Diff: libuavcan_drivers/linux/scripts/uavcan_add_slcan

Revision:

0:dfe6edabb8ec

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/libuavcan_drivers/linux/scripts/uavcan_add_slcan	Sat Apr 14 10:25:32 2018 +0000
@@ -0,0 +1,173 @@
+#!/bin/bash
+#
+# Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@zubax.com>
+#
+
+HELP="Register slcan-enabled Serial-to-CAN adapters as network interfaces.
+Usage:
+    `basename $0` [options] <tty0> [[options] <tty1> ...]
+
+Interface indexes will be assigned automatically in ascending order, i.e.
+first device will be mapped to the interface slcan0, second will be mapped to
+slcan1, and so on. Each added option affects only the interfaces that follow
+it, which means that options must be properly ordered (see examples below).
+This tool requires superuser priveleges.
+
+The package 'can-utils' must be installed. On Debian/Ubuntu-based systems it
+can be installed via APT: apt-get install can-utils
+
+Options:
+  --speed-code <X> (where X is a number in range [0, 8]; default: 8)
+  -s<X>
+      Set CAN speed to:
+      0 - 10  Kbps
+      1 - 20  Kbps
+      2 - 50  Kbps
+      3 - 100 Kbps
+      4 - 125 Kbps (UAVCAN recommended)
+      5 - 250 Kbps (UAVCAN recommended)
+      6 - 500 Kbps (UAVCAN recommended)
+      7 - 800 Kbps
+      8 - 1   Mbps (UAVCAN recommended, default)
+
+  --remove-all
+  -r
+      Remove all SLCAN interfaces.
+      If this option is used, it MUST be provided FIRST, otherwise it
+      will remove the interfaces added earlier.
+
+  --basename <X> (where X is a string containing [a-z], default: slcan)
+  -b<X>
+      Base name to use for the interfaces that follow this option.
+      Default value is 'slcan'. This option can be provided multiple times,
+      it will only affect the interfaces that were provided after it. If you
+      want to affect all added interfaces, provide this option first (see
+      examples below).
+
+  --baudrate <X> (where X is an integer, default: 921600)
+  -S<X>
+      Configure baud rate to use on the interface.
+      This option is mostly irrelevant for USB to CAN adapters.
+
+Example 1:
+    `basename $0` --remove-all /dev/ttyUSB3 --basename can --baudrate 115200 \\
+                     /dev/ttyUSB0 --speed-code 4 /dev/ttyACM0
+The example above initializes the interfaces as follows:
+    /dev/ttyUSB3  -->   slcan0     1 Mbps          baudrate 921600
+    /dev/ttyUSB0  -->   can0       1 Mbps          baudrate 115200
+    /dev/ttyACM0  -->   can1       125 kbps        baudrate 115200
+
+Example 2:
+    `basename $0` --remove-all
+The example above only removes all SLCAN interfaces without adding new ones."
+
+function die() { echo $@ >&2; exit 1; }
+
+if [ "$1" == '--help' ] || [ "$1" == '-h' ]; then echo "$HELP"; exit; fi
+
+[ -n "$1" ] || die "Invalid usage. Use --help to get help."
+
+[ "$(id -u)" == "0" ] || die "Must be root."
+
+which slcan_attach > /dev/null || die "Please install can-utils first."
+
+# ---------------------------------------------------------
+
+function deinitialize() {
+    echo "Stopping slcand..." >&2
+    # Trying SIGINT first
+    killall -INT slcand &> /dev/null
+    sleep 0.3
+    # Then trying the default signal, which is SIGTERM, if SIGINT didn't help
+    slcand_kill_retries=10
+    while killall slcand &> /dev/null
+    do
+        (( slcand_kill_retries -= 1 ))
+        [[ "$slcand_kill_retries" > 0 ]] || die "Failed to stop slcand"
+        sleep 1
+    done
+}
+
+function handle_tty() {
+    tty=$(readlink -f $1)
+    tty=${tty/'/dev/'}
+
+    iface_index=0
+    while ifconfig "$IFACE_BASENAME$iface_index" &> /dev/null
+    do
+        iface_index=$((iface_index + 1))
+    done
+
+    slcan_iface_index=0
+    while ifconfig "slcan$slcan_iface_index" &> /dev/null
+    do
+        slcan_iface_index=$((slcan_iface_index + 1))
+    done
+
+    iface="$IFACE_BASENAME$iface_index"
+    slcan_iface="slcan$slcan_iface_index"
+
+    echo "Attaching  $tty  to  $iface  speed code $SPEED_CODE  baudrate $BAUDRATE" >&2
+
+    # Configuring the baudrate
+    stty -F /dev/$tty ispeed $BAUDRATE ospeed $BAUDRATE || return 1
+
+    # Attaching the line discipline. Note that slcan_attach has option -n but it doesn't work.
+    slcan_attach -f -o -s$SPEED_CODE /dev/$tty > /dev/null || return 2
+    slcand $tty || return 3
+    sleep 1                                     # FIXME
+
+    # ...therefore we need to rename the interface manually
+    ip link set $slcan_iface name $iface
+
+    ifconfig $iface up || return 4
+}
+
+IFACE_BASENAME='slcan'
+SPEED_CODE=8
+BAUDRATE=921600
+
+next_option=''
+while [ -n "$1" ]; do
+    case $1 in
+    -r | --remove-all)
+        deinitialize
+        ;;
+
+    -b*)
+        IFACE_BASENAME=${1:2}
+        ;;
+
+    -S*)
+        BAUDRATE=${1:2}
+        ;;
+
+    -s[0-8])
+        SPEED_CODE=${1:2}
+        ;;
+
+    --*)
+        next_option=${1:2}
+        ;;
+
+    -*)
+        die "Invalid option: $1"
+        ;;
+
+    *)
+        if   [ "$next_option" = 'basename' ];   then IFACE_BASENAME=$1
+        elif [ "$next_option" = 'speed-code' ]; then SPEED_CODE=$1
+        elif [ "$next_option" = 'baudrate' ];   then BAUDRATE=$1
+        elif [ "$next_option" = '' ]
+        then
+            handle_tty $1 || die "Failed to configure the interface $1"
+        else
+            die "Invalid option '$next_option'"
+        fi
+        next_option=''
+        ;;
+    esac
+    shift
+done
+
+[ "$next_option" = '' ] || die "Expected argument for option '$next_option'"