/*****************************************************************************
* CANopenSocket CANopenCommand.c hacking
* 说明：
* 分析一下CANopenSocket中的CANopenCommand部分是怎么工作的。
*
* 2017-3-23 深圳 南山平山村 曾剑锋
****************************************************************************/
/*
* Client socket command interface for CANopenSocket.
*
* @file CANopenCommand.c
* @author Janez Paternoster
* @copyright 2015 Janez Paternoster
*
* This file is part of CANopenNode, an opensource CANopen Stack.
* Project home page is <https://github.com/CANopenNode/CANopenNode>.
* For more information on CANopen see <http://www.can-cia.org/>.
*
* CANopenNode is free and open source 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 2 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 <stdlib.h>
#include <unistd.h>
#include <sys/un.h>
#include <sys/socket.h>
#ifndef BUF_SIZE
#define BUF_SIZE 100000
#endif
/**
* 错误退出函数
*/
/* Helper functions */
void errExit(char* msg) {
perror(msg);
exit(EXIT_FAILURE);
}
/**
* 是否打印错误描述相关信息标志
*/
static int printErrorDescription = 0;
/**
* 发送命令函数，fd是socket描述符
*/
static void sendCommand(int fd, char* command, size_t commandLength);
/**
* 参数使用方法说明
*/
static void printUsage(char *progName) {
fprintf(stderr,
"Usage: %s [options] <command string>\n", progName);
fprintf(stderr,
"\n"
"Program reads arguments or standard input or file. It sends commands to\n"
"canopend via socket, line after line. Result is printed to standard output.\n"
"For more information see http://www.can-cia.org/, CiA 309 standard.\n"
"\n"
"Options:\n"
" -f <input file path> Path to the input file.\n"
" -s <socket path> Path to the socket (default '/tmp/CO_command_socket').\n"
" -h Display description of error codes in case of error.\n"
" (Default, if command is passed by program arguments.)\n"
" --help Display this help.\n"
" --helpall Display this help, internal and SDO error codes.\n"
"\n"
"Command strings must start with \"[\"<sequence>\"]\" (except if from arguments):\n"
" - SDO upload: [[<net>] <node>] r[ead] <index> <subindex> [<datatype>]\n"
" - SDO download: [[<net>] <node>] w[rite] <index> <subindex> <datatype> <value>\n"
" - Configure SDO time-out: [<net>] set sdo_timeout <value>\n"
" - Enable SDO block transfer: [<net>] set sdo_block <value>\n"
" - Set default node: [<net>] set node <value>\n"
"\n"
" - Start node: [[<net>] <node>] start\n"
" - Stop node: [[<net>] <node>] stop\n"
" - Set node to pre-operational: [[<net>] <node>] preop[erational]\n"
" - Reset node: [[<net>] <node>] reset node\n"
" - Reset communication: [[<net>] <node>] reset comm[unication]\n"
"\n"
"Comments started with '#' are ignored. They may be on the beginning of the line\n"
"or after the command string. 'sdo_timeout' is in milliseconds, 500 by default.\n"
"If <node> is not specified within commands, then value defined by 'set node'\n"
"command is used.\n"
"\n"
"\n"
"Datatypes:\n"
" - b - Boolean.\n"
" - u8, u16, u32, u64 - Unsigned integers.\n"
" - i8, i16, i32, i64 - Signed integers.\n"
" - r32, r64 - Real numbers.\n"
" - t, td - Time of day, time difference.\n"
" - vs - Visible string (between double quotes).\n"
" - os, us, d - Octet string, unicode string, domain\n"
" (mime-base64 (RFC2045) should be used).\n"
"\n"
"\n"
"Response: \"[\"<sequence>\"]\" \\\n"
" OK | <value> | ERROR: <SDO-abort-code> | ERROR: <internal-error-code>\n"
"\n"
"\n"
"LICENSE\n"
" This program is part of CANopenSocket and can be downloaded from:\n"
" https://github.com/CANopenNode/CANopenSocket\n"
" Permission is granted to copy, distribute and/or modify this document\n"
" under the terms of the GNU General Public License, Version 2.\n"
"\n"
);
}
/**
* 错误描述对应的结构体
*/
/* Extract error description */
typedef struct {
int code;
char* desc;
} errorDescs_t;
/**
* 这里列出所有的canopend返回的错误编号对应的显示的英文
*/
static const errorDescs_t errorDescs[] = {
{100, "Request not supported."},
{101, "Syntax error."},
{102, "Request not processed due to internal state."},
{103, "Time-out (where applicable)."},
{104, "No default net set."},
{105, "No default node set."},
{106, "Unsupported net."},
{107, "Unsupported node."},
{200, "Lost guarding message."},
{201, "Lost connection."},
{202, "Heartbeat started."},
{203, "Heartbeat lost."},
{204, "Wrong NMT state."},
{205, "Boot-up."},
{300, "Error passive."},
{301, "Bus off."},
{303, "CAN buffer overflow."},
{304, "CAN init."},
{305, "CAN active (at init or start-up)."},
{400, "PDO already used."},
{401, "PDO length exceeded."},
{501, "LSS implementation- / manufacturer-specific error."},
{502, "LSS node-ID not supported."},
{503, "LSS bit-rate not supported."},
{504, "LSS parameter storing failed."},
{505, "LSS command failed because of media error."},
{600, "Running out of memory."},
{0x00000000, "No abort."},
{0x05030000, "Toggle bit not altered."},
{0x05040000, "SDO protocol timed out."},
{0x05040001, "Command specifier not valid or unknown."},
{0x05040002, "Invalid block size in block mode."},
{0x05040003, "Invalid sequence number in block mode."},
{0x05040004, "CRC error (block mode only)."},
{0x05040005, "Out of memory."},
{0x06010000, "Unsupported access to an object."},
{0x06010001, "Attempt to read a write only object."},
{0x06010002, "Attempt to write a read only object."},
{0x06020000, "Object does not exist."},
{0x06040041, "Object cannot be mapped to the PDO."},
{0x06040042, "Number and length of object to be mapped exceeds PDO length."},
{0x06040043, "General parameter incompatibility reasons."},
{0x06040047, "General internal incompatibility in device."},
{0x06060000, "Access failed due to hardware error."},
{0x06070010, "Data type does not match, length of service parameter does not match."},
{0x06070012, "Data type does not match, length of service parameter too high."},
{0x06070013, "Data type does not match, length of service parameter too short."},
{0x06090011, "Sub index does not exist."},
{0x06090030, "Invalid value for parameter (download only)."},
{0x06090031, "Value range of parameter written too high."},
{0x06090032, "Value range of parameter written too low."},
{0x06090036, "Maximum value is less than minimum value."},
{0x060A0023, "Resource not available: SDO connection."},
{0x08000000, "General error."},
{0x08000020, "Data cannot be transferred or stored to application."},
{0x08000021, "Data cannot be transferred or stored to application because of local control."},
{0x08000022, "Data cannot be transferred or stored to application because of present device state."},
{0x08000023, "Object dictionary not present or dynamic generation fails."},
{0x08000024, "No data available."}
};
/**
* 打印所有的错误描述文档内容，有一部分是十进制的，有一部分是十六进制的，注意for循环中的if判断和上面结构体数组中的数值就能体现出来了
*/
static void printErrorDescs(void) {
int i, len;
len = sizeof(errorDescs) / sizeof(errorDescs_t);
fprintf(stderr, "Internal error codes:\n");
for(i=0; i<len; i++) {
const errorDescs_t *ed = &errorDescs[i];
if(ed->code == 0) break;
fprintf(stderr, " - %d - %s\n", ed->code, ed->desc);
}
fprintf(stderr, "\n");
fprintf(stderr, "SDO abort codes:\n");
for(; i<len; i++) {
const errorDescs_t *ed = &errorDescs[i];
