Hi,
I am trying to connect real time linux with normal linux PC through by the
real time server on rtlinux side just receiving the datas from the client
program running on another linux pc. I modified the example program,
examples/xenomai/native/frag-ip.c for server purpose and running the same
generic client program examples/generic/linux_cleint.c on client PC.
After I run the server and client program, both of them are waiting for each
others. There is no issues on client side, I guess. Because the linux client
program is working fine with the linux_server.c. I guess the issue is on the
server side. Here I have attached my server program along with this mail.
Please check the attachment. Give some hints on the issue.
FYI, I loaded both rttcp and rtudp modules.
Thanks in Adv,
Prakash
/***
*
* examples/xenomai/frag-ip.c
*
* sends fragmented IP packets to another frag-ip instance - Xenomai version
*
* Copyright (C) 2003-2005 Jan Kiszka <jan.kis...@web.de>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <signal.h>
#include <unistd.h>
#include <sys/mman.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <native/task.h>
#include <rtnet.h>
#include <rtnet_config.h> /* required for rt_task_wait_period() changes */
char *dest_ip_s = "";
char *local_ip_s = "192.168.0.11";
unsigned int size = 65505;
unsigned int add_rtskbs = 75;
#define CYCLE 1000*1000*1000 /* 1 s */
RT_TASK rt_recv_task;
#define PORT 37000
struct sockaddr_in dest_addr;
int sock;
char buffer_out[64*1024];
char buffer_in[64*1024];
void recv_msg(void *arg)
{
int ret;
struct msghdr msg;
struct iovec iov[2];
unsigned short msgsize = size;
struct sockaddr_in addr;
printf("Creating Real time task: DONE...\n");
while (1) {
iov[0].iov_base = &msgsize;
iov[0].iov_len = sizeof(msgsize);
iov[1].iov_base = buffer_in;
iov[1].iov_len = size;
memset(&msg, 0, sizeof(msg));
msg.msg_name = &addr;
msg.msg_namelen = sizeof(addr);
msg.msg_iov = iov;
msg.msg_iovlen = 2;
printf("Waiting for client message...\n");
ret = rt_dev_recvmsg(sock, &msg, 0);
if (ret <= 0) {
printf(" rt_dev_recvmsg() = %d\n", ret);
return;
} else {
unsigned long ip = ntohl(addr.sin_addr.s_addr);
printf("received packet from %lu.%lu.%lu.%lu, length: %zd+2, "
"encoded length: %d,\n flags: %X, content %s\n", ip >> 24,
(ip >> 16) & 0xFF, (ip >> 8) & 0xFF, ip & 0xFF,
ret-sizeof(msgsize), msgsize, msg.msg_flags,
(memcmp(buffer_in, buffer_out, ret-sizeof(msgsize)) == 0) ?
"ok" : "corrupted");
}
}
}
void catch_signal(int sig)
{
}
int main(int argc, char *argv[])
{
int ret;
unsigned int i;
struct sockaddr_in local_addr;
struct in_addr dest_ip;
while (1) {
switch (getopt(argc, argv, "d:s:")) {
case 'd':
dest_ip_s = optarg;
break;
case 's':
size = atoi(optarg);
break;
case -1:
goto end_of_opt;
default:
printf("usage: %s [-d <dest_ip>] [-s <size>]\n", argv[0]);
return 0;
}
}
end_of_opt:
inet_aton(dest_ip_s, &dest_ip);
if (local_ip_s[0])
inet_aton(local_ip_s, &local_addr.sin_addr);
else
local_addr.sin_addr.s_addr = INADDR_ANY;
if (size > 65505)
size = 65505;
signal(SIGTERM, catch_signal);
signal(SIGINT, catch_signal);
signal(SIGHUP, catch_signal);
mlockall(MCL_CURRENT|MCL_FUTURE);
printf("destination ip address %s=%08x\n", dest_ip_s, dest_ip.s_addr);
printf("size %d\n", size);
printf("local ip address: %s = %08x\n",
local_ip_s[0] ? local_ip_s : "INADDR_ANY", local_addr.sin_addr.s_addr);
/* fill output buffer with test pattern */
for (i = 0; i < sizeof(buffer_out); i++)
buffer_out[i] = i & 0xFF;
/* create rt-socket */
sock = rt_dev_socket(AF_INET,SOCK_DGRAM,0);
if (sock < 0) {
printf(" rt_dev_socket() = %d!\n", sock);
return sock;
}
printf("Creating Real time socket:...DONE\n");
/* extend the socket pool */
ret = rt_dev_ioctl(sock, RTNET_RTIOC_EXTPOOL, &add_rtskbs);
if (ret != (int)add_rtskbs) {
printf(" rt_dev_ioctl(RT_IOC_SO_EXTPOOL) = %d\n", ret);
rt_dev_close(sock);
return -1;
}
/* bind the rt-socket to a port */
memset(&local_addr, 0, sizeof(struct sockaddr_in));
local_addr.sin_family = AF_INET;
local_addr.sin_port = htons(PORT);
local_addr.sin_addr.s_addr = INADDR_ANY;
ret = rt_dev_bind(sock, (struct sockaddr *)&local_addr,
sizeof(struct sockaddr_in));
if (ret < 0) {
printf(" rt_dev_bind() = %d!\n", ret);
rt_dev_close(sock);
return ret;
}
printf("Binding process :...DONE\n");
/* set destination address */
memset(&dest_addr, 0, sizeof(struct sockaddr_in));
dest_addr.sin_family = AF_INET;
dest_addr.sin_port = htons(PORT);
dest_addr.sin_addr = dest_ip;
/* You may have to start the system timer manually
* on older Xenomai versions (2.0.x):
* rt_timer_start(TM_ONESHOT); */
ret = rt_task_create(&rt_recv_task, "Receiver", 0, 10, 0);
if (ret != 0) {
printf(" rt_task_create(recv) = %d!\n", ret);
rt_dev_close(sock);
rt_task_delete(&rt_recv_task);
return ret;
}
printf("Creating Receiver task:...DONE\n");
rt_task_start(&rt_recv_task, recv_msg, NULL);
pause();
/* In case you started it in this program, see comment above.
* rt_timer_stop(); */
/* Note: The following loop and the strict ordering "close before task
* termination" is no longer required since Xenomai 2.4. */
while (rt_dev_close(sock) == -EAGAIN) {
printf("frag-ip: Socket busy - waiting...\n");
sleep(1);
}
rt_task_delete(&rt_recv_task);
return 0;
}
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