Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 1 | /**************************************************************************** |
| 2 | |
| 3 | (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29 |
| 4 | www.systec-electronic.com |
| 5 | |
| 6 | Project: openPOWERLINK |
| 7 | |
| 8 | Description: source file for SDO/UDP-Protocolabstractionlayer module |
| 9 | |
| 10 | License: |
| 11 | |
| 12 | Redistribution and use in source and binary forms, with or without |
| 13 | modification, are permitted provided that the following conditions |
| 14 | are met: |
| 15 | |
| 16 | 1. Redistributions of source code must retain the above copyright |
| 17 | notice, this list of conditions and the following disclaimer. |
| 18 | |
| 19 | 2. Redistributions in binary form must reproduce the above copyright |
| 20 | notice, this list of conditions and the following disclaimer in the |
| 21 | documentation and/or other materials provided with the distribution. |
| 22 | |
| 23 | 3. Neither the name of SYSTEC electronic GmbH nor the names of its |
| 24 | contributors may be used to endorse or promote products derived |
| 25 | from this software without prior written permission. For written |
| 26 | permission, please contact info@systec-electronic.com. |
| 27 | |
| 28 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
| 29 | "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
| 30 | LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
| 31 | FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
| 32 | COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
| 33 | INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
| 34 | BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
| 35 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| 36 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| 37 | LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
| 38 | ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 39 | POSSIBILITY OF SUCH DAMAGE. |
| 40 | |
| 41 | Severability Clause: |
| 42 | |
| 43 | If a provision of this License is or becomes illegal, invalid or |
| 44 | unenforceable in any jurisdiction, that shall not affect: |
| 45 | 1. the validity or enforceability in that jurisdiction of any other |
| 46 | provision of this License; or |
| 47 | 2. the validity or enforceability in other jurisdictions of that or |
| 48 | any other provision of this License. |
| 49 | |
| 50 | ------------------------------------------------------------------------- |
| 51 | |
| 52 | $RCSfile: EplSdoUdpu.c,v $ |
| 53 | |
| 54 | $Author: D.Krueger $ |
| 55 | |
| 56 | $Revision: 1.8 $ $Date: 2008/10/17 15:32:32 $ |
| 57 | |
| 58 | $State: Exp $ |
| 59 | |
| 60 | Build Environment: |
| 61 | GCC V3.4 |
| 62 | |
| 63 | ------------------------------------------------------------------------- |
| 64 | |
| 65 | Revision History: |
| 66 | |
| 67 | 2006/06/26 k.t.: start of the implementation |
| 68 | |
| 69 | ****************************************************************************/ |
| 70 | |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 71 | #include "user/EplSdoUdpu.h" |
| 72 | |
| 73 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0) |
| 74 | |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 75 | #include "SocketLinuxKernel.h" |
| 76 | #include <linux/completion.h> |
| 77 | #include <linux/sched.h> |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 78 | |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 79 | /***************************************************************************/ |
| 80 | /* */ |
| 81 | /* */ |
| 82 | /* G L O B A L D E F I N I T I O N S */ |
| 83 | /* */ |
| 84 | /* */ |
| 85 | /***************************************************************************/ |
| 86 | |
| 87 | //--------------------------------------------------------------------------- |
| 88 | // const defines |
| 89 | //--------------------------------------------------------------------------- |
| 90 | |
| 91 | #ifndef EPL_SDO_MAX_CONNECTION_UDP |
| 92 | #define EPL_SDO_MAX_CONNECTION_UDP 5 |
| 93 | #endif |
| 94 | |
| 95 | //--------------------------------------------------------------------------- |
| 96 | // local types |
| 97 | //--------------------------------------------------------------------------- |
| 98 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 99 | typedef struct { |
| 100 | unsigned long m_ulIpAddr; // in network byte order |
| 101 | unsigned int m_uiPort; // in network byte order |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 102 | |
| 103 | } tEplSdoUdpCon; |
| 104 | |
| 105 | // instance table |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 106 | typedef struct { |
| 107 | tEplSdoUdpCon m_aSdoAbsUdpConnection[EPL_SDO_MAX_CONNECTION_UDP]; |
| 108 | tEplSequLayerReceiveCb m_fpSdoAsySeqCb; |
| 109 | SOCKET m_UdpSocket; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 110 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 111 | struct completion m_CompletionUdpThread; |
| 112 | int m_ThreadHandle; |
| 113 | int m_iTerminateThread; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 114 | } tEplSdoUdpInstance; |
| 115 | |
| 116 | //--------------------------------------------------------------------------- |
| 117 | // modul globale vars |
| 118 | //--------------------------------------------------------------------------- |
| 119 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 120 | static tEplSdoUdpInstance SdoUdpInstance_g; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 121 | |
| 122 | //--------------------------------------------------------------------------- |
| 123 | // local function prototypes |
| 124 | //--------------------------------------------------------------------------- |
| 125 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 126 | static int EplSdoUdpThread(void *pArg_p); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 127 | |
| 128 | /***************************************************************************/ |
| 129 | /* */ |
| 130 | /* */ |
| 131 | /* C L A S S <EPL-SDO-UDP-Layer> */ |
| 132 | /* */ |
| 133 | /* */ |
| 134 | /***************************************************************************/ |
| 135 | // |
| 136 | // Description: Protocolabstraction layer for UDP |
| 137 | // |
| 138 | // |
| 139 | /***************************************************************************/ |
| 140 | |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 141 | //=========================================================================// |
| 142 | // // |
| 143 | // P U B L I C F U N C T I O N S // |
| 144 | // // |
| 145 | //=========================================================================// |
| 146 | |
| 147 | //--------------------------------------------------------------------------- |
| 148 | // |
| 149 | // Function: EplSdoUdpuInit |
| 150 | // |
| 151 | // Description: init first instance of the module |
| 152 | // |
| 153 | // |
| 154 | // |
| 155 | // Parameters: pReceiveCb_p = functionpointer to Sdo-Sequence layer |
| 156 | // callback-function |
| 157 | // |
| 158 | // |
| 159 | // Returns: tEplKernel = Errorcode |
| 160 | // |
| 161 | // |
| 162 | // State: |
| 163 | // |
| 164 | //--------------------------------------------------------------------------- |
Greg Kroah-Hartman | d10f469 | 2009-03-23 10:45:12 -0700 | [diff] [blame] | 165 | tEplKernel EplSdoUdpuInit(tEplSequLayerReceiveCb fpReceiveCb_p) |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 166 | { |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 167 | tEplKernel Ret; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 168 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 169 | Ret = EplSdoUdpuAddInstance(fpReceiveCb_p); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 170 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 171 | return Ret; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 172 | } |
| 173 | |
| 174 | //--------------------------------------------------------------------------- |
| 175 | // |
| 176 | // Function: EplSdoUdpuAddInstance |
| 177 | // |
| 178 | // Description: init additional instance of the module |
| 179 | // înit socket and start Listen-Thread |
| 180 | // |
| 181 | // |
| 182 | // |
| 183 | // Parameters: pReceiveCb_p = functionpointer to Sdo-Sequence layer |
| 184 | // callback-function |
| 185 | // |
| 186 | // |
| 187 | // Returns: tEplKernel = Errorcode |
| 188 | // |
| 189 | // |
| 190 | // State: |
| 191 | // |
| 192 | //--------------------------------------------------------------------------- |