fprintf(stderr, " - 0x%08X - %s\n", ed->code, ed->desc);
}
fprintf(stderr, "\n");
}
/******************************************************************************/
int main (int argc, char *argv[]) {
char *socketPath = "/tmp/CO_command_socket"; /* Name of the local domain socket, configurable by arguments. */
char *inputFilePath = NULL;
char buf[BUF_SIZE];
int fd;
struct sockaddr_un addr;
int opt;
int i;
/**
* 输出基本帮助信息
*/
if(argc >= 2 && strcmp(argv[1], "--help") == 0) {
printUsage(argv[0]);
exit(EXIT_SUCCESS);
}
/**
* 输出基本帮助信息和返回的错误码信息
*/
if(argc >= 2 && strcmp(argv[1], "--helpall") == 0) {
printUsage(argv[0]);
printErrorDescs();
exit(EXIT_SUCCESS);
}
/* Get program options */
/**
* 获取程序运行时命令行传递过来的参数，并解析
*/
while((opt = getopt(argc, argv, "s:f:h")) != -1) {
switch (opt) {
case 'f': // 将命令放置于文件中，通过读取文件并发送给canopend处理
inputFilePath = optarg;
break;
case 's': // 指定canopend的socket的path在哪里
socketPath = optarg;
break;
case 'h': // 输出错误描述
printErrorDescription = 1;
break;
default:
printUsage(argv[0]);
exit(EXIT_FAILURE);
}
}
/* Create and connect client socket */
/**
* 创建本地客户端socket
*/
fd = socket(AF_UNIX, SOCK_STREAM, 0);
if(fd == -1) {
errExit("Socket creation failed");
}
/**
* 设置本地socket
*/
memset(&addr, 0, sizeof(struct sockaddr_un));
addr.sun_family = AF_UNIX;
strncpy(addr.sun_path, socketPath, sizeof(addr.sun_path) - 1);
/**
* 链接本地socket
*/
if(connect(fd, (struct sockaddr *)&addr, sizeof(struct sockaddr_un)) == -1) {
errExit("Socket connection failed");
}
/* get commands from input file, line after line */
/**
* 从文件中获取命令，这里不进行任何处理，直接全部传送，仅仅是将文件中的内容完整转给canopend处理
*/
if(inputFilePath != NULL) {
FILE *fp = fopen(inputFilePath, "r");
if(fp == NULL) {
errExit("Can't open input file");
}
while(fgets(buf, BUF_SIZE, fp) != NULL) {
sendCommand(fd, buf, strlen(buf));
}
fclose(fp);
}
/* get command from arguments */
/**
* 从命令行的参数中获取命令
*/
else if(optind < argc) {
buf[0] = 0;
size_t buflen = 0;
/* Add sequence number if not present on command line arguments */
/**
* 如果CAN设备的序号没有提供，那么就是用默认的1号设备(can1)设备
*/
if(argv[optind][0] != '[') {
strcat(buf, "[1] ");
}
/**
* 将命令行参数合成命令
*/
for(i=optind; i<argc; i++) {
strncat(buf, argv[i], (BUF_SIZE - 2) - buflen);
strcat(buf, " ");
buflen = strlen(buf);
if(buflen >= (BUF_SIZE - 1)) {
fprintf(stderr, "String too long!\n");
exit(EXIT_FAILURE);
}
}
/**
* 每一条命令都是使用'\n'结束，表示一行
*/
buf[buflen - 1] = '\n'; /* replace last space with newline */
/**
* 将合成的命令发送给canopend
*/
printErrorDescription = 1;
sendCommand(fd, buf, buflen);
}
/* get commands from stdin, line after line */
/**
* 从终端的标准输入中一行一行的获取命令
*/
else {
while(fgets(buf, BUF_SIZE, stdin) != NULL) {
sendCommand(fd, buf, strlen(buf));
}
}
close(fd);
exit(EXIT_SUCCESS);
}
static void sendCommand(int fd, char* command, size_t commandLength) {
size_t n;
char buf[BUF_SIZE];
/**
* 发送命令
*/
if (write(fd, command, commandLength) != commandLength) {
errExit("Socket write failed");
}
/**
* 接收命令返回信息
*/
n = read(fd, buf, sizeof(buf));
if(n == -1) {
errExit("Socket read failed");
}
/**
* 是否处理返回的信息
*/
if(printErrorDescription == 1) {
char *errLoc = strstr(buf, "ERROR:");
char *endLoc = strstr(buf, "\r\n");
if(errLoc != NULL && endLoc != NULL) {
int num;
char *sRet = NULL;
errLoc += 6;
num = strtol(errLoc, &sRet, 0);
if(strlen(errLoc) != 0 && sRet == strchr(errLoc, '\r')) {
int i, len;
len = sizeof(errorDescs) / sizeof(errorDescs_t);
/**
* 查找并输出信息
*/
for(i=0; i<len; i++) {
const errorDescs_t *ed = &errorDescs[i];
if(ed->code == num) {
sprintf(endLoc, " - %s\r\n", ed->desc);
break;
}
}
}
}
}
/**
* 输出返回原始信息
*/
printf("%s", buf);
}
