Hi,
I'm also new to rtnet (and RTAI). Therefore I don't know what you have to
change to use this code on xenomai. But there are examples in the rtnet
archive. Download the newest archive and look in the following
directory:/rtnet-0.9.12/examples/xenomai/native/kernel/
There is a file called raw-packets.c. I think this will help you.
Andreas Kasper
Zitat Ramon Rusli <mon_...@yahoo.com>:
> 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 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(
> structsockaddr_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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