Greg Kroah-Hartman | d10f469 | 2009-03-23 10:45:12 -0700 | [diff] [blame] | 193 | tEplKernel EplSdoUdpuAddInstance(tEplSequLayerReceiveCb fpReceiveCb_p) |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 194 | { |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 195 | tEplKernel Ret; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 196 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 197 | // set instance variables to 0 |
| 198 | EPL_MEMSET(&SdoUdpInstance_g, 0x00, sizeof(SdoUdpInstance_g)); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 199 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 200 | Ret = kEplSuccessful; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 201 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 202 | // save pointer to callback-function |
| 203 | if (fpReceiveCb_p != NULL) { |
| 204 | SdoUdpInstance_g.m_fpSdoAsySeqCb = fpReceiveCb_p; |
| 205 | } else { |
| 206 | Ret = kEplSdoUdpMissCb; |
| 207 | goto Exit; |
| 208 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 209 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 210 | init_completion(&SdoUdpInstance_g.m_CompletionUdpThread); |
| 211 | SdoUdpInstance_g.m_iTerminateThread = 0; |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 212 | SdoUdpInstance_g.m_ThreadHandle = 0; |
| 213 | SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 214 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 215 | Ret = EplSdoUdpuConfig(INADDR_ANY, 0); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 216 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 217 | Exit: |
| 218 | return Ret; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 219 | } |
| 220 | |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 221 | //--------------------------------------------------------------------------- |
| 222 | // |
| 223 | // Function: EplSdoUdpuDelInstance |
| 224 | // |
| 225 | // Description: del instance of the module |
| 226 | // del socket and del Listen-Thread |
| 227 | // |
| 228 | // |
| 229 | // |
| 230 | // Parameters: |
| 231 | // |
| 232 | // |
| 233 | // Returns: tEplKernel = Errorcode |
| 234 | // |
| 235 | // |
| 236 | // State: |
| 237 | // |
| 238 | //--------------------------------------------------------------------------- |
Greg Kroah-Hartman | d10f469 | 2009-03-23 10:45:12 -0700 | [diff] [blame] | 239 | tEplKernel EplSdoUdpuDelInstance(void) |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 240 | { |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 241 | tEplKernel Ret; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 242 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 243 | Ret = kEplSuccessful; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 244 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 245 | if (SdoUdpInstance_g.m_ThreadHandle != 0) { // listen thread was started |
| 246 | // close thread |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 247 | SdoUdpInstance_g.m_iTerminateThread = 1; |
| 248 | /* kill_proc(SdoUdpInstance_g.m_ThreadHandle, SIGTERM, 1 ); */ |
| 249 | send_sig(SIGTERM, SdoUdpInstance_g.m_ThreadHandle, 1); |
| 250 | wait_for_completion(&SdoUdpInstance_g.m_CompletionUdpThread); |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 251 | SdoUdpInstance_g.m_ThreadHandle = 0; |
| 252 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 253 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 254 | if (SdoUdpInstance_g.m_UdpSocket != INVALID_SOCKET) { |
| 255 | // close socket |
| 256 | closesocket(SdoUdpInstance_g.m_UdpSocket); |
| 257 | SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET; |
| 258 | } |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 259 | return Ret; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 260 | } |
| 261 | |
| 262 | //--------------------------------------------------------------------------- |
| 263 | // |
| 264 | // Function: EplSdoUdpuConfig |
| 265 | // |
| 266 | // Description: reconfigurate socket with new IP-Address |
| 267 | // -> needed for NMT ResetConfiguration |
| 268 | // |
| 269 | // Parameters: ulIpAddr_p = IpAddress in platform byte order |
| 270 | // uiPort_p = port number in platform byte order |
| 271 | // |
| 272 | // |
| 273 | // Returns: tEplKernel = Errorcode |
| 274 | // |
| 275 | // |
| 276 | // State: |
| 277 | // |
| 278 | //--------------------------------------------------------------------------- |
Greg Kroah-Hartman | d10f469 | 2009-03-23 10:45:12 -0700 | [diff] [blame] | 279 | tEplKernel EplSdoUdpuConfig(unsigned long ulIpAddr_p, unsigned int uiPort_p) |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 280 | { |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 281 | tEplKernel Ret; |
| 282 | struct sockaddr_in Addr; |
| 283 | int iError; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 284 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 285 | Ret = kEplSuccessful; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 286 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 287 | if (uiPort_p == 0) { // set UDP port to default port number |
| 288 | uiPort_p = EPL_C_SDO_EPL_PORT; |
| 289 | } else if (uiPort_p > 65535) { |
| 290 | Ret = kEplSdoUdpSocketError; |
| 291 | goto Exit; |
| 292 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 293 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 294 | if (SdoUdpInstance_g.m_ThreadHandle != 0) { // listen thread was started |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 295 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 296 | // close old thread |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 297 | SdoUdpInstance_g.m_iTerminateThread = 1; |
| 298 | /* kill_proc(SdoUdpInstance_g.m_ThreadHandle, SIGTERM, 1 ); */ |
| 299 | send_sig(SIGTERM, SdoUdpInstance_g.m_ThreadHandle, 1); |
| 300 | wait_for_completion(&SdoUdpInstance_g.m_CompletionUdpThread); |
| 301 | SdoUdpInstance_g.m_iTerminateThread = 0; |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 302 | SdoUdpInstance_g.m_ThreadHandle = 0; |
| 303 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 304 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 305 | if (SdoUdpInstance_g.m_UdpSocket != INVALID_SOCKET) { |
| 306 | // close socket |
| 307 | iError = closesocket(SdoUdpInstance_g.m_UdpSocket); |
| 308 | SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET; |
| 309 | if (iError != 0) { |
| 310 | Ret = kEplSdoUdpSocketError; |
| 311 | goto Exit; |
| 312 | } |
| 313 | } |
| 314 | // create Socket |
| 315 | SdoUdpInstance_g.m_UdpSocket = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP); |
| 316 | if (SdoUdpInstance_g.m_UdpSocket == INVALID_SOCKET) { |
| 317 | Ret = kEplSdoUdpNoSocket; |
| 318 | EPL_DBGLVL_SDO_TRACE0("EplSdoUdpuConfig: socket() failed\n"); |
| 319 | goto Exit; |
| 320 | } |
| 321 | // bind socket |
| 322 | Addr.sin_family = AF_INET; |
| 323 | Addr.sin_port = htons((unsigned short)uiPort_p); |
| 324 | Addr.sin_addr.s_addr = htonl(ulIpAddr_p); |
| 325 | iError = |
| 326 | bind(SdoUdpInstance_g.m_UdpSocket, (struct sockaddr *)&Addr, |
| 327 | sizeof(Addr)); |
| 328 | if (iError < 0) { |
| 329 | //iError = WSAGetLastError(); |
| 330 | EPL_DBGLVL_SDO_TRACE1 |
| 331 | ("EplSdoUdpuConfig: bind() finished with %i\n", iError); |
| 332 | Ret = kEplSdoUdpNoSocket; |
| 333 | goto Exit; |
| 334 | } |
| 335 | // create Listen-Thread |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 336 | SdoUdpInstance_g.m_ThreadHandle = |
| 337 | kernel_thread(EplSdoUdpThread, &SdoUdpInstance_g, CLONE_KERNEL); |
| 338 | if (SdoUdpInstance_g.m_ThreadHandle == 0) { |
| 339 | Ret = kEplSdoUdpThreadError; |
| 340 | goto Exit; |
| 341 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 342 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 343 | Exit: |
| 344 | return Ret; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 345 | |
| 346 | } |
| 347 | |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 348 | //--------------------------------------------------------------------------- |
| 349 | // |
| 350 | // Function: EplSdoUdpuInitCon |
| 351 | // |
| 352 | // Description: init a new connect |
| 353 | // |
| 354 | // |
| 355 | // |
| 356 | // Parameters: pSdoConHandle_p = pointer for the new connection handle |
| 357 | // uiTargetNodeId_p = NodeId of the target node |
| 358 | // |
| 359 | // |
| 360 | // Returns: tEplKernel = Errorcode |
| 361 | // |
| 362 | // |
| 363 | // State: |
| 364 | // |
| 365 | //--------------------------------------------------------------------------- |
Greg Kroah-Hartman | d10f469 | 2009-03-23 10:45:12 -0700 | [diff] [blame] | 366 | tEplKernel EplSdoUdpuInitCon(tEplSdoConHdl *pSdoConHandle_p, |
| 367 | unsigned int uiTargetNodeId_p) |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 368 | { |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 369 | tEplKernel Ret; |
