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Reworked the script uavcan_add_slcan

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This commit is contained in:
Pavel Kirienko
2015-12-08 02:49:37 +03:00
parent 8b31d993be
commit 426f349e36
1 changed files with 111 additions and 25 deletions
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libuavcan_drivers/linux/scripts/uavcan_add_slcan
+111 -25
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@@ -6,13 +6,21 @@
HELP="Register slcan-enabled Serial-to-CAN adapters as network interfaces.
Usage:
`basename $0` [options] <tty0> [[options] <tty1> ...]
First device will be mapped to the interface slcan0, second will be mapped to
slcan1, and so on. Keep in mind that the effect of this script is not
additive, i.e. all existing slcan interfaces will be removed and replaced with
new ones. The package 'can-utils' has to be installed in order to use slcan.
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:
-s<X> (where X is a number in range [1, 8]) Set CAN speed to:
--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
@@ -22,12 +30,36 @@ Options:
7 - 800 Kbps
8 - 1 Mbps (UAVCAN recommended, default)
Example:
`basename $0` /dev/ttyUSB3 /dev/ttyUSB0 -s4 /dev/ttyACM0
The example above initializes:
/dev/ttyUSB3 --> slcan0 @ 1Mbps
/dev/ttyUSB0 --> slcan1 @ 1Mbps
/dev/ttyACM0 --> slcan2 @ 125kbps"
--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: 3000000)
-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 3000000
/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; }
@@ -35,17 +67,23 @@ 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"
[ "$(id -u)" == "0" ] || die "Must be root."
which slcan_attach > /dev/null || die "Please install can-utils first."
# ---------------------------------------------------------
function deinitialize() {
echo "Terminating slcand..."
echo "Stopping slcand..." >&2
# Trying SIGINT first
killall -INT slcand &> /dev/null
sleep 0.3
# Then trying the default signal, which is SIGTERM, if SIGINT didn't help
slcand_kill_retries=10
while killall slcand &> /dev/null
do
(( slcand_kill_retries -= 1 ))
[[ "$slcand_kill_retries" > 0 ]] || die "Failed to kill slcand"
[[ "$slcand_kill_retries" > 0 ]] || die "Failed to stop slcand"
sleep 1
done
}
@@ -53,35 +91,83 @@ function deinitialize() {
function handle_tty() {
tty=$(readlink -f $1)
tty=${tty/'/dev/'}
iface="$IFACE_BASENAME$NEXT_IFACE_INDEX"
stty -F /dev/$tty ispeed 3000000 ospeed 3000000 || return 1
slcan_attach -f -o -s$SPEED_CODE /dev/$tty || return 2
iface_index=0
while ifconfig "$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
ifconfig $iface up || return 4
sleep 1 # FIXME
NEXT_IFACE_INDEX=$((NEXT_IFACE_INDEX + 1))
# ...therefore we need to rename the interface manually
ip link set $slcan_iface name $iface
ifconfig $iface up || return 4
}
NEXT_IFACE_INDEX=0
IFACE_BASENAME='slcan'
SPEED_CODE=8
BAUDRATE=3000000
deinitialize
next_option=''
while [ -n "$1" ]; do
case $1 in
-s[1-8])
-r | --remove-all)
deinitialize
;;
-b*)
IFACE_BASENAME=${1:2}
;;
-S*)
BAUDRATE=${1:2}
;;
-s[0-8])
SPEED_CODE=${1:2}
;;
--*)
next_option=${1:2}
;;
-*)
die "Invalid option: $1"
;;
*)
handle_tty $1 || die "Failed to configure the interface $1"
if [ "$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'"