Cnomicon/daemons/cand/cand.cpp

//
// CAN Daemon (cand.cpp)
//
// Neal Probert
//
// IPv4 for now, since clients will be localhost anyways
// IPv6 for testing
//

#include <stdio.h>
#include <stdlib.h>
#include <ctype.h>
#include <string.h>
#include <unistd.h>
#include <errno.h>
#include <fcntl.h>
#include <signal.h>
#include <time.h>

#include <sys/socket.h>
#include <sys/wait.h>

#include "CanDaemon.h"

#include "netlib.h"

extern int optind, opterr, optopt;

/*
 * Note that we are doing a multi-client server so that it's possible to
 * have several applications listening to CAN
 */

static const char *helptext =
"cand -m map.txt [options]\n"
"\t-a          Acceleration calculated from speed\n"
"\t-b uri      CAN Packet broadcast\n"
"\t-c can0     CAN Interface (default)\n"
"\t-d          debug (foreground with stdio)\n"
"\t-f uri      forward udp port (usually to MABX2)\n"
"\t-h          help\n"
"\t-l uri      UDP for TX Echo Listener (WSU BSM Proxy)\n"
"\t-m file.xml CAN to DSRC mapping file\n"
"\t-t period   HeartBeat period in msec (default=100)\n"
"\t-v id       Set Vehicle TempID (default=random)\n"
"\t-w uri	   UDP for TX Generator (WSU BSM Proxy)\n"
"\t-L logfile  Message log file\n"
"\t-S service  TCP service (default=2949)\n";

int main(int argc, char **argv)
{
  char    c;          /* we have character */
  int     n;
  
  /* options */
  int   debug = 0;
  
  /* CAN */
  const char *can = NULL;		// "can0"
  const char *mapping = NULL;
  
  /* HB */
  const char *tx = "udp://192.168.1.2:2735";	// to WSU
  const char *rx = "udp://0.0.0.0:2736";	// from WSU
  const char *tcp = CAND_PORT;
  unsigned long period = 100UL;
  const char *fwd = NULL;	// "udp://192.168.1.10:2736";	// mABx2
  
  // if we're doing CAN, we must be doing TX as well
  if ( can )
    tx = "udp://192.168.1.2:2735";
  else
    tx = NULL;	// if we want to use dummy TX for testing
    
    /* init hardware interface and daemon */
    CanDaemon Can;
  
  // add command line args
  while ( (c = getopt( argc, argv, "ac:df:hl:m:tw:L:S:" )) > 0 )
  {
    switch ( c )
    {
      case 'a':
        Can.Vehicle.m_accel_from_speed = false;
        break;
      case 'c':
        can = optarg;
        break;
      case 'd':
        debug = 1;
        Can.Receiver.m_debug = Can.Vehicle.m_debug = true;
        break;
      case 'f':
        fwd = optarg;
        break;
      case 'h':
        puts( helptext );
        exit(0);
        break;
      case 'l':
        rx = optarg;
        break;
      case 'm':
        mapping = optarg;
        break;
      case 't':
        period = strtoul( optarg, NULL, 10 );
        break;
      case 'w':
        if (strcmp(optarg, "-") == 0)
          tx = "udp://192.168.1.2:2735";
        else
          tx = optarg;
        break;
      case 'L':
        // Open log file (must be to logd!)
        if ( Can.Receiver.Logging.LogOpen(optarg, 0) )
        {
          printf( "%s: Log file opened\n", optarg );
          Can.Receiver.Logging.LogPrintf( "logtime,timestamp,type,id,latitude,longitude,elevation,heading,"
          "speed,trans,steering,accel_long,accel_lat,accel_vert,yaw_rate,"
          "brakes,event,lights,throttle,wipers,pp_radius" );
        }
        else
        {
          fprintf(stderr, "%s: log file open failed\n", optarg );
        }
        break;
      case 'S':
        tcp = optarg;
        break;
      default:
        fprintf( stderr, "Unknown option -%c\n", c );
        exit(1);
    }
  }
  
  // CAN Database and Parsing
  if ( mapping )
  {
    // Filter to reduce database
    if ( (n = Can.Vehicle.CanMapping( mapping )) <= 0 )
    {
      fprintf( stderr, "Unable to load CAN database and DSRC mapping!\n");
      exit(1);
    }
  }
  else if ( can )
  {
    fprintf( stderr, "CAN to DSRC Mapping file is required!\n" );
    exit(1);
  }
  
  // CAN device, can run without CAN for testing
  if ( can )
  {
    if ( Can.Can.CanOpen( can ) < 0 )
    {
      fprintf( stderr, "Unable to open CAN device: %s!\n", can );
      exit(1);
    }
    //        fprintf( stderr, "CAN Max Filter = %d\n", CAN_MAX_FILTER );
  }
  else
  {
    fprintf( stderr, "Running without CAN, setting fake values\n" );
    exit(1);
  }
  
  // TX sending
  if ( tx )
  {
    // UDP
    if ( Can.Generator.ConnectUri( tx ) < 0 )
    {
      fprintf( stderr, "Unable to connect to WSU BSM Proxy!\n" );
      exit(1);
    }
    Can.Generator.SetPeriod( period );
  }
  else
    fprintf( stderr, "Running without TX, RX listener only (TX Echo, RX Msg, OEM Echo)\n" );
  
  // UDP broadcast
  if ( rx )
    Can.Receiver.ListenUri( rx );
  else
    fprintf( stderr, "Running with RX, sending TX only\n" );
  
  // Forwarding to MABX2
  if ( fwd )
  {
    if ( Can.Receiver.Forward.CasterUri( fwd ) >= 0 )
      fprintf( stderr, "Forwarding packets to %s\n", fwd );
    else
      fprintf( stderr, "Forward open failed!\n" );
  }
  
  /* TCP Server */
  if ( Can.StartService( CAND_NAME, NULL, tcp, debug ) >= 0 )
    return Can.RunService();
  
  return 1;
}