| 370 | unsigned int uiCount; |
| 371 | unsigned int uiFreeCon; |
| 372 | tEplSdoUdpCon *pSdoUdpCon; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 373 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 374 | Ret = kEplSuccessful; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 375 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 376 | // get free entry in control structure |
| 377 | uiCount = 0; |
| 378 | uiFreeCon = EPL_SDO_MAX_CONNECTION_UDP; |
| 379 | pSdoUdpCon = &SdoUdpInstance_g.m_aSdoAbsUdpConnection[0]; |
| 380 | while (uiCount < EPL_SDO_MAX_CONNECTION_UDP) { |
| 381 | if ((pSdoUdpCon->m_ulIpAddr & htonl(0xFF)) == htonl(uiTargetNodeId_p)) { // existing connection to target node found |
| 382 | // set handle |
| 383 | *pSdoConHandle_p = (uiCount | EPL_SDO_UDP_HANDLE); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 384 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 385 | goto Exit; |
| 386 | } else if ((pSdoUdpCon->m_ulIpAddr == 0) |
| 387 | && (pSdoUdpCon->m_uiPort == 0)) { |
| 388 | uiFreeCon = uiCount; |
| 389 | } |
| 390 | uiCount++; |
| 391 | pSdoUdpCon++; |
| 392 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 393 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 394 | if (uiFreeCon == EPL_SDO_MAX_CONNECTION_UDP) { |
| 395 | // error no free handle |
| 396 | Ret = kEplSdoUdpNoFreeHandle; |
| 397 | } else { |
| 398 | pSdoUdpCon = |
| 399 | &SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiFreeCon]; |
| 400 | // save infos for connection |
| 401 | pSdoUdpCon->m_uiPort = htons(EPL_C_SDO_EPL_PORT); |
| 402 | pSdoUdpCon->m_ulIpAddr = htonl(0xC0A86400 | uiTargetNodeId_p); // 192.168.100.uiTargetNodeId_p |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 403 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 404 | // set handle |
| 405 | *pSdoConHandle_p = (uiFreeCon | EPL_SDO_UDP_HANDLE); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 406 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 407 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 408 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 409 | Exit: |
| 410 | return Ret; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 411 | |
| 412 | } |
| 413 | |
| 414 | //--------------------------------------------------------------------------- |
| 415 | // |
| 416 | // Function: EplSdoUdpuSendData |
| 417 | // |
| 418 | // Description: send data using exisiting connection |
| 419 | // |
| 420 | // |
| 421 | // |
| 422 | // Parameters: SdoConHandle_p = connection handle |
| 423 | // pSrcData_p = pointer to data |
| 424 | // dwDataSize_p = number of databyte |
| 425 | // -> without asend-header!!! |
| 426 | // |
| 427 | // Returns: tEplKernel = Errorcode |
| 428 | // |
| 429 | // |
| 430 | // State: |
| 431 | // |
| 432 | //--------------------------------------------------------------------------- |
Greg Kroah-Hartman | d10f469 | 2009-03-23 10:45:12 -0700 | [diff] [blame] | 433 | tEplKernel EplSdoUdpuSendData(tEplSdoConHdl SdoConHandle_p, |
Greg Kroah-Hartman | d539cfb | 2009-03-23 12:51:37 -0700 | [diff] [blame] | 434 | tEplFrame *pSrcData_p, u32 dwDataSize_p) |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 435 | { |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 436 | tEplKernel Ret; |
| 437 | int iError; |
| 438 | unsigned int uiArray; |
| 439 | struct sockaddr_in Addr; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 440 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 441 | Ret = kEplSuccessful; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 442 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 443 | uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK); |
| 444 | if (uiArray >= EPL_SDO_MAX_CONNECTION_UDP) { |
| 445 | Ret = kEplSdoUdpInvalidHdl; |
| 446 | goto Exit; |
| 447 | } |
| 448 | //set message type |
| 449 | AmiSetByteToLe(&pSrcData_p->m_le_bMessageType, 0x06); // SDO |
| 450 | // target node id (for Udp = 0) |
| 451 | AmiSetByteToLe(&pSrcData_p->m_le_bDstNodeId, 0x00); |
| 452 | // set source-nodeid (for Udp = 0) |
| 453 | AmiSetByteToLe(&pSrcData_p->m_le_bSrcNodeId, 0x00); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 454 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 455 | // calc size |
| 456 | dwDataSize_p += EPL_ASND_HEADER_SIZE; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 457 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 458 | // call sendto |
