/**
* Fährt den Spcket Server bei einem Fehler runter. Dabei werden zuerst alle Subserver heruntergefahren die jeweiligen Socketverbindungen getrennt.
* @param lsd Der jeweilige eindeutige Socketdeskriptor
* @param error Fehlercode
* @return Gibt eine 0 für erfolgreiches runterfahren aller Sockets zurück
*/
int shutDownServer(int lsd, int error){
server_shutdown = 1; //set shutdown flag
printf("\r\nTCP Echoserver shutdown\r\n");
for(int i=0;i<MAX_SERVER;i++)// wakeup sleeping tasks
{
if((EchoServer[i].sd==-1) && (EchoServer[i].taskID!=-1))
{
RTX_Wakeup(EchoServer[i].taskID);
}
}
//wait until the subserver tasks have finished
int result=0;
while(result<10)
{
RTX_Sleep_Time(1000);
if((EchoServer[0].finish) && (EchoServer[1].finish) && (EchoServer[2].finish))
{
break;
}
result++;
}
//removing DK40 Task
RTX_Delete_Task(dk40ID);
RTX_Sleep_Time(100);
if(lsd!=-1)
{
#ifdef TCPSERV_DEBUG
printf("\r\nTCP Echoserver: Closing listening socket %d",lsd);
#endif
result = closesocket(lsd,&error);
if(result == API_ERROR)
{
printf("\r\nTCPEchoServer: Socket close failed %d",error);
}
}
printf("\r\nTCP Echoserver finished\r\n");
return 0;
}
static int dmx_write(int port, dmx_t *dmx, size_t size)
{
int ret;
if ((ret = do_dmx_break(port)) == EXIT_SUCCESS)
{
int j;
// BIOS_putch('*');
RTX_Sleep_Time(1);
for( j = 0; j < size; )
{
j += fossil_writeblock(port, ((unsigned char far *)dmx) + j, size - j);
// printf("j = %d\n", j);
}
}
return EXIT_SUCCESS;
}
static void huge _pascal CgiCliFunction(rpCgiPtr CgiRequest){
/* Buffers for building the page */
extern CgiCli_t *CgiCli;
extern CO_t *CO;
CO_SDOclient_t *SDO_C = CO->SDOclient;
uint32_t bufLen = 0; /* current length of the buffer */
uint32_t timeouts = 0;
const uint32_t maxTimeouts = 5;
/* Prepare function, which will wake this task after CAN SDO response is */
/* received (inside CAN receive interrupt). */
SDO_C->pFunctSignal = CgiCli_signal; /* will wake from RTX_Sleep_Time() */
SDO_C->functArg = RTX_Get_TaskID(); /* id of this task */
/* Construct HTML page */
if(strlen(CgiRequest->fArgumentBufferPtr)){
char_t *buf = CgiCli->buf; /* buffer for CGI message */
char_t far *name = NULL;
char_t far *val = NULL;
while(CGI_GetArgument(&name, &val, CgiRequest) == 0){
/* decode and verify name */
char_t rw = name[0];
uint32_t nodeId, idx, sidx, len;
char_t err = 0;
uint8_t *data = CgiCli->SDOBuf; /* data sent or received on CANopen */
uint32_t dataLen = 0;
if(!name) err++;
len = strlen(name);
if (rw == 'r' || rw == 'R'){
rw = 'r';
if(len < 9 || len > 17) err++;
}
else if(rw == 'w' || rw == 'W'){
rw = 'w';
if(len < 10 || len > 17) err++;
}
else{
err++;
}
err += hex2dec(&name[1], 2, &nodeId);
if(nodeId > 127) err++;
err += hex2dec(&name[3], 4, &idx);
err += hex2dec(&name[7], 2, &sidx);
if(rw == 'w'){
err += hex2dec(&name[9], len-9, &len);
/* decode value */
int32_t i;
int32_t valLen;
if(val) valLen = strlen(val);
else valLen = 0;
for(i=0; i<valLen; i=i+2){
uint32_t dc;
err += hex2dec(&val[i], 2, &dc);
data[dataLen] = dc;
