Hello,
With the following code I can start an socket an I get no errors until the
initialization.
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <sys/types.h>
#include <sys/mman.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <errno.h>
#include <sched.h>
#include <netdb.h>
#include <arpa/inet.h>
#include <netinet/in.h>
#include <rtnet.h>
#include <rtai_serial.h>
#include <rtai_lxrt.h>
static struct sockaddr_in local_addr;
static struct sockaddr_in server_addr;
int main(int argc, char **argv)
{
system("/sbin/insmod /lib/modules/2.6.31.8-rtai-1v/rtcfg.ko");
system("/sbin/insmod /lib/modules/2.6.31.8-rtai-1v/rtmac.ko");
system("/sbin/insmod /lib/modules/2.6.31.8-rtai-1v/tdma.ko");
system("/sbin/insmod /usr/realtime/modules/rtai_hal.ko");
system("/sbin/insmod /usr/realtime/modules/rtai_lxrt.ko");
system("/sbin/insmod /usr/realtime/modules/rtai_sem.ko");
system("/sbin/insmod /usr/realtime/modules/rtai_rtdm.ko");
system("/sbin/insmod /lib/modules/2.6.31.8-rtai-1v/rtnet.ko");
system("/sbin/insmod /lib/modules/2.6.31.8-rtai-1v/rtipv4.ko");
system("/sbin/insmod /lib/modules/2.6.31.8-rtai-1v/rtudp.ko");
system("/sbin/insmod /lib/modules/2.6.31.8-rtai-1v/rtpacket.ko");
system("/sbin/insmod /lib/modules/2.6.31.8-rtai-1v/rt_loopback.ko");
system("/sbin/insmod /lib/modules/2.6.31.8-rtai-1v/rt_8139too.ko");
int sockfd = 0;
int ret = 0;
int res;
RTIME period;
RT_TASK *lxrtnettsk;
char msg[] = "This message was sent using rtnet_lxrt.";
printf("RTnet, simpleclient for LXRT\n");
memset(&local_addr, 0, sizeof(struct sockaddr_in));
memset(&server_addr, 0, sizeof(struct sockaddr_in));
local_addr.sin_family = AF_INET;
local_addr.sin_addr.s_addr = inet_addr("192.168.180.1");
local_addr.sin_port = htons(atoi("8080"));
server_addr.sin_family = AF_INET;
server_addr.sin_addr.s_addr = inet_addr("192.168.180.2");
server_addr.sin_port = htons(atoi("8080"));
/* Lock allocated memory into RAM. */
mlockall(MCL_CURRENT|MCL_FUTURE);
for(int i=1;i<sockfd;i++)
{
rt_dev_close(i);
}
sockfd = rt_dev_socket(AF_INET, SOCK_DGRAM, 0);
//system("")
rt_dev_send(sockfd, msg, sizeof(msg), 0);
if (sockfd < 0)
{
printf("Error opening socket: %d\n", sockfd);
exit(1);
}
else
{
printf("Öffnet socket: %d\n", sockfd);
}
/* Initialize a real time buddy. */
lxrtnettsk = rt_task_init(4800, 1, 0, 0);
if (NULL == lxrtnettsk) {
rt_dev_close(sockfd);
printf("CANNOT INIT MASTER TASK\n");
exit(1);
}
/* Switch over to hard realtime mode. */
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(). */
int k = rt_dev_connect(sockfd, (struct sockaddr *) &server_addr,
sizeof(struct sockaddr_in));
printf("K: %i",k);
/* Send a message. */
rt_dev_send(sockfd, msg, sizeof(msg), 0);
/* Switch over to soft realtime mode. */
rt_make_soft_real_time();
/* Close socket.
* Note: call must be in soft-mode because socket was created as non-rt! */
rt_dev_close(sockfd);
/* Delete realtime buddy. */
rt_task_delete(lxrtnettsk);
return 0;
}
But when the programm try to send I get the following dmesg-output:
[ 2328.237746] RTcfg: init real-time configuration distribution protocol
[ 2328.247369] RTmac: init realtime media access control
[ 2328.263020] RTmac/TDMA: init time division multiple access control mechanism
[ 2328.289233] RTnet: host 192.168.180.2 unreachable
And I receive nothing on my second computer. Also Wireshark doesn't trace
something. Furthermore, withe the command "./rtroute" I saw that threre stand
nothing in the routing table, beside "Hash Destination HW Address
Device". So I get "ioctl: No route to host" back if I try to rtping the second
computer.
One more idea?
Regards,
Franz
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