| 459 | Addr.sin_family = AF_INET; |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 460 | Addr.sin_port = |
| 461 | (unsigned short)SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray]. |
| 462 | m_uiPort; |
| 463 | Addr.sin_addr.s_addr = |
| 464 | SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_ulIpAddr; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 465 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 466 | iError = sendto(SdoUdpInstance_g.m_UdpSocket, // sockethandle |
| 467 | (const char *)&pSrcData_p->m_le_bMessageType, // data to send |
| 468 | dwDataSize_p, // number of bytes to send |
| 469 | 0, // flags |
| 470 | (struct sockaddr *)&Addr, // target |
| 471 | sizeof(struct sockaddr_in)); // sizeof targetadress |
| 472 | if (iError < 0) { |
| 473 | EPL_DBGLVL_SDO_TRACE1 |
| 474 | ("EplSdoUdpuSendData: sendto() finished with %i\n", iError); |
| 475 | Ret = kEplSdoUdpSendError; |
| 476 | goto Exit; |
| 477 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 478 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 479 | Exit: |
| 480 | return Ret; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 481 | |
| 482 | } |
| 483 | |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 484 | //--------------------------------------------------------------------------- |
| 485 | // |
| 486 | // Function: EplSdoUdpuDelCon |
| 487 | // |
| 488 | // Description: delete connection from intern structure |
| 489 | // |
| 490 | // |
| 491 | // |
| 492 | // Parameters: SdoConHandle_p = connection handle |
| 493 | // |
| 494 | // Returns: tEplKernel = Errorcode |
| 495 | // |
| 496 | // |
| 497 | // State: |
| 498 | // |
| 499 | //--------------------------------------------------------------------------- |
Greg Kroah-Hartman | d10f469 | 2009-03-23 10:45:12 -0700 | [diff] [blame] | 500 | tEplKernel EplSdoUdpuDelCon(tEplSdoConHdl SdoConHandle_p) |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 501 | { |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 502 | tEplKernel Ret; |
| 503 | unsigned int uiArray; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 504 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 505 | uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 506 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 507 | if (uiArray >= EPL_SDO_MAX_CONNECTION_UDP) { |
| 508 | Ret = kEplSdoUdpInvalidHdl; |
| 509 | goto Exit; |
| 510 | } else { |
| 511 | Ret = kEplSuccessful; |
| 512 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 513 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 514 | // delete connection |
| 515 | SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_ulIpAddr = 0; |
| 516 | SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_uiPort = 0; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 517 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 518 | Exit: |
| 519 | return Ret; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 520 | } |
| 521 | |
| 522 | //=========================================================================// |
| 523 | // // |
| 524 | // P R I V A T E F U N C T I O N S // |
| 525 | // // |
| 526 | //=========================================================================// |
| 527 | |
| 528 | //--------------------------------------------------------------------------- |
| 529 | // |
| 530 | // Function: EplSdoUdpThread |
| 531 | // |
| 532 | // Description: thread check socket for new data |
| 533 | // |
| 534 | // |
| 535 | // |
| 536 | // Parameters: lpParameter = pointer to parameter type tEplSdoUdpThreadPara |
| 537 | // |
| 538 | // |
Greg Kroah-Hartman | d539cfb | 2009-03-23 12:51:37 -0700 | [diff] [blame] | 539 | // Returns: u32 = errorcode |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 540 | // |
| 541 | // |
| 542 | // State: |
| 543 | // |
| 544 | //--------------------------------------------------------------------------- |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 545 | static int EplSdoUdpThread(void *pArg_p) |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 546 | { |
| 547 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 548 | tEplSdoUdpInstance *pInstance; |
| 549 | struct sockaddr_in RemoteAddr; |
| 550 | int iError; |
| 551 | int iCount; |
| 552 | int iFreeEntry; |
