Hello community, as mentioned in my mail from 05.09.2007 (see [1]) we want to use rtnet for a realtime communication with a robot-controller (VMWare). We want to write a program, which uses the rtnet-API to create a TCP/IP-socket-connection in RTAI. We are getting into trouble when calling rt_dev_open() with SOCK_RAW as second argument.
Calling rt_dev_open() with SOCK_STREAM also leads to an error, but
this one is clear to me:
It comes obviously from a missing device-entry in the device-list
managed in
rtai/addons/rtdm/device.c
There are only calls to rtdm_dev_register() in
rtnet/stack/ipv4/af_inet.c
and
rtnet/stack/packet/af_packet.c,
where the socket_type is set to SOCK_DGRAM (af_inet.c) and to
SOCK_RAW (af_packet.c).
But we also get the error-message when calling rt_dev_open() with
SOCK_RAW as socket-type, which I don't understand.
Now my questions:
1) Is it possible to use SOCK_STREAM? I think it is not, but I would be
interested in a solution, if I was wrong.
2) Is it possible to use SOCK_RAW? I hope so. Then we would have to
write a simple TCP-stack, which shouldn't be too hard.
You find a version of simpleclient.c attached to this mail. Also I'm
sending the output of rtifconfig and lsmod at the end of this mail.
Thanks in advance, any help is appreciated.
Alexander Spiller
[1]
http://www.mail-archive.com/rtnet-users@lists.sourceforge.net/msg02065.h
tml
#####
rtifconfig:
-----------
rteth0 Medium: Ethernet Hardware address: 00:19:D1:91:CC:D0
IP address: 129.233.125.244 Broadcast address:
129.233.255.255
UP BROADCAST RUNNING MTU: 1500
#####
lsmod:
------
8255 6016 1 ni_pcimio
af_packet 18824 2
comedi 37728 6 kcomedilib,ni_pcimio,ni_tio,comedi_fc,
mite,8255
comedi_fc 3712 1 ni_pcimio
e1000 120896 0
kcomedilib 14464 1 rtai_comedi
mite 10244 2 ni_pcimio,ni_tio
ni_pcimio 55680 0
ni_tio 17792 1 ni_pcimio
rtai_comedi 5632 0
rtai_hal 88524 16
rtmac,rtcfg,rtnet,rtai_comedi,kcomedilib,
ni_pcimio,ni_tio,comedi_fc,mite,comedi,
rtai_rtdm,rtai_shm,rtai_msg,rtai_mbx,
rtai_sem,rtai_lxrt
rtai_lxrt 103360 12
rtcfg,rt_e1000,rtipv4,rtnet,rtai_comedi,
kcomedilib,ni_pcimio,rtai_rtdm,rtai_shm,
rtai_msg,rtai_mbx,rtai_sem
rtai_mbx 14080 0
rtai_msg 32256 0
rtai_rtdm 30904 5 rtcfg,rt_e1000,rtpacket,rtipv4,rtnet
rtai_sem 29824 5
rtcfg,rtnet,rtai_comedi,rtai_rtdm,rtai_mbx
rtai_shm 13952 1 rtai_comedi
rtcfg 41672 0
rt_e1000 89536 0
rtipv4 27856 1 rtcfg
rtmac 11544 0
rtnet 33792 5 rtmac,rtcfg,rt_e1000,rtpacket,rtipv4
rtpacket 6400 0
agpgart 28492 2 nvidia,intel_agp
ata_generic 6020 0
ata_piix 13448 3
binfmt_misc 10248 1
capability 4360 0
cdrom 36256 1 sr_mod
commoncap 6528 1 capability
ehci_hcd 29064 0
evdev 9216 1
ext3 132104 2
fuse 40468 1
generic 6148 0 [permanent]
i2c_core 20480 1 nvidia
intel_agp 22940 1
ipv6 251808 18
iTCO_wdt 10024 0
jbd 64808 1 ext3
libata 94740 2 ata_generic,ata_piix
lp 10372 0
mbcache 7684 1 ext3
nvidia 7243764 24
parport 34760 3 ppdev,parport_pc,lp
parport_pc 32548 1
ppdev 8708 0
psmouse 38152 0
scsi_mod 124300 4 sr_mod,sd_mod,sg,libata
sd_mod 19200 4
serio_raw 6532 0
sg 31644 0
sr_mod 14756 0
tsdev 7232 0
uhci_hcd 20620 0
usbhid 38880 0
simpleclient.c
Description: simpleclient.c
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