__PO_HI_MAIN_TYPE __PO_HI_MAIN_NAME ()
{
__po_hi_initialize();
__po_hi_create_periodic_task(node_a_pinger_k,__po_hi_milliseconds(5000),2,pinger_job);
__po_hi_wait_initialization();
__po_hi_wait_for_tasks();
return (__PO_HI_MAIN_RETURN);
}
void __po_hi_c_driver_eth_leon_init (__po_hi_device_id id)
{
int i;
int ret;
int reuse;
char *tmp;
__po_hi_uint16_t dev;
__po_hi_time_t mytime;
__po_hi_time_t tmptime;
__po_hi_time_t current_time;
struct sockaddr_in sa;
struct hostent* hostinfo;
__po_hi_c_ip_conf_t* ipconf;
char ip_addr[16];
unsigned short ip_port;
int node;
ipconf = (__po_hi_c_ip_conf_t*)__po_hi_get_device_configuration (id);
netdriver_config.ip_address = ipconf->address;
if (ipconf->exist.netmask == 1)
{
netdriver_config.ip_netmask = ipconf->netmask;
}
if (ipconf->exist.gateway == 1)
{
rtems_bsdnet_config.gateway = ipconf->gateway;
}
if (ipconf->exist.dns == 1)
{
rtems_bsdnet_config.name_server[0] = ipconf->dns;
}
rtems_bsdnet_initialize_network ();
/*
#ifdef __PO_HI_DEBUG_INFO
rtems_bsdnet_show_if_stats ();
rtems_bsdnet_show_inet_routes ();
rtems_bsdnet_show_ip_stats ();
#endif
*/
leon_eth_device_id = id;
__po_hi_transport_set_sending_func (leon_eth_device_id, __po_hi_c_driver_eth_leon_sender);
for (node = 0 ; node < __PO_HI_NB_DEVICES ; node++)
{
nodes[node].socket = -1;
}
ip_port = (unsigned short)ipconf->port;
__DEBUGMSG ("My configuration, addr=%s, port=%d\n", ipconf->address, ip_port);
/*
* If the current node port has a port number, then it has to
* listen to other nodes. So, we create a socket, bind it and
* listen to other nodes.
*/
if (ip_port != 0)
{
nodes[id].socket = socket (AF_INET, SOCK_STREAM, 0);
if (nodes[id].socket == -1 )
{
#ifdef __PO_HI_DEBUG
__DEBUGMSG ("Cannot create socket for device %d\n", id);
#endif
return;
}
__DEBUGMSG ("[DRIVER ETH] Receiving socket for device %d created, value=%d\n", id, nodes[id].socket);
sa.sin_addr.s_addr = htonl (INADDR_ANY); /* We listen on all adresses */
sa.sin_family = AF_INET;
sa.sin_port = htons (ip_port); /* Port provided by the generated code */
if( bind (nodes[id].socket , (struct sockaddr *) &sa , sizeof (struct sockaddr_in) ) == -1 )
{
__DEBUGMSG ("Unable to bind socket and port on socket %d\n", nodes[id].socket);
}
if( listen( nodes[id].socket , __PO_HI_NB_ENTITIES ) == -1)
{
__DEBUGMSG ("Cannot listen on socket %d\n", nodes[id].socket);
}
__DEBUGMSG ("[DRIVER ETH] Receiving socket listen on any address on port %d\n", sa.sin_port);
/*
* Create the thread which receive all data from other
* nodes. This thread will execute the function
* __po_hi_receiver_task
*/
__po_hi_initialize_add_task ();
__po_hi_create_generic_task
(-1, 0,__PO_HI_MAX_PRIORITY, 0, (void* (*)(void)) __po_hi_c_driver_eth_leon_poller, NULL);
}
/*
* For each node in the sytem that may communicate with the current
* node we create a socket. This socket will be used to send data.
*/
for (dev = 0 ; dev < __PO_HI_NB_DEVICES ; dev++ )
{
if (dev == id)
{
continue;
}
__DEBUGMSG ("[DRIVER ETH] Will initialize connection with device %d\n", dev);
memset (ip_addr, '\0', 16);
ip_port = 0;
ipconf = (__po_hi_c_ip_conf_t*) __po_hi_get_device_configuration (dev);
ip_port = (unsigned short)ipconf->port;
__DEBUGMSG ("[DRIVER ETH] Configuration for device %d, addr=%s, port=%d\n", dev, ipconf->address, ip_port);
if (ip_port == 0)
{
__DEBUGMSG ("[DRIVER ETH] Invalid remote port\n");
continue;
}
while (1)
{
nodes[dev].socket = socket (AF_INET, SOCK_STREAM, 0);
if (nodes[dev].socket == -1 )
{
__DEBUGMSG ("[DRIVER ETH] Socket for dev %d is not created\n", dev);
return;
}
__DEBUGMSG ("[DRIVER ETH] Socket for dev %d created, value=%d\n", dev, nodes[dev].socket);
hostinfo = gethostbyname ((char*)ipconf->address);
if (hostinfo == NULL )
{
__DEBUGMSG ("[DRIVER ETH] Error while getting host informations for device %d\n", dev);
}
__DEBUGMSG ("[DRIVER ETH] Got the following information for device %d\n", dev);
sa.sin_port = htons (ip_port);
sa.sin_family = AF_INET;
/* The following lines are used to copy the
* hostinfo->h_length to the sa.sin_addr member. Most
* of program use the memcpy to do that, but the
* RT-POSIX profile we use forbid the use of this
* function. We use a loop instead to perform the
* copy. So, these lines replace the code :
*
*
*
memcpy( (char*) &( sa.sin_addr ) , (char*)hostinfo->h_addr , hostinfo->h_length );
*/
tmp = (char*) &(sa.sin_addr);
for (i=0 ; i<hostinfo->h_length ; i++)
{
tmp[i] = hostinfo->h_addr[i];
}
__PO_HI_SET_SOCKET_TIMEOUT(nodes[dev].socket,100000);
/*
* We try to connect on the remote host. We try every
* second to connect on.
*/
ret = connect (nodes[dev].socket,
(struct sockaddr*) &sa ,
sizeof (struct sockaddr_in));
#ifdef __PO_HI_USE_PROTOCOL_MYPROTOCOL_I
if (ret == 0)
{
__DEBUGMSG ("[DRIVER ETH] Connection established with device %d, socket=%d\n", dev, nodes[dev].socket);
break;
}
else
{
__DEBUGMSG ("connect() failed, return=%d\n", ret);
}
#else
if (ret == 0)
{
__DEBUGMSG ("[DRIVER ETH] Send my id (%d) using socket %d (node %d)\n", id, nodes[dev].socket, dev);
ret = write (nