HiepLM/AMR_T800
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

git commit -m "first commit for v2"

Browse Source
This commit is contained in:
HiepLM
2025-12-29 16:21:22 +07:00
commit aa3d832d5c
1807 changed files with 307078 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

413
Devices/Libraries/Systems/CANopenSocket/canopencgi/CANopenCGI.c Executable file
View File

@@ -0,0 +1,413 @@
/*
* Client socket command interface (Apache CGI) for CANopenSocket.
*
* @file CANopenCGI.c
* @author Janez Paternoster
* @copyright 2016 - 2020 Janez Paternoster
*
* This file is part of CANopenSocket, a Linux implementation of CANopen
* stack with master functionality. Project home page is
* <https://github.com/CANopenNode/CANopenSocket>. CANopenSocket is based
* on CANopenNode: <https://github.com/CANopenNode/CANopenNode>.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <errno.h>
#include <ctype.h>
#include <string.h>
#include <strings.h>
#include <fnmatch.h>
#include <pwd.h>
#include <grp.h>
#include <sys/un.h>
#include <sys/socket.h>
#ifndef BUF_SIZE
#define BUF_SIZE 1000000
#endif
/* Helper functions */
static void errExitErrno(char* msg) {
printf("%s: %s\n", msg, strerror(errno));
exit(EXIT_FAILURE);
}
static void errExitErrnoUGID(char* msg) {
struct passwd *user;
struct group *grp;
printf("%s: %s\n", msg, strerror(errno));
user = getpwuid(getuid());
grp = getgrgid(getgid());
printf("Access from user: %s, group: %s\n",
(user == NULL) ? NULL : user->pw_name,
(grp == NULL) ? NULL : grp->gr_name);
exit(EXIT_FAILURE);
}
static void errExit(char* msg) {
printf("%s\n", msg);
exit(EXIT_FAILURE);
}
static void strcpyToUpper(char *dest, const char *src) {
char in;
do {
in = *(src++);
*(dest++) = toupper(in);
} while(in != 0);
}
static void strToUpper(char *str) {
char c;
do {
c = *(str);
*(str++) = toupper(c);
} while(c != 0);
}
static void strToLower(char *str) {
char c;
do {
c = *(str);
*(str++) = tolower(c);
} while(c != 0);
}
/* Decode hex string 'str' of length 'len' and return numerical value.
* In case of error in string, set 'err' to 1. */
static unsigned int hex2dec(const char *str, int len, int *err){
unsigned int val = 0;
int i;
for(i=0; i<len; i++) {
char c = str[i];
if(c >= '0' && c <= '9') {
c = c - '0';
} else if (c >= 'A' && c <= 'F') {
c = c - ('A' - 10);
}
else {
*err = 1;
return 0;
}
val = val << 4 | c;
}
return val;
}
static void sendCommand(int fd, int sequence, char* command);
static void printUsage(void) {
printf(
"Usage: canopen.cgi?wnniiiissdd=xxxx[&rnniiiissdd=]\n"
" - w - One digit - 'W'rite or 'R'ead.\n"
" - nn - Two hex digits of node ID.\n"
" - iiii - Four hex digits of Object Dictionary Index.\n"
" - ss - Two hex digits of Object Dictionary Subindex.\n"
" - dd - One to three digits of data type.\n"
" - xxxx - Value to be written.\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."
);
}
/******************************************************************************/
int main (int argc, char *argv[], char *env[]) {
char socketPath[260] = {0}; /* Name of the local domain socket. */
FILE *fp;
int fdSocket;
struct sockaddr_un addr;
char *queryString;
int queryStringAllocated = 0;
/* whitelist and blacklist are arrays of null separated strings, which
* contains patterns for comparision with commands from query string. */
char *whitelist;
char *blacklist;
int whitelistLen;
int blacklistLen;
/* Print mime */
printf("Content-type:text/plain\n\n");
/* Get program options from configuration file */
fp = fopen("canopen.conf", "r");
if(fp == NULL) {
errExitErrno("Can't open configuration file");
}
else {
const char spaceDelim[] = " \t\n\r\f\v";
char buf[1000];
int wlSize = 1000; /* byte length */
int blSize = 1000;
int wlDataSize = 0;
int blDataSize = 0;
whitelist = (char *) malloc(wlSize);
blacklist = (char *) malloc(blSize);;
whitelistLen = 0; /* number of tokens in list */
blacklistLen = 0;
if(whitelist == NULL || blacklist == NULL) {
errExitErrno("Whitelist or Blacklist can't be allocated.");
}
while(fgets(buf, sizeof(buf), fp) != NULL) {
char *token;
token = strtok(buf, spaceDelim);
if(token == NULL) {
}
else if(strcasecmp(token, "socketPath") == 0) {
if(strlen(socketPath) != 0) {
errExit("Duplicate 'socketPath' in canopen.conf.");
}
strncpy(socketPath, strtok(NULL, spaceDelim), sizeof(socketPath));
