git commit -m "first commit for v2"
This commit is contained in:
448
Devices/Libraries/Systems/can-utils/slcand.c
Executable file
448
Devices/Libraries/Systems/can-utils/slcand.c
Executable file
@@ -0,0 +1,448 @@
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/* SPDX-License-Identifier: GPL-2.0-only */
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/*
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* slcand.c - userspace daemon for serial line CAN interface driver SLCAN
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*
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* Copyright (c) 2009 Robert Haddon <robert.haddon@verari.com>
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* Copyright (c) 2009 Verari Systems Inc.
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the version 2 of the GNU General Public License
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* as published by the Free Software Foundation.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*
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* Send feedback to <linux-can@vger.kernel.org>
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*
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*/
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#include <errno.h>
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#include <fcntl.h>
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#include <linux/serial.h>
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#include <linux/sockios.h>
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#include <linux/tty.h>
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#include <net/if.h>
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#include <pwd.h>
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#include <signal.h>
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#include <stdarg.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <sys/ioctl.h>
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#include <sys/socket.h>
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#include <sys/stat.h>
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#include <sys/types.h>
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#include <syslog.h>
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#include <termios.h>
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#include <unistd.h>
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/* Change this to whatever your daemon is called */
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#define DAEMON_NAME "slcand"
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/* Change this to the user under which to run */
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#define RUN_AS_USER "root"
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/* The length of ttypath buffer */
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#define TTYPATH_LENGTH 256
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/* UART flow control types */
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#define FLOW_NONE 0
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#define FLOW_HW 1
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#define FLOW_SW 2
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static void fake_syslog(int priority, const char *format, ...)
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{
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va_list ap;
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printf("[%d] ", priority);
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va_start(ap, format);
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vprintf(format, ap);
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va_end(ap);
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printf("\n");
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}
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typedef void (*syslog_t)(int priority, const char *format, ...);
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static syslog_t syslogger = syslog;
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void print_usage(char *prg)
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{
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fprintf(stderr, "%s - userspace daemon for serial line CAN interface driver SLCAN.\n", prg);
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fprintf(stderr, "\nUsage: %s [options] <tty> [canif-name]\n\n", prg);
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fprintf(stderr, "Options:\n");
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fprintf(stderr, " -o (send open command 'O\\r')\n");
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fprintf(stderr, " -c (send close command 'C\\r')\n");
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fprintf(stderr, " -f (read status flags with 'F\\r' to reset error states)\n");
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fprintf(stderr, " -l (send listen only command 'L\\r', overrides -o)\n");
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fprintf(stderr, " -s <speed> (set CAN speed 0..8)\n");
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fprintf(stderr, " -S <speed> (set UART speed in baud)\n");
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fprintf(stderr, " -t <type> (set UART flow control type 'hw' or 'sw')\n");
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fprintf(stderr, " -b <btr> (set bit time register value)\n");
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fprintf(stderr, " -F (stay in foreground; no daemonize)\n");
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fprintf(stderr, " -h (show this help page)\n");
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fprintf(stderr, "\nExamples:\n");
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fprintf(stderr, "slcand -o -c -f -s6 ttyUSB0\n\n");
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fprintf(stderr, "slcand -o -c -f -s6 ttyUSB0 can0\n\n");
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fprintf(stderr, "slcand -o -c -f -s6 /dev/ttyUSB0\n\n");
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exit(EXIT_FAILURE);
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}
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static int slcand_running;
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static volatile sig_atomic_t exit_code;
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static char ttypath[TTYPATH_LENGTH];
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static void child_handler(int signum)
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{
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switch (signum) {
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case SIGUSR1:
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/* exit parent */
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exit(EXIT_SUCCESS);
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break;
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case SIGINT:
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case SIGTERM:
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case SIGALRM:
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case SIGCHLD:
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syslogger(LOG_NOTICE, "received signal %i on %s", signum, ttypath);
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exit_code = 128 + signum;
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slcand_running = 0;
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break;
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}
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}
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static int look_up_uart_speed(long int s)
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{
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switch (s) {
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case 9600:
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return B9600;
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case 19200:
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return B19200;
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case 38400:
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return B38400;
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case 57600:
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return B57600;
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case 115200:
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return B115200;
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case 230400:
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return B230400;
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case 460800:
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return B460800;
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case 500000:
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return B500000;
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case 576000:
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return B576000;
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case 921600:
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return B921600;
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case 1000000:
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return B1000000;
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case 1152000:
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return B1152000;
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case 1500000:
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return B1500000;
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case 2000000:
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return B2000000;
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#ifdef B2500000
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case 2500000:
