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/****************************************************************************
(c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
www.systec-electronic.com
Project: openPOWERLINK
Description: source file for SDO/UDP-Protocolabstractionlayer module
License:
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
1. Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
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notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
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contributors may be used to endorse or promote products derived
from this software without prior written permission. For written
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
Severability Clause:
If a provision of this License is or becomes illegal, invalid or
unenforceable in any jurisdiction, that shall not affect:
1. the validity or enforceability in that jurisdiction of any other
provision of this License; or
2. the validity or enforceability in other jurisdictions of that or
any other provision of this License.
-------------------------------------------------------------------------
$RCSfile: EplSdoUdpu.c,v $
$Author: D.Krueger $
$Revision: 1.8 $ $Date: 2008/10/17 15:32:32 $
$State: Exp $
Build Environment:
GCC V3.4
-------------------------------------------------------------------------
Revision History:
2006/06/26 k.t.: start of the implementation
****************************************************************************/
#include "user/EplSdoUdpu.h"
#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)
#include "SocketLinuxKernel.h"
#include <linux/completion.h>
#include <linux/sched.h>
/***************************************************************************/
/* */
/* */
/* G L O B A L D E F I N I T I O N S */
/* */
/* */
/***************************************************************************/
//---------------------------------------------------------------------------
// const defines
//---------------------------------------------------------------------------
#ifndef EPL_SDO_MAX_CONNECTION_UDP
#define EPL_SDO_MAX_CONNECTION_UDP 5
#endif
//---------------------------------------------------------------------------
// local types
//---------------------------------------------------------------------------
typedef struct {
unsigned long m_ulIpAddr; // in network byte order
unsigned int m_uiPort; // in network byte order
} tEplSdoUdpCon;
// instance table
typedef struct {
tEplSdoUdpCon m_aSdoAbsUdpConnection[EPL_SDO_MAX_CONNECTION_UDP];
tEplSequLayerReceiveCb m_fpSdoAsySeqCb;
SOCKET m_UdpSocket;
struct completion m_CompletionUdpThread;
int m_ThreadHandle;
int m_iTerminateThread;
} tEplSdoUdpInstance;
//---------------------------------------------------------------------------
// modul globale vars
//---------------------------------------------------------------------------
static tEplSdoUdpInstance SdoUdpInstance_g;
//---------------------------------------------------------------------------
// local function prototypes
//---------------------------------------------------------------------------
static int EplSdoUdpThread(void *pArg_p);
/***************************************************************************/
/* */
/* */
/* C L A S S <EPL-SDO-UDP-Layer> */
/* */
/* */
/***************************************************************************/
//
// Description: Protocolabstraction layer for UDP
//
//
/***************************************************************************/
//=========================================================================//
// //
// P U B L I C F U N C T I O N S //
// //
