTERM, signal_handler);
}
/* we're now "running" -- incoming signals tell us to stop */
icsscand_running = 1;
/* this is the lock for adding/removing devices from the connected array */
pthread_mutex_init(&devices_mutex, NULL);
icsneoInitializeAPI();
/* open /dev/intrepid_netdevice -- this has ioctls for adding can interfaces */
netdevice = open(NETDEVICE_PATH, O_RDWR | O_NONBLOCK);
if (netdevice < 0)
{
LOG(LOG_ERR, "failed to open %s: %s\n", NETDEVICE_PATH, strerror(errno));
exit(EXIT_FAILURE);
}
}
/* read out some constants from the driver (these are #defines that can change) */
max_num_ifaces = ioctl(netdevice, SIOCGMAXIFACES);
@ -639,7 +639,7 @@ int main(int argc, char **argv)
connected = (struct connected_device_t*)
malloc(sizeof(struct connected_device_t) * max_num_ifaces);
memset(connected, 0, sizeof(struct connected_device_t) * max_num_ifaces);
/* the NetworkID of transmit requests is the interface index, we need to
* convert it to the device/netid pair to transmit on -- allocate this map */
netid_lookup = (struct netid_lookup_t*)
@ -649,7 +649,7 @@ int main(int argc, char **argv)
/* probe once for new devices, then start a thread to do it in the background
* periodically */
probe_new_devices(netdevice);
probe_new_devices(netdevice);
pthread_create(&probe_thread, NULL, probe_device_thread, NULL);
/* main loop. icsscand_running can be set to 0 from SIGINT, SIGTERM, etc. */
@ -672,7 +672,7 @@ int main(int argc, char **argv)
}
else if(ret)
{
/* kernel says there're some new transmit messages waiting to go
/* kernel says there're some new transmit messages waiting to go
* out. call read() to find out which box they're in and how many */
struct intrepid_pending_tx_info info;
ssize_t r;
@ -680,14 +680,14 @@ int main(int argc, char **argv)
r = read(netdevice, &info, sizeof(info));
if (r == -1)
{
LOG(LOG_ERR, "error reading tx messages: %s\n",
LOG(LOG_ERR, "error reading tx messages: %s\n",
strerror(errno));
icsscand_running = 0;
break;
}
else if(r != sizeof(info))
{
LOG(LOG_ERR,
LOG(LOG_ERR,
"unexpected number of bytes read, expected %d got %d\n",
(int)sizeof(info), (int)r);
icsscand_running = 0;