Hello,
I think you are looking for the following code:
#include <stdio.h>
#include <sys/socket.h>
#include <arpa/inet.h>
#include <netinet/in.h>
#include <string.h>
#include <rtai_lxrt.h>
#include <rtnet.h>
#define LXRTTASKID 4444
static struct sockaddr_in net_client;
static struct sockaddr_in net_canrouter;
int main( int argc, char **argv )
{
RT_TASK *lxrttask;
int sock;
RTIME start;
RTIME end;
char welcomemessage[] = "Welcome";
/* init network strutures */
memset( &net_client, 0, sizeof( struct sockaddr_in ) );
memset( &net_canrouter, 0, sizeof( struct sockaddr_in ) );
/* disable paging for the current process */
if ( -1 == mlockall( MCL_CURRENT | MCL_FUTURE ) )
{
printf("Error: mlockall failedn");
exit( EXIT_FAILURE );
}
/* local network interface configuration */
net_client.sin_family = AF_INET;
net_client.sin_addr.s_addr = INADDR_ANY;
net_client.sin_port = htons( 333 ); /* local udp port */
/* udp destinaton configuration */
net_canrouter.sin_family = AF_INET;
net_canrouter.sin_addr.s_addr = inet_addr( "192.168.22.1" );
//printf("INET_ATON: %dn", inet_aton( "192.168.22.1",
&net_canrouter.sin_addr) );
net_canrouter.sin_port= htons( 333 ); /* remode udp port */
/* create udp socket */
if ( ( sock = rt_dev_socket( AF_INET, SOCK_DGRAM, 0 ) ) < 0 )
{
printf("Error: rt_dev_socketn");
exit( EXIT_FAILURE );
}
/* init realtime task */
if ( ( lxrttask = rt_task_init( LXRTTASKID, 1, 0, 0 ) ) == NULL )
{
rt_dev_close( sock );
printf("Error: rt_task_initn");
exit( EXIT_FAILURE );
}
printf("switching to hard real time moden");
/* switch to hard real time mode */
rt_make_hard_real_time( );
/* bind local rt socket */
if ( 0 != rt_dev_bind( sock, (struct sockaddr *) &net_client, sizeof(
struct sockaddr_in ) ) )
{
rt_make_soft_real_time( );
rt_dev_close( sock );
rt_task_delete( lxrttask );
printf("Error: rt_dev_bindn");
exit( EXIT_FAILURE );
}
/* connect can router */
if ( 0 != rt_dev_connect( sock, (struct sockaddr *) &net_canrouter, sizeof(
struct sockaddr_in ) ) )
{
rt_make_soft_real_time( );
rt_dev_close( sock );
rt_task_delete( lxrttask );
printf("Error: rt_dev_connectn");
exit( EXIT_FAILURE );
}
/* rt & network initialization completed */
printf("sendn");
/* send welcome message to the can router */
rt_dev_send( sock, welcomemessage, sizeof( welcomemessage ), 0 );
printf("=> soft realtimen");
rt_make_soft_real_time( );
printf("=> closen");
rt_dev_close( sock );
printf("=> task_deleten");
rt_task_delete( lxrttask );
printf("=> exitn");
printf("start: %gnende: %gn", start, end );
exit( EXIT_SUCCESS );
}
You have to use the following libraries:
-llxrt -lpthread
and the following include pathes:
-I/usr/realtime/include -I/usr/local/rtnet/include
Andreas Kasper
Zitat Ramon Rusli <mon_...@yahoo.com>:
> Dear,
>
> How can I use rtnet to send or receive packet in c? i am a bit confused
> because no examples or tutorial to build the program using rtnet while I
> search it in internet. i want to make a real time packet sending program and
> a real time packet receiver program using rtnet 0.9.12 and xenomai 2.5.4. the
> operating system that I use is linux fedora 13 kernel 2.6.32.11.
>
> Is it just add some include and some lines from standard udp packet server
> and client program?
>
> thanks a lot
> ==========================
> //the standard udp packet server that I build (server.c)
> #include <stdio.h>
> #include <stdlib.h>
> #include <unistd.h>
> #include <string.h>
> #include <netinet/in.h>
> #include <arpa/inet.h>
> #include <sys/types.h>
> #include <sys/socket.h>
> #include<mqueue.h>
> #include <fcntl.h>
> #include <sys/stat.h>
> #include <pthread.h>
> #include <sys/mman.h>
> #include <signal.h>
> #include <limits.h>
> #define PORT 7788
> #define BUFLEN 65000
> #define NPACK 10000000
>
> void diep (char *s)
> {
> perror (s);
> exit (1);
> }
>
> int main (void)
> {
> struct sockaddr_in si_me, si_other;
> int s, i, slen=sizeof(si_other);
> char buf[BUFLEN];
>
> if ((s=socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP))== -1)
> {
> diep("socket");
> }
>
> memset ((char *) &si_me, 0, sizeof(si_me));
> si_me.sin_family = AF_INET;
> si_me.sin_port = htons(PORT);
> si_me.sin_addr.s_addr = htonl(INADDR_ANY);
> if (bind(s, &si_me, sizeof(si_me)) == -1)
> {
> diep("bind");
> }
>
> for(i = 0; i < NPACK; i++)
> {
> if(recvfrom(s, buf, BUFLEN, 0, &si_other, &slen) == -1)
> {
> diep("recvfrom()");
> }
> printf("received packet from %s:%dn Data: %snn",
> inet_ntoa(si_other.sin_addr), ntohs(si_other.sin_port), buf);
> }
> close(s);
> return 0;
> }
>
>
> =============================
> //the standard udp packet client (client.c)
> #include <stdlib.h>
> #include<unistd.h>
> #include <string.h>
> #include <netinet/in.h>
> #include <arpa/inet.h>
> #include <sys/types.h>
> #include <sys/socket.h>
> #include <mqueue.h>
> #include <fcntl.h>
> #include <sys/stat.h>
> #include <pthread.h>
> #include <sys/mman.h>
> #include <signal.h>
> #include <limits.h>
>
> #define PORT 7788
> #define BUFLEN 65000
> #define NPACK 10000000
> #define SRV_IP "167.205.34.150"
>
> void diep (char *s)
> {
> perror (s);
> exit (1);
> }
>
> int main ()
> {
> struct sockaddr_in si_other;
> int s, i, slen=sizeof(si_other);
> char buf[BUFLEN];
>
> if((s=socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1)
> {
> diep("socket");
> }
>
> memset((char *) &si_other, 0, sizeof(si_other));
> si_other.sin_family=AF_INET;
> si_other.sin_port = htons(PORT);
> if(inet_aton(SRV_IP, &si_other.sin_addr)==0)
> {
> fprintf(stderr, "inet_aton () failedn");
> exit (1);
> }
>
> for(i=0; i< NPACK; i++)
> {
> printf("sending packet %dn", i);
> sprintf(buf, "This is packet %dn",i);
> if (sendto(s, buf, BUFLEN, 0, &si_other, slen) == -1)
> {
> diep("sendto()");
> }
> }
> close(s);
> return 0;
> }
> ============================
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