if(++dataLen >= CgiCli->SDOBufSize) break;
}
/* verify value length */
if(dataLen != len || dataLen == 0) err++;
}
/* SDO clinet access */
uint32_t SDOabortCode = 0;
if(err){
buf += sprintf(buf, "Error in argument: %s=%s\n", name, val);
}
/* read object dictionary */
else if(rw == 'r'){
CO_SDOclient_return_t ret;
CO_SDOclient_setup(SDO_C, 0, 0, nodeId);
CO_SDOclientUploadInitiate(SDO_C, idx, sidx, data, CgiCli->SDOBufSize, 1);
do{
uint16_t dt = 50;
ret = CO_SDOclientUpload(SDO_C, dt, 500, &dataLen, &SDOabortCode);
RTX_Sleep_Time(dt);
}while(ret > 0);
CO_SDOclientClose(SDO_C);
if(ret == CO_SDOcli_endedWithTimeout) {
timeouts++;
}
else {
timeouts = 0;
}
if(SDOabortCode){
buf += sprintf(buf, "R %02X%04X%02X%X AB: %08X\n",
(unsigned int)nodeId,
(unsigned int)idx,
(unsigned int)sidx,
(unsigned int)dataLen,
(unsigned int)SDOabortCode);
}
else{
uint32_t i;
buf += sprintf(buf, "R %02X%04X%02X%X OK:",
(unsigned int)nodeId,
(unsigned int)idx,
(unsigned int)sidx,
(unsigned int)dataLen);
for(i=0; i<dataLen; i++) buf += sprintf(buf, " %02X", data[i]);
buf += sprintf(buf, "\n");
}
}
/* write into object dictionary */
else if(rw == 'w'){
CO_SDOclient_return_t ret;
CO_SDOclient_setup(SDO_C, 0, 0, nodeId);
CO_SDOclientDownloadInitiate(SDO_C, idx, sidx, data, dataLen, 1);
do{
uint16_t dt = 2;
ret = CO_SDOclientDownload(SDO_C, dt, 500, &SDOabortCode);
if(ret == CO_SDOcli_waitingServerResponse) {
dt = 50;
}
RTX_Sleep_Time(dt);
}while(ret > 0);
CO_SDOclientClose(SDO_C);
if(ret == CO_SDOcli_endedWithTimeout) {
timeouts++;
}
else {
timeouts = 0;
}
if(SDOabortCode){
buf += sprintf(buf, "W %02X%04X%02X%X AB: %08X\n",
(unsigned int)nodeId,
(unsigned int)idx,
(unsigned int)sidx,
(unsigned int)dataLen,
(unsigned int)SDOabortCode);
}
else{
uint32_t i;
buf += sprintf(buf, "W %02X%04X%02X%X OK:",
(unsigned int)nodeId,
(unsigned int)idx,
(unsigned int)sidx,
(unsigned int)dataLen);
for(i=0; i<dataLen; i++) buf += sprintf(buf, " %02X", data[i]);
buf += sprintf(buf, "\n");
}
}
/* calculate buffer length, if not enough space for next object, break */
bufLen = (uint32_t)(buf - CgiCli->buf);
if((bufLen+1000) > CgiCli->bufSize){
break;
}
/* if no response from remote node for multiple times, break the loop */
if(timeouts > maxTimeouts){
break;
}
}
}
else{
sprintf(CgiCli->buf,
"CGI function provides access to object dictionary on any device on the CANopen network.\n\n"
"Usage with POST method:\n"
" odcli?wnniiiissll=xxxx[&rnniiiissll=]\n"
" w - 'w'rite or 'r'ead.\n"
" nn - node ID in hex format.\n"
" iiii - Object dictionary index in hex format.\n"
" ss - Object dictionary subindex in hex format.\n"
" ll - length of variable (1 to FFFFFFFF) in hex format. If reading, this value is ignored.\n"
" xxxx - Value to be written in hex and little endian format. If reading, this value is ignored.\n");
bufLen = strlen(CgiCli->buf);
}
/* disable SDO client */
CO_SDOclient_setup(SDO_C, 0, 0, 0);
/* Give page to the web server */
CgiRequest->fHttpResponse = CgiHttpOk;
CgiRequest->fDataType = CGIDataTypeText;
