414 lines
11 KiB
C
Executable File
414 lines
11 KiB
C
Executable File
/*
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* Client socket command interface (Apache CGI) for CANopenSocket.
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*
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* @file CANopenCGI.c
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* @author Janez Paternoster
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* @copyright 2016 - 2020 Janez Paternoster
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*
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* This file is part of CANopenSocket, a Linux implementation of CANopen
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* stack with master functionality. Project home page is
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* <https://github.com/CANopenNode/CANopenSocket>. CANopenSocket is based
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* on CANopenNode: <https://github.com/CANopenNode/CANopenNode>.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <errno.h>
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#include <ctype.h>
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#include <string.h>
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#include <strings.h>
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#include <fnmatch.h>
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#include <pwd.h>
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#include <grp.h>
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#include <sys/un.h>
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#include <sys/socket.h>
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#ifndef BUF_SIZE
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#define BUF_SIZE 1000000
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#endif
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/* Helper functions */
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static void errExitErrno(char* msg) {
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printf("%s: %s\n", msg, strerror(errno));
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exit(EXIT_FAILURE);
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}
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static void errExitErrnoUGID(char* msg) {
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struct passwd *user;
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struct group *grp;
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printf("%s: %s\n", msg, strerror(errno));
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user = getpwuid(getuid());
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grp = getgrgid(getgid());
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printf("Access from user: %s, group: %s\n",
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(user == NULL) ? NULL : user->pw_name,
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(grp == NULL) ? NULL : grp->gr_name);
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exit(EXIT_FAILURE);
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}
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static void errExit(char* msg) {
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printf("%s\n", msg);
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exit(EXIT_FAILURE);
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}
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static void strcpyToUpper(char *dest, const char *src) {
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char in;
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do {
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in = *(src++);
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*(dest++) = toupper(in);
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} while(in != 0);
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}
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static void strToUpper(char *str) {
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char c;
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do {
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c = *(str);
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*(str++) = toupper(c);
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} while(c != 0);
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}
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static void strToLower(char *str) {
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char c;
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do {
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c = *(str);
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*(str++) = tolower(c);
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} while(c != 0);
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}
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/* Decode hex string 'str' of length 'len' and return numerical value.
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* In case of error in string, set 'err' to 1. */
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static unsigned int hex2dec(const char *str, int len, int *err){
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unsigned int val = 0;
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int i;
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for(i=0; i<len; i++) {
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char c = str[i];
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if(c >= '0' && c <= '9') {
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c = c - '0';
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} else if (c >= 'A' && c <= 'F') {
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c = c - ('A' - 10);
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}
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else {
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*err = 1;
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return 0;
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}
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val = val << 4 | c;
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}
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return val;
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}
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static void sendCommand(int fd, int sequence, char* command);
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static void printUsage(void) {
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printf(
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"Usage: canopen.cgi?wnniiiissdd=xxxx[&rnniiiissdd=]\n"
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" - w - One digit - 'W'rite or 'R'ead.\n"
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" - nn - Two hex digits of node ID.\n"
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" - iiii - Four hex digits of Object Dictionary Index.\n"
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" - ss - Two hex digits of Object Dictionary Subindex.\n"
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" - dd - One to three digits of data type.\n"
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" - xxxx - Value to be written.\n"
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"\n"
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"Datatypes:\n"
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" - b - Boolean.\n"
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" - u8, u16, u32, u64 - Unsigned integers.\n"
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" - i8, i16, i32, i64 - Signed integers.\n"
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" - r32, r64 - Real numbers.\n"
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" - t, td - Time of day, time difference.\n"
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" - vs - Visible string (between double quotes).\n"
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" - os, us, d - Octet string, unicode string, domain."
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);
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}
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/******************************************************************************/
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int main (int argc, char *argv[], char *env[]) {
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char socketPath[260] = {0}; /* Name of the local domain socket. */
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FILE *fp;
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int fdSocket;
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struct sockaddr_un addr;
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char *queryString;
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int queryStringAllocated = 0;
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/* whitelist and blacklist are arrays of null separated strings, which
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* contains patterns for comparision with commands from query string. */
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char *whitelist;
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char *blacklist;
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int whitelistLen;
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int blacklistLen;
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/* Print mime */
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printf("Content-type:text/plain\n\n");
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/* Get program options from configuration file */
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fp = fopen("canopen.conf", "r");
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if(fp == NULL) {
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errExitErrno("Can't open configuration file");
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}
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else {
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const char spaceDelim[] = " \t\n\r\f\v";
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char buf[1000];
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int wlSize = 1000; /* byte length */
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int blSize = 1000;
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int wlDataSize = 0;
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int blDataSize = 0;
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whitelist = (char *) malloc(wlSize);
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blacklist = (char *) malloc(blSize);;
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whitelistLen = 0; /* number of tokens in list */
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blacklistLen = 0;
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if(whitelist == NULL || blacklist == NULL) {
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errExitErrno("Whitelist or Blacklist can't be allocated.");
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}
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while(fgets(buf, sizeof(buf), fp) != NULL) {
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char *token;
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token = strtok(buf, spaceDelim);
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if(token == NULL) {
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}
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else if(strcasecmp(token, "socketPath") == 0) {
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if(strlen(socketPath) != 0) {
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errExit("Duplicate 'socketPath' in canopen.conf.");
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}
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strncpy(socketPath, strtok(NULL, spaceDelim), sizeof(socketPath));
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socketPath[sizeof(socketPath)-1] = 0;
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}
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else if(strcasecmp(token, "allow") == 0) {
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int prevDataSize = wlDataSize;
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token = strtok(NULL, spaceDelim);
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wlDataSize += (strlen(token) + 1);
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while(wlDataSize > wlSize) {
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wlSize *= 2;
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whitelist = (char *) realloc(whitelist, wlSize);
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if(whitelist == NULL) {
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errExitErrno("Whitelist can't be allocated.");
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}
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}
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strcpyToUpper(&whitelist[prevDataSize], token);
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whitelistLen ++;
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}
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else if(strcasecmp(token, "deny") == 0) {
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int prevDataSize = blDataSize;
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token = strtok(NULL, spaceDelim);
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blDataSize += (strlen(token) + 1);
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while(blDataSize > blSize) {
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blSize *= 2;
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blacklist = (char *) realloc(blacklist, blSize);
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if(blacklist == NULL) {
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errExitErrno("Blacklist can't be allocated.");
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}
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}
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strcpyToUpper(&blacklist[prevDataSize], token);
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blacklistLen ++;
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}
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}
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}
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fclose(fp);
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/* Create and connect client socket */
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fdSocket = socket(AF_UNIX, SOCK_STREAM, 0);
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if(fdSocket == -1) {
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errExitErrno("Socket creation failed");
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}
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memset(&addr, 0, sizeof(struct sockaddr_un));
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addr.sun_family = AF_UNIX;
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strncpy(addr.sun_path, socketPath, sizeof(addr.sun_path) - 1);
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if(connect(fdSocket, (struct sockaddr *)&addr, sizeof(struct sockaddr_un)) == -1) {
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errExitErrnoUGID("Socket connection failed");
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}
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/* get query string */
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queryString = getenv("QUERY_STRING"); /* HTTP GET method. */
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if(queryString != NULL && strlen(queryString) == 0) {
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queryString = malloc(BUF_SIZE);
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if(queryString == NULL) {
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errExitErrno("queryString can't be allocated.");
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}
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queryStringAllocated = 1;
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fgets(queryString, BUF_SIZE, stdin); /* HTTP POST method. */
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}
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if(queryString == NULL && argc >= 2) {
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queryString = argv[1]; /* If no query string, try first argument. */
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}
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/* get commands from query string */
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if(queryString != NULL && strlen(queryString) > 0) {
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char *command;
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int sequence = 1;
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/* put whole query string to upper case */
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strToUpper(queryString);
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command = strtok(queryString, "&");
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while(command != NULL) {
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int i;
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int offset;
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int passed = 0;
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/* Test whitelist and blacklist */
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offset = 0;
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for(i=0; i<whitelistLen; i++) {
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char *patern = &whitelist[offset];
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if(fnmatch(patern, command, 0) == 0) {
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passed = 1;
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break;
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}
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offset += strlen(patern) + 1;
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}
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if(passed == 1) {
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offset = 0;
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for(i=0; i<blacklistLen; i++) {
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char *patern = &blacklist[offset];
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if(fnmatch(patern, command, 0) == 0) {
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passed = -1; /* not allowed */
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break;
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}
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offset += strlen(patern) + 1;
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}
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}
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/* Send command or error message */
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if(strlen(command) < 9) {
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printf("? %s [%d] ERROR: 101 - Syntax error in command.\n", command, sequence);
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}
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else if(passed == 1) {
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sendCommand(fdSocket, sequence, command);
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}
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else {
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printf("%c %c%c%c%c%c%c%c%c [%d] ERROR: 100 - Access restriction, command %s.\n",
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command[0], command[1], command[2], command[3], command[4],
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command[5], command[6], command[7], command[8],
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sequence, (passed==0)?"not on whitelist":" on blacklist");
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}
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command = strtok(NULL, "&");
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sequence ++;
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}
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}
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else {
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printUsage();
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}
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close(fdSocket);
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free(whitelist);
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free(blacklist);
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if(queryStringAllocated == 1) {
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free(queryString);
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}
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exit(EXIT_SUCCESS);
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}
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static void sendCommand(int fd, int sequence, char* command) {
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int i, err;
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char comm;
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unsigned int nodeId, idx, sidx;
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char dataType[4];
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char *value = "";
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char buf[BUF_SIZE];
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/* Parse command. It is at least 8 characters long. */
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err = 0;
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comm = command[0];
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if(comm != 'R' && comm != 'W') {
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err = 1;
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}
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nodeId = hex2dec(&command[1], 2, &err);
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if(nodeId < 1 || nodeId > 127) {
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err = 1;
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}
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idx = hex2dec(&command[3], 4, &err);
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sidx = hex2dec(&command[7], 2, &err);
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for(i=0; i<sizeof(dataType); i++) {
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char c = command[9+i];
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if(c == '=' || c == 0) {
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dataType[i] = 0;
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if(c == '=') {
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value = &command[10+i];
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}
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break;
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}
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dataType[i] = c;
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}
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if(i > 3) {
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err = 1;
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dataType[0] = 0;
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}
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if(strlen(value) > (sizeof(buf) - 50)) {
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err = 1;
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}
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/* Write command according to CiA309-3. */
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if(err == 0) {
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size_t wlen, rlen;
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strToLower(dataType);
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wlen = sprintf(buf, "[%d] 0x%02X %c 0x%04X 0x%02X %s %s\n",
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sequence, nodeId, tolower(comm), idx, sidx, dataType, value);
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if (write(fd, buf, wlen) != wlen) {
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errExit("Socket write failed");
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}
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rlen = read(fd, buf, sizeof(buf) - 1);
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if(rlen < 0) {
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errExit("Socket read failed");
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}
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else {
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buf[rlen] = 0;
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}
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printf("%c %02X%04X%02X %s",
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comm, nodeId, idx, sidx, buf);
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}
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else {
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printf("? %s [%d] ERROR: 101 - Syntax error in command.\n",
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command, sequence);
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}
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}
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