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return B2500000;
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#endif
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#ifdef B3000000
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case 3000000:
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return B3000000;
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#endif
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#ifdef B3500000
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case 3500000:
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return B3500000;
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#endif
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#ifdef B3710000
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case 3710000
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return B3710000;
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#endif
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#ifdef B4000000
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case 4000000:
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return B4000000;
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#endif
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default:
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return -1;
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}
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}
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int main(int argc, char *argv[])
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{
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char *tty = NULL;
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char const *devprefix = "/dev/";
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char *name = NULL;
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char buf[20];
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static struct ifreq ifr;
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struct termios tios;
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speed_t old_ispeed;
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speed_t old_ospeed;
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int opt;
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int send_open = 0;
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int send_close = 0;
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int send_listen = 0;
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int send_read_status_flags = 0;
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char *speed = NULL;
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char *uart_speed_str = NULL;
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long int uart_speed = 0;
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int flow_type = FLOW_NONE;
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char *btr = NULL;
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int run_as_daemon = 1;
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char *pch;
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int ldisc = N_SLCAN;
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int fd;
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ttypath[0] = '\0';
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while ((opt = getopt(argc, argv, "ocfls:S:t:b:?hF")) != -1) {
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switch (opt) {
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case 'o':
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send_open = 1;
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break;
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case 'c':
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send_close = 1;
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break;
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case 'f':
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send_read_status_flags = 1;
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break;
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case 'l':
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send_listen = 1;
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break;
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case 's':
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speed = optarg;
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if (strlen(speed) > 1)
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print_usage(argv[0]);
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break;
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case 'S':
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uart_speed_str = optarg;
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errno = 0;
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uart_speed = strtol(uart_speed_str, NULL, 10);
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if (errno)
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print_usage(argv[0]);
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if (look_up_uart_speed(uart_speed) == -1) {
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fprintf(stderr, "Unsupported UART speed (%lu)\n", uart_speed);
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exit(EXIT_FAILURE);
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}
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break;
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case 't':
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if (!strcmp(optarg, "hw")) {
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flow_type = FLOW_HW;
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} else if (!strcmp(optarg, "sw")) {
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flow_type = FLOW_SW;
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} else {
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fprintf(stderr, "Unsupported flow type (%s)\n", optarg);
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exit(EXIT_FAILURE);
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}
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break;
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case 'b':
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btr = optarg;
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if (strlen(btr) > 8)
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print_usage(argv[0]);
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break;
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case 'F':
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run_as_daemon = 0;
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break;
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case 'h':
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case '?':
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default:
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print_usage(argv[0]);
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break;
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}
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}
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if (!run_as_daemon)
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syslogger = fake_syslog;
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/* Initialize the logging interface */
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openlog(DAEMON_NAME, LOG_PID, LOG_LOCAL5);
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/* Parse serial device name and optional can interface name */
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tty = argv[optind];
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if (NULL == tty)
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print_usage(argv[0]);
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name = argv[optind + 1];
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if (name && (strlen(name) > sizeof(ifr.ifr_newname) - 1))
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print_usage(argv[0]);
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/* Prepare the tty device name string */
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pch = strstr(tty, devprefix);
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if (pch != tty)
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snprintf(ttypath, TTYPATH_LENGTH, "%s%s", devprefix, tty);
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else
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snprintf(ttypath, TTYPATH_LENGTH, "%s", tty);
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syslogger(LOG_INFO, "starting on TTY device %s", ttypath);
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fd = open(ttypath, O_RDWR | O_NONBLOCK | O_NOCTTY);
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if (fd < 0) {
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syslogger(LOG_NOTICE, "failed to open TTY device %s\n", ttypath);
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perror(ttypath);
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exit(EXIT_FAILURE);
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}
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/* Configure baud rate */
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memset(&tios, 0, sizeof(tios));
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if (tcgetattr(fd, &tios) < 0) {
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syslogger(LOG_NOTICE, "failed to get attributes for TTY device %s: %s\n", ttypath, strerror(errno));
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exit(EXIT_FAILURE);
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}
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// Because of a recent change in linux - https://patchwork.kernel.org/patch/9589541/
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// we need to set low latency flag to get proper receive latency
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struct serial_struct snew;
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ioctl (fd, TIOCGSERIAL, &snew);
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snew.flags |= ASYNC_LOW_LATENCY;
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ioctl (fd, TIOCSSERIAL, &snew);
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/* Get old values for later restore */
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old_ispeed = cfgetispeed(&tios);
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old_ospeed = cfgetospeed(&tios);
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/* Reset UART settings */
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cfmakeraw(&tios);
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tios.c_iflag &= ~IXOFF;
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tios.c_cflag &= ~CRTSCTS;
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/* Baud Rate */
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cfsetispeed(&tios, look_up_uart_speed(uart_speed));
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cfsetospeed(&tios, look_up_uart_speed(uart_speed));
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/* Flow control */
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if (flow_type == FLOW_HW)
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tios.c_cflag |= CRTSCTS;
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else if (flow_type == FLOW_SW)
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tios.c_iflag |= (IXON | IXOFF);
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/* apply changes */
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if (tcsetattr(fd, TCSADRAIN, &tios) < 0)
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syslogger(LOG_NOTICE, "Cannot set attributes for device \"%s\": %s!\n", ttypath, strerror(errno));
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if (speed) {
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sprintf(buf, "C\rS%s\r", speed);
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if (write(fd, buf, strlen(buf)) <= 0) {
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perror("write");
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exit(EXIT_FAILURE);
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}
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}
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if (btr) {
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sprintf(buf, "C\rs%s\r", btr);
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if (write(fd, buf, strlen(buf)) <= 0) {
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perror("write");
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exit(EXIT_FAILURE);
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}
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}
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if (send_read_status_flags) {
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sprintf(buf, "F\r");
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if (write(fd, buf, strlen(buf)) <= 0) {
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perror("write");
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exit(EXIT_FAILURE);
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}
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}
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if (send_listen) {
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sprintf(buf, "L\r");
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if (write(fd, buf, strlen(buf)) <= 0) {
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perror("write");
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exit(EXIT_FAILURE);
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}
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} else if (send_open) {
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sprintf(buf, "O\r");
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if (write(fd, buf, strlen(buf)) <= 0) {
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perror("write");
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exit(EXIT_FAILURE);
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}
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}
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/* set slcan like discipline on given tty */
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if (ioctl(fd, TIOCSETD, &ldisc) < 0) {
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perror("ioctl TIOCSETD");
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exit(EXIT_FAILURE);
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}
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/* retrieve the name of the created CAN netdevice */
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if (ioctl(fd, SIOCGIFNAME, ifr.ifr_name) < 0) {
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perror("ioctl SIOCGIFNAME");
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exit(EXIT_FAILURE);
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}
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syslogger(LOG_NOTICE, "attached TTY %s to netdevice %s\n", ttypath, ifr.ifr_name);
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/* try to rename the created netdevice */
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if (name) {
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int s = socket(PF_INET, SOCK_DGRAM, 0);
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if (s < 0)
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perror("socket for interface rename");
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else {
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/* current slcan%d name is still in ifr.ifr_name */
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memset (ifr.ifr_newname, 0, sizeof(ifr.ifr_newname));
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strncpy (ifr.ifr_newname, name, sizeof(ifr.ifr_newname) - 1);
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if (ioctl(s, SIOCSIFNAME, &ifr) < 0) {
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syslogger(LOG_NOTICE, "netdevice %s rename to %s failed\n", buf, name);
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perror("ioctl SIOCSIFNAME rename");
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exit(EXIT_FAILURE);
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} else
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syslogger(LOG_NOTICE, "netdevice %s renamed to %s\n", buf, name);
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close(s);
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}
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}
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/* Daemonize */
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if (run_as_daemon) {
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if (daemon(0, 0)) {
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syslogger(LOG_ERR, "failed to daemonize");
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exit(EXIT_FAILURE);
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}
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}
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else {
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/* Trap signals that we expect to receive */
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signal(SIGINT, child_handler);
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signal(SIGTERM, child_handler);
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}
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slcand_running = 1;
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/* The Big Loop */
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while (slcand_running)
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sleep(1); /* wait 1 second */
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/* Reset line discipline */
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syslogger(LOG_INFO, "stopping on TTY device %s", ttypath);
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ldisc = N_TTY;
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if (ioctl(fd, TIOCSETD, &ldisc) < 0) {
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perror("ioctl TIOCSETD");
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exit(EXIT_FAILURE);
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}
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if (send_close) {
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sprintf(buf, "C\r");
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if (write(fd, buf, strlen(buf)) <= 0) {
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perror("write");
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exit(EXIT_FAILURE);
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}
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}
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/* Reset old rates */
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cfsetispeed(&tios, old_ispeed);
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cfsetospeed(&tios, old_ospeed);
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/* apply changes */
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if (tcsetattr(fd, TCSADRAIN, &tios) < 0)
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syslogger(LOG_NOTICE, "Cannot set attributes for device \"%s\": %s!\n", ttypath, strerror(errno));
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/* Finish up */
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syslogger(LOG_NOTICE, "terminated on %s", ttypath);
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closelog();
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return exit_code;
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}
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