CgiRequest->fResponseBufferPtr = CgiCli->buf;
CgiRequest->fResponseBufferLength = bufLen;
}
/**
* main()
*/
int main()
{
int lsd = -1; //listening socketdescriptor
int asd = -1; //new socketdescriptor from accept
int port = TM_PORT_ECHO; //default port
int error = 0;
int result;
//int i;
struct sockaddr_in addr;
struct sockaddr_in claddr;
char ClientIP[17];
int taskrdy = -1;
initServer();
startDK40Task();
initSubServerTask(lsd,error);
RTX_Sleep_Time(100);
lsd = openListenSocket(lsd,error);
#ifdef TCPSERV_DEBUG
printf("\r\nTCP Echoserver: Öffnen einen Socket %d",lsd);
#endif
/**
* Setzt den horchenden Socket auf Wiederverwendbar ein
* @param lsd Den Socketdeskriptor des horchenden Sockets
* @param error Fehlercode
* @return (0) für erfolgreich, ungleich (0) für fehler
*/
result = setreuse(lsd,&error);
#ifdef TCPSERV_DEBUG
if(result == API_ERROR){
printf("\r\nTCP Echoserver: Set reuse failed %d",error);
}
#endif
addr.sin_family = PF_INET;
addr.sin_port = htons(port); //Konvertierung von Little Endian zu Big Endian
addr.sin_addr.s_addr = 0L;
result = bind(lsd,(struct sockaddr *)&addr,&error);
if(result == API_ERROR){
printf("\r\nTCP Echoserver, Bind socket failed %d",error);
shutDownServer(lsd,error);
}//(result == API_ERROR)
/*
* Endlosschleife, horcht und baut Verbindungen auf
*/
while(1)
{
/**
* listen
*/
result = listen(lsd, MAX_SERVER, &error);
if(result == API_ERROR){
printf("\r\nTCP Echoserver, listen failed %d",error);
shutDownServer(lsd,error);
}//if(result == API_ERROR)
/**
* accept , establish a connection
*/
claddr.sin_family = PF_INET;
claddr.sin_port = 0; //clear
claddr.sin_addr.s_addr = 0L; //clear
result = accept(lsd,(struct sockaddr *)&claddr,&error);
if(result == API_ERROR){
printf("\r\nTCP Echoserver, accept failed %d",error);
shutDownServer(lsd,error);
}//if(result == API_ERROR)
InetToAscii(&claddr.sin_addr.s_addr,ClientIP);
#ifdef TCPSERV_DEBUG
printf("\r\nTCP Echoserver: Connected with %s , Port %u\r\n",ClientIP,claddr.sin_port);
#endif
asd = result;
cnt_connection++;
#ifdef SERVER_SHUTDOWN_TEST
if(cnt_connection>6L){
result = closesocket(asd,&error);
if(result==API_ERROR){
printf("\r\nTCP Echoserver, socket close failed %d",error);
}
printf("\r\nTCP Echoserver: Shutdown test\r\n");
shutDownServer(lsd,error);
}//if(cnt_connection>6L)
#endif
/**
* Suche einer ruhenden Server Task
*/
taskrdy = Get_Free_Server_Task();
if(taskrdy == -1){ //no sleeping task found
#ifdef TCPSERV_DEBUG
printf("\r\nTCPserver: busy, refusing connection with %s , Port %u\r\n",ClientIP,claddr.sin_port);
#endif
closesocket(asd, &error);
}//if(taskrdy == -1)
else{
//insert the socket descriptor
EchoServer[taskrdy].sd = asd;
//and wakeup the sleeping server task
result = RTX_Wakeup(EchoServer[taskrdy].taskID);
if(result != 0){
printf("\r\nTCPserver: wakeup error\r\n");
closesocket(asd, &error);
}//if(result != 0)
else{
//a task is waked up and serves from now on this connection
}
}//elseif(taskrdy == -1) //no sleeping task found
}//while(1) //do forever
}
