Hi all,
I am a new user of RTAI, RTnet and even Linux.
I am using rtai-3.4-cv rtnet-0.9.8 and linux-2.6.17.
I want to *receive* UDP/IP data in a simple periodic fashion with sampling time
constraint of 1ms. I am using the RTAI lxrt in hard real time mode.
I have followed the codes given in the example and put the rt_dev_recv(sockfd,
msgStr,sizeof(msgStr), MSG_DONTWAIT) in a periodic task.
the segments are as follows:
static struct sockaddr_in local_addr;static struct sockaddr_in
server_addr;static void *SendRcvFun(void *arg){ RT_TASK *handler; //local
handler static struct { unsigned long indx; RTIME time; }
msg = {0,0}; int sockfd = 0; int ret = 0; char msgStr[100]
= "Hello world"; /* Set variables to zero. */ memset(msgStr, 0,
sizeof(msgStr)); memset(&local_addr, 0, sizeof (struct sockaddr_in));
memset(&server_addr, 0, sizeof(struct sockaddr_in));
/* Check arguments and set addresses. */
local_addr.sin_family = AF_INET; local_addr.sin_addr.s_addr
= INADDR_ANY; local_addr.sin_port =
htons(11000);//htons(atoi(11000));
server_addr.sin_family = AF_INET; inet_aton("139.30.6.66",
&server_addr.sin_addr); server_addr.sin_port = htons(11000);
rtf_create(FIFO, 2000); mlockall(MCL_CURRENT | MCL_FUTURE); sockfd =
rt_dev_socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP); if (sockfd < 0) {
printf("Error opening socket: %d\n", sockfd); exit(1); }
// if (!(handler=
rt_task_init_schmod(nam2num("SRTSK"), 0, 0, 0,SCHED_FIFO, 0xFF))) {
printf("CANNOT INIT SendRcvFun\n"); rt_dev_close(sockfd);
exit(1); } rt_set_periodic_mode(); start_rt_timer(0); period
= start_rt_timer(nano2count(TIMERTICKS)); rt_task_make_periodic(handler,
rt_get_time()+period, period);
rt_make_hard_real_time(); /* Bind socket to local address specified as
parameter. */ ret = rt_dev_bind(sockfd, (struct sockaddr *) &local_addr,
sizeof(struct sockaddr_in)); /* Specify destination address for socket;
needed for rt_socket_send(). */ rt_dev_connect(sockfd, (struct sockaddr *)
&server_addr, sizeof(struct sockaddr_in)); //ret = rt_dev_recv(sockfd,
msgStr, sizeof(msgStr), 0); /* Send a message. */ rt_dev_send(sockfd,
msgStr, sizeof(msgStr), MSG_DONTWAIT); //rt_dev_recv(sockfd, msgStr,
sizeof(msgStr), MSG_DONTWAIT); //ret = rt_dev_sendto(sockfd, msgStr,
sizeof(msgStr), 0); endSendRcvFun = 0;
while (!endSendRcvFun) { rt_dev_send(sockfd, msgStr, sizeof(msgStr),
MSG_DONTWAIT); ret = rt_dev_recv(sockfd, msgStr, sizeof(msgStr),
MSG_DONTWAIT);
msg.indx = ret; msg.time = rt_get_time_ns();
rtf_put(FIFO, &msg, sizeof(msg)); //printk("h");
rt_task_wait_period(); } stop_rt_timer(); rt_make_soft_real_time();
rt_dev_close(sockfd); rt_task_delete(handler); rtf_destroy(FIFO);
printf("deletedTask\n"); return 0;}
Running this code gives an error that the LXRT has changed mode and getting
hanged. Could anybody please help me in this regard.
_Monotosh Das_
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