Greg Kroah-Hartman | 2ed53cf | 2009-03-23 12:36:38 -0700 | [diff] [blame] | 553 | u8 abBuffer[EPL_MAX_SDO_REC_FRAME_SIZE]; |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 554 | unsigned int uiSize; |
| 555 | tEplSdoConHdl SdoConHdl; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 556 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 557 | pInstance = (tEplSdoUdpInstance *) pArg_p; |
| 558 | daemonize("EplSdoUdpThread"); |
| 559 | allow_signal(SIGTERM); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 560 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 561 | for (; pInstance->m_iTerminateThread == 0;) |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 562 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 563 | { |
| 564 | // wait for data |
| 565 | uiSize = sizeof(struct sockaddr); |
| 566 | iError = recvfrom(pInstance->m_UdpSocket, // Socket |
| 567 | (char *)&abBuffer[0], // buffer for data |
| 568 | sizeof(abBuffer), // size of the buffer |
| 569 | 0, // flags |
| 570 | (struct sockaddr *)&RemoteAddr, |
| 571 | (int *)&uiSize); |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 572 | if (iError == -ERESTARTSYS) { |
| 573 | break; |
| 574 | } |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 575 | if (iError > 0) { |
| 576 | // get handle for higher layer |
| 577 | iCount = 0; |
| 578 | iFreeEntry = 0xFFFF; |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 579 | while (iCount < EPL_SDO_MAX_CONNECTION_UDP) { |
| 580 | // check if this connection is already known |
| 581 | if ((pInstance->m_aSdoAbsUdpConnection[iCount]. |
| 582 | m_ulIpAddr == RemoteAddr.sin_addr.s_addr) |
| 583 | && (pInstance-> |
| 584 | m_aSdoAbsUdpConnection[iCount]. |
| 585 | m_uiPort == RemoteAddr.sin_port)) { |
| 586 | break; |
| 587 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 588 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 589 | if ((pInstance->m_aSdoAbsUdpConnection[iCount]. |
| 590 | m_ulIpAddr == 0) |
| 591 | && (pInstance-> |
| 592 | m_aSdoAbsUdpConnection[iCount]. |
| 593 | m_uiPort == 0) |
| 594 | && (iFreeEntry == 0xFFFF)) |
| 595 | { |
| 596 | iFreeEntry = iCount; |
| 597 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 598 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 599 | iCount++; |
| 600 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 601 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 602 | if (iCount == EPL_SDO_MAX_CONNECTION_UDP) { |
| 603 | // connection unknown |
| 604 | // see if there is a free handle |
| 605 | if (iFreeEntry != 0xFFFF) { |
| 606 | // save adress infos |
| 607 | pInstance-> |
| 608 | m_aSdoAbsUdpConnection[iFreeEntry]. |
| 609 | m_ulIpAddr = |
| 610 | RemoteAddr.sin_addr.s_addr; |
| 611 | pInstance-> |
| 612 | m_aSdoAbsUdpConnection[iFreeEntry]. |
| 613 | m_uiPort = RemoteAddr.sin_port; |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 614 | // call callback |
| 615 | SdoConHdl = iFreeEntry; |
| 616 | SdoConHdl |= EPL_SDO_UDP_HANDLE; |
| 617 | // offset 4 -> start of SDO Sequence header |
| 618 | pInstance->m_fpSdoAsySeqCb(SdoConHdl, |
| 619 | (tEplAsySdoSeq |
| 620 | *) & |
| 621 | abBuffer[4], |
| 622 | (iError - |
| 623 | 4)); |
| 624 | } else { |
| 625 | EPL_DBGLVL_SDO_TRACE0 |
| 626 | ("Error in EplSdoUdpThread() no free handle\n"); |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 627 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 628 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 629 | } else { |
| 630 | // known connection |
| 631 | // call callback with correct handle |
| 632 | SdoConHdl = iCount; |
| 633 | SdoConHdl |= EPL_SDO_UDP_HANDLE; |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 634 | // offset 4 -> start of SDO Sequence header |
| 635 | pInstance->m_fpSdoAsySeqCb(SdoConHdl, |
| 636 | (tEplAsySdoSeq *) & |
| 637 | abBuffer[4], |
| 638 | (iError - 4)); |
| 639 | } |
| 640 | } // end of if(iError!=SOCKET_ERROR) |
| 641 | } // end of for(;;) |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 642 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 643 | complete_and_exit(&SdoUdpInstance_g.m_CompletionUdpThread, 0); |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 644 | return 0; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 645 | } |
| 646 | |
| 647 | #endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0) |
| 648 | |
| 649 | // EOF |