Dear,
Thanks a lot Mr Kasper. From your code, which sections are needed to be changed
if I use Xenomai, not RTAI? Because I am using xenomai, not RTAI.
I am sorry if this answer is too be beginner, I am very new with this. Thank
you so much.
--- On Tue, 2/22/11, Andreas Kasper <a.kas...@kabsi.at> wrote:
From: Andreas Kasper <a.kas...@kabsi.at>
Subject: Re: [RTnet-users] [ask] how to send and receive packet with real time
network in rtnet
To: "Ramon Rusli" <mon_...@yahoo.com>
Cc: "rtnet" <rtnet-users@lists.sourceforge.net>
Date: Tuesday, February 22, 2011, 7:28 AM
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 failed\n");
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: %d\n", 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_socket\n");
exit( EXIT_FAILURE );
}
/* init realtime task */
if ( ( lxrttask = rt_task_init( LXRTTASKID, 1, 0, 0 ) ) == NULL )
{
rt_dev_close( sock );
printf("Error: rt_task_init\n");
exit( EXIT_FAILURE );
}
printf("switching to hard real time mode\n");
/* 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_bind\n");
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_connect\n");
exit( EXIT_FAILURE );
}
/* rt & network initialization completed */
printf("send\n");
/* send welcome message to the can router */
rt_dev_send( sock, welcomemessage, sizeof( welcomemessage ), 0 );
printf("=> soft realtime\n");
rt_make_soft_real_time( );
printf("=> close\n");
rt_dev_close( sock );
printf("=> task_delete\n");
rt_task_delete( lxrttask );
printf("=> exit\n");
printf("start: %g\nende: %g\n", 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:%d\n Data: %s\n\n",
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 () failed\n");
exit (1);
}
for(i=0; i< NPACK; i++)
{
printf("sending packet %d\n", i);
sprintf(buf, "This is packet %d\n",i);
if (sendto(s, buf, BUFLEN, 0, &si_other, slen) == -1)
{
diep("sendto()");
}
}
close(s);
return 0;
}
============================
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