socketPath[sizeof(socketPath)-1] = 0;
}
else if(strcasecmp(token, "allow") == 0) {
int prevDataSize = wlDataSize;
token = strtok(NULL, spaceDelim);
wlDataSize += (strlen(token) + 1);
while(wlDataSize > wlSize) {
wlSize *= 2;
whitelist = (char *) realloc(whitelist, wlSize);
if(whitelist == NULL) {
errExitErrno("Whitelist can't be allocated.");
}
}
strcpyToUpper(&whitelist[prevDataSize], token);
whitelistLen ++;
}
else if(strcasecmp(token, "deny") == 0) {
int prevDataSize = blDataSize;
token = strtok(NULL, spaceDelim);
blDataSize += (strlen(token) + 1);
while(blDataSize > blSize) {
blSize *= 2;
blacklist = (char *) realloc(blacklist, blSize);
if(blacklist == NULL) {
errExitErrno("Blacklist can't be allocated.");
}
}
strcpyToUpper(&blacklist[prevDataSize], token);
blacklistLen ++;
}
}
}
fclose(fp);
/* Create and connect client socket */
fdSocket = socket(AF_UNIX, SOCK_STREAM, 0);
if(fdSocket == -1) {
errExitErrno("Socket creation failed");
}
memset(&addr, 0, sizeof(struct sockaddr_un));
addr.sun_family = AF_UNIX;
strncpy(addr.sun_path, socketPath, sizeof(addr.sun_path) - 1);
if(connect(fdSocket, (struct sockaddr *)&addr, sizeof(struct sockaddr_un)) == -1) {
errExitErrnoUGID("Socket connection failed");
}
/* get query string */
queryString = getenv("QUERY_STRING"); /* HTTP GET method. */
if(queryString != NULL && strlen(queryString) == 0) {
queryString = malloc(BUF_SIZE);
if(queryString == NULL) {
errExitErrno("queryString can't be allocated.");
}
queryStringAllocated = 1;
fgets(queryString, BUF_SIZE, stdin); /* HTTP POST method. */
}
if(queryString == NULL && argc >= 2) {
queryString = argv[1]; /* If no query string, try first argument. */
}
/* get commands from query string */
if(queryString != NULL && strlen(queryString) > 0) {
char *command;
int sequence = 1;
/* put whole query string to upper case */
strToUpper(queryString);
command = strtok(queryString, "&");
while(command != NULL) {
int i;
int offset;
int passed = 0;
/* Test whitelist and blacklist */
offset = 0;
for(i=0; i<whitelistLen; i++) {
char *patern = &whitelist[offset];
if(fnmatch(patern, command, 0) == 0) {
passed = 1;
break;
}
offset += strlen(patern) + 1;
}
if(passed == 1) {
offset = 0;
for(i=0; i<blacklistLen; i++) {
char *patern = &blacklist[offset];
if(fnmatch(patern, command, 0) == 0) {
passed = -1; /* not allowed */
break;
}
offset += strlen(patern) + 1;
}
}
/* Send command or error message */
if(strlen(command) < 9) {
printf("? %s [%d] ERROR: 101 - Syntax error in command.\n", command, sequence);
}
else if(passed == 1) {
sendCommand(fdSocket, sequence, command);
}
else {
printf("%c %c%c%c%c%c%c%c%c [%d] ERROR: 100 - Access restriction, command %s.\n",
command[0], command[1], command[2], command[3], command[4],
command[5], command[6], command[7], command[8],
sequence, (passed==0)?"not on whitelist":" on blacklist");
}
command = strtok(NULL, "&");
sequence ++;
}
}
else {
printUsage();
}
close(fdSocket);
free(whitelist);
free(blacklist);
if(queryStringAllocated == 1) {
free(queryString);
}
exit(EXIT_SUCCESS);
}
static void sendCommand(int fd, int sequence, char* command) {
int i, err;
char comm;
unsigned int nodeId, idx, sidx;
char dataType[4];
char *value = "";
char buf[BUF_SIZE];
/* Parse command. It is at least 8 characters long. */
err = 0;
comm = command[0];
if(comm != 'R' && comm != 'W') {
err = 1;
}
nodeId = hex2dec(&command[1], 2, &err);
if(nodeId < 1 || nodeId > 127) {
err = 1;
}
idx = hex2dec(&command[3], 4, &err);
sidx = hex2dec(&command[7], 2, &err);
for(i=0; i<sizeof(dataType); i++) {
char c = command[9+i];
if(c == '=' || c == 0) {
dataType[i] = 0;
if(c == '=') {
value = &command[10+i];
}
break;
}
dataType[i] = c;
}
if(i > 3) {
err = 1;
dataType[0] = 0;
}
if(strlen(value) > (sizeof(buf) - 50)) {
err = 1;
}
/* Write command according to CiA309-3. */
if(err == 0) {
size_t wlen, rlen;
strToLower(dataType);
wlen = sprintf(buf, "[%d] 0x%02X %c 0x%04X 0x%02X %s %s\n",
sequence, nodeId, tolower(comm), idx, sidx, dataType, value);
if (write(fd, buf, wlen) != wlen) {
errExit("Socket write failed");
}
rlen = read(fd, buf, sizeof(buf) - 1);
if(rlen < 0) {
errExit("Socket read failed");
}
else {
buf[rlen] = 0;
}
printf("%c %02X%04X%02X %s",
comm, nodeId, idx, sidx, buf);
}
else {
printf("? %s [%d] ERROR: 101 - Syntax error in command.\n",
command, sequence);
}
}