//=========================================================================//
//---------------------------------------------------------------------------
//
// Function: EplSdoUdpuInit
//
// Description: init first instance of the module
//
//
//
// Parameters: pReceiveCb_p = functionpointer to Sdo-Sequence layer
// callback-function
//
//
// Returns: tEplKernel = Errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplSdoUdpuInit(tEplSequLayerReceiveCb fpReceiveCb_p)
{
tEplKernel Ret;
Ret = EplSdoUdpuAddInstance(fpReceiveCb_p);
return Ret;
}
//---------------------------------------------------------------------------
//
// Function: EplSdoUdpuAddInstance
//
// Description: init additional instance of the module
// înit socket and start Listen-Thread
//
//
//
// Parameters: pReceiveCb_p = functionpointer to Sdo-Sequence layer
// callback-function
//
//
// Returns: tEplKernel = Errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplSdoUdpuAddInstance(tEplSequLayerReceiveCb fpReceiveCb_p)
{
tEplKernel Ret;
// set instance variables to 0
EPL_MEMSET(&SdoUdpInstance_g, 0x00, sizeof(SdoUdpInstance_g));
Ret = kEplSuccessful;
// save pointer to callback-function
if (fpReceiveCb_p != NULL) {
SdoUdpInstance_g.m_fpSdoAsySeqCb = fpReceiveCb_p;
} else {
Ret = kEplSdoUdpMissCb;
goto Exit;
}
init_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
SdoUdpInstance_g.m_iTerminateThread = 0;
SdoUdpInstance_g.m_ThreadHandle = 0;
SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
Ret = EplSdoUdpuConfig(INADDR_ANY, 0);
Exit:
return Ret;
}
//---------------------------------------------------------------------------
//
// Function: EplSdoUdpuDelInstance
//
// Description: del instance of the module
// del socket and del Listen-Thread
//
//
//
// Parameters:
//
//
// Returns: tEplKernel = Errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplSdoUdpuDelInstance(void)
{
tEplKernel Ret;
Ret = kEplSuccessful;
if (SdoUdpInstance_g.m_ThreadHandle != 0) { // listen thread was started
// close thread
SdoUdpInstance_g.m_iTerminateThread = 1;
/* kill_proc(SdoUdpInstance_g.m_ThreadHandle, SIGTERM, 1 ); */
send_sig(SIGTERM, SdoUdpInstance_g.m_ThreadHandle, 1);
wait_for_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
SdoUdpInstance_g.m_ThreadHandle = 0;
}
if (SdoUdpInstance_g.m_UdpSocket != INVALID_SOCKET) {
// close socket
closesocket(SdoUdpInstance_g.m_UdpSocket);
SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
}
return Ret;
}
//---------------------------------------------------------------------------
//
// Function: EplSdoUdpuConfig
//
// Description: reconfigurate socket with new IP-Address
// -> needed for NMT ResetConfiguration
//
// Parameters: ulIpAddr_p = IpAddress in platform byte order
// uiPort_p = port number in platform byte order
//
//
// Returns: tEplKernel = Errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplSdoUdpuConfig(unsigned long ulIpAddr_p, unsigned int uiPort_p)
{
tEplKernel Ret;
struct sockaddr_in Addr;
int iError;
Ret = kEplSuccessful;
if (uiPort_p == 0) { // set UDP port to default port number
uiPort_p = EPL_C_SDO_EPL_PORT;
} else if (uiPort_p > 65535) {
Ret = kEplSdoUdpSocketError;
goto Exit;
}
if (SdoUdpInstance_g.m_ThreadHandle != 0) { // listen thread was started
// close old thread
SdoUdpInstance_g.m_iTerminateThread = 1;
/* kill_proc(SdoUdpInstance_g.m_ThreadHandle, SIGTERM, 1 ); */
send_sig(SIGTERM, SdoUdpInstance_g.m_ThreadHandle, 1);
wait_for_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
SdoUdpInstance_g.m_iTerminateThread = 0;
SdoUdpInstance_g.m_ThreadHandle = 0;
}
if (SdoUdpInstance_g.m_UdpSocket != INVALID_SOCKET) {
// close socket
iError = closesocket(SdoUdpInstance_g.m_UdpSocket);
SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
if (iError != 0) {
Ret = kEplSdoUdpSocketError;
goto Exit;
}
}
// create Socket
SdoUdpInstance_g.m_UdpSocket = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP);
if (SdoUdpInstance_g.m_UdpSocket == INVALID_SOCKET) {
Ret = kEplSdoUdpNoSocket;
EPL_DBGLVL_SDO_TRACE0("EplSdoUdpuConfig: socket() failed\n");
goto Exit;
}
// bind socket
Addr.sin_family = AF_INET;
Addr.sin_port = htons((unsigned short)uiPort_p);
Addr.sin_addr.s_addr = htonl(ulIpAddr_p);
iError =
bind(SdoUdpInstance_g.m_UdpSocket, (struct sockaddr *)&Addr,
sizeof(Addr));
if (iError < 0) {
//iError = WSAGetLastError();
EPL_DBGLVL_SDO_TRACE1
("EplSdoUdpuConfig: bind() finished with %i\n", iError);
Ret = kEplSdoUdpNoSocket;
goto Exit;
}
// create Listen-Thread
SdoUdpInstance_g.m_ThreadHandle =
kernel_thread(EplSdoUdpThread, &SdoUdpInstance_g, CLONE_KERNEL);
if (SdoUdpInstance_g.m_ThreadHandle == 0) {
Ret = kEplSdoUdpThreadError;
goto Exit;
}
Exit:
return Ret;
}
//---------------------------------------------------------------------------
//
// Function: EplSdoUdpuInitCon
//
// Description: init a new connect
//
//
//
// Parameters: pSdoConHandle_p = pointer for the new connection handle
// uiTargetNodeId_p = NodeId of the target node
//
//
// Returns: tEplKernel = Errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplSdoUdpuInitCon(tEplSdoConHdl *pSdoConHandle_p,
unsigned int uiTargetNodeId_p)
{
tEplKernel Ret;
unsigned int uiCount;
unsigned int uiFreeCon;
tEplSdoUdpCon *pSdoUdpCon;
Ret = kEplSuccessful;
// get free entry in control structure
uiCount = 0;
uiFreeCon = EPL_SDO_MAX_CONNECTION_UDP;
pSdoUdpCon = &SdoUdpInstance_g.m_aSdoAbsUdpConnection[0];
while (uiCount < EPL_SDO_MAX_CONNECTION_UDP) {
if ((pSdoUdpCon->m_ulIpAddr & htonl(0xFF)) == htonl(uiTargetNodeId_p)) { // existing connection to target node found
// set handle
*pSdoConHandle_p = (uiCount | EPL_SDO_UDP_HANDLE);
goto Exit;
} else if ((pSdoUdpCon->m_ulIpAddr == 0)
&& (pSdoUdpCon->m_uiPort == 0)) {
uiFreeCon = uiCount;
}
uiCount++;
pSdoUdpCon++;
}
if (uiFreeCon == EPL_SDO_MAX_CONNECTION_UDP) {
// error no free handle
Ret = kEplSdoUdpNoFreeHandle;
} else {
pSdoUdpCon =
&SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiFreeCon];
// save infos for connection
pSdoUdpCon->m_uiPort = htons(EPL_C_SDO_EPL_PORT);
pSdoUdpCon->m_ulIpAddr = htonl(0xC0A86400 | uiTargetNodeId_p); // 192.168.100.uiTargetNodeId_p
// set handle
*pSdoConHandle_p = (uiFreeCon | EPL_SDO_UDP_HANDLE);
}
Exit:
return Ret;
}
//---------------------------------------------------------------------------
//
// Function: EplSdoUdpuSendData
//
// Description: send data using exisiting connection
//
//
//
// Parameters: SdoConHandle_p = connection handle
// pSrcData_p = pointer to data
// dwDataSize_p = number of databyte
// -> without asend-header!!!
//
// Returns: tEplKernel = Errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplSdoUdpuSendData(tEplSdoConHdl SdoConHandle_p,
tEplFrame *pSrcData_p, u32 dwDataSize_p)
{
tEplKernel Ret;
int iError;
unsigned int uiArray;
struct sockaddr_in Addr;
Ret = kEplSuccessful;
uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
if (uiArray >= EPL_SDO_MAX_CONNECTION_UDP) {
Ret = kEplSdoUdpInvalidHdl;
goto Exit;
}
//set message type
AmiSetByteToLe(&pSrcData_p->m_le_bMessageType, 0x06); // SDO
// target node id (for Udp = 0)
AmiSetByteToLe(&pSrcData_p->m_le_bDstNodeId, 0x00);
// set source-nodeid (for Udp = 0)
AmiSetByteToLe(&pSrcData_p->m_le_bSrcNodeId, 0x00);
// calc size
dwDataSize_p += EPL_ASND_HEADER_SIZE;
// call sendto
Addr.sin_family = AF_INET;
Addr.sin_port =
(unsigned short)SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].
m_uiPort;
Addr.sin_addr.s_addr =
SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_ulIpAddr;
iError = sendto(SdoUdpInstance_g.m_UdpSocket, // sockethandle
(const char *)&pSrcData_p->m_le_bMessageType, // data to send
dwDataSize_p, // number of bytes to send
0, // flags
(struct sockaddr *)&Addr, // target
sizeof(struct sockaddr_in)); // sizeof targetadress
if (iError < 0) {
EPL_DBGLVL_SDO_TRACE1
("EplSdoUdpuSendData: sendto() finished with %i\n", iError);
Ret = kEplSdoUdpSendError;
goto Exit;
}
Exit:
return Ret;
}
//---------------------------------------------------------------------------
//
// Function: EplSdoUdpuDelCon
//
// Description: delete connection from intern structure
//
//
//
// Parameters: SdoConHandle_p = connection handle
//
// Returns: tEplKernel = Errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplSdoUdpuDelCon(tEplSdoConHdl SdoConHandle_p)
{
tEplKernel Ret;
unsigned int uiArray;
uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
if (uiArray >= EPL_SDO_MAX_CONNECTION_UDP) {
Ret = kEplSdoUdpInvalidHdl;
goto Exit;
} else {
Ret = kEplSuccessful;
}
// delete connection
SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_ulIpAddr = 0;
SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_uiPort = 0;
Exit:
return Ret;
}
//=========================================================================//
// //
// P R I V A T E F U N C T I O N S //
// //
//=========================================================================//
//---------------------------------------------------------------------------
//
// Function: EplSdoUdpThread
//
// Description: thread check socket for new data
//
//
//
// Parameters: lpParameter = pointer to parameter type tEplSdoUdpThreadPara
//
//
// Returns: u32 = errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
static int EplSdoUdpThread(void *pArg_p)
{
tEplSdoUdpInstance *pInstance;
struct sockaddr_in RemoteAddr;
int iError;
int iCount;
int iFreeEntry;
u8 abBuffer[EPL_MAX_SDO_REC_FRAME_SIZE];
unsigned int uiSize;
tEplSdoConHdl SdoConHdl;
pInstance = (tEplSdoUdpInstance *) pArg_p;
daemonize("EplSdoUdpThread");
allow_signal(SIGTERM);
for (; pInstance->m_iTerminateThread == 0;)
{
// wait for data
uiSize = sizeof(struct sockaddr);
iError = recvfrom(pInstance->m_UdpSocket, // Socket
(char *)&abBuffer[0], // buffer for data
sizeof(abBuffer), // size of the buffer
0, // flags
(struct sockaddr *)&RemoteAddr,
(int *)&uiSize);
if (iError == -ERESTARTSYS) {
break;
}
if (iError > 0) {
// get handle for higher layer
iCount = 0;
iFreeEntry = 0xFFFF;
while (iCount < EPL_SDO_MAX_CONNECTION_UDP) {
// check if this connection is already known
if ((pInstance->m_aSdoAbsUdpConnection[iCount].
m_ulIpAddr == RemoteAddr.sin_addr.s_addr)
&& (pInstance->
m_aSdoAbsUdpConnection[iCount].
m_uiPort == RemoteAddr.sin_port)) {
break;
}
if ((pInstance->m_aSdoAbsUdpConnection[iCount].
m_ulIpAddr == 0)
&& (pInstance->
m_aSdoAbsUdpConnection[iCount].
m_uiPort == 0)
&& (iFreeEntry == 0xFFFF))
{
iFreeEntry = iCount;
}
iCount++;
}
if (iCount == EPL_SDO_MAX_CONNECTION_UDP) {
// connection unknown
// see if there is a free handle
if (iFreeEntry != 0xFFFF) {
// save adress infos
pInstance->
m_aSdoAbsUdpConnection[iFreeEntry].
m_ulIpAddr =
RemoteAddr.sin_addr.s_addr;
pInstance->
m_aSdoAbsUdpConnection[iFreeEntry].
m_uiPort = RemoteAddr.sin_port;
// call callback
SdoConHdl = iFreeEntry;
SdoConHdl |= EPL_SDO_UDP_HANDLE;
// offset 4 -> start of SDO Sequence header
pInstance->m_fpSdoAsySeqCb(SdoConHdl,
(tEplAsySdoSeq
*) &
abBuffer[4],
(iError -
4));
} else {
EPL_DBGLVL_SDO_TRACE0
("Error in EplSdoUdpThread() no free handle\n");
}
} else {
// known connection
// call callback with correct handle
SdoConHdl = iCount;
SdoConHdl |= EPL_SDO_UDP_HANDLE;
// offset 4 -> start of SDO Sequence header
pInstance->m_fpSdoAsySeqCb(SdoConHdl,
(tEplAsySdoSeq *) &
abBuffer[4],
(iError - 4));
}
} // end of if(iError!=SOCKET_ERROR)
} // end of for(;;)
complete_and_exit(&SdoUdpInstance_g.m_CompletionUdpThread, 0);
return 0;
}
#endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)
// EOF