33
Devices/Libraries/Systems/CANopenSocket/canopencgi/Makefile Executable file
View File

@@ -0,0 +1,33 @@
# Makefile for CANopenCGI.
APPL_SRC = .
LINK_TARGET = canopen.cgi
INCLUDE_DIRS = -I$(APPL_SRC)
SOURCES = $(APPL_SRC)/CANopenCGI.c
OBJS = $(SOURCES:%.c=%.o)
CC ?= gcc
CFLAGS = -Wall -g $(INCLUDE_DIRS)
LDFLAGS =
.PHONY: all clean
all: clean $(LINK_TARGET)
clean:
rm -f $(OBJS) $(LINK_TARGET)
%.o: %.c
$(CC) $(CFLAGS) -c $< -o $@
$(LINK_TARGET): $(OBJS)
$(CC) $(LDFLAGS) $^ -o $@

56
Devices/Libraries/Systems/CANopenSocket/canopencgi/canopen.conf Executable file
View File

@@ -0,0 +1,56 @@
# Configuration file for canopen.cgi
# canopen.cgi is an application usually accessible by a web server like
# apache. Query string contains commands to canopend. canopend is an
# application, which runs in background. It is a CANopen device with
# master functionality and command interface (via socket). One typical
# command is read or write specific object(variable) in specific device.
# (Each CANopen device has own Object Dictionary, collection of all
# variables. Any variable on any CANopen device can be read or written,
# if we know its address (nodeID + index + subindex). CANopen SDO client
# (master device - canopend) sends Service Data Object (SDO) via CANopen
# network, and one of the SDO servers (slave devices) responses with
# requested information.)
# Name of the local domain socket, link to canopend. */
socketPath /tmp/CO_command_socket
# Whitelist and Blacklist of CANopen objects, which are allowed or not
# allowed to be accessed by canopen.cgi. Whitelist is generated from all
# lines, which begins with 'allow'. Blacklist is generated from all
# lines, which begins with 'deny'.
# Each Object from query string is first NOT allowed, to be accessed. If
# it matches ANY pattern from the whitelist, it is allowed. (Whitelist,
# which allows everything would then be just one line: 'allow *'.) On
# the end, object is verified with blacklist. If it matches any pattern
# from there, it won't be passed as command to canopend.
#
# Format of the parameter in Query string: wnniiiissll=xxxx
# Where w, nn, iiii, ss, ll, xxxx are fixed width fields with the following meaning:
# w - 'W'rite or 'R'ead.
# nn - node ID in hex format.
# iiii - Object Dictionary index in hex format.
# ss - Object Dictionary subindex in hex format.
# ll - length of variable (1 to FFFFFFFF) in hex format. If reading, this value is ignored.
# xxxx - Value to be written in hex and little endian format. If reading, this value is ignored.
#
# Parameter and pattern strings are not case sensitive.
# Communication segment - up to 0x1FFF
allow R??[01]* # allow read all.
# Manufacturer segment - 0x2000 to 0x5FFF
allow R??[2-5]* # allow read all.
# Example of write access to some objects
allow [RW]032110* # allow r/w on NodeId 3, index 0x2110, any subindex.
deny W0321100[2-4E]* # deny write on NodeId 3, index 0x2110, subindex 0x02, 0x03, 0x04 and 0x0E.
allow [RW]0321200[!45]* # allow r/w on NodeId 3, index 0x2120, subindex 0x00-0x03 and 0x06-0x09.
# Device profile segment - above 0x6000
allow R??[6-9A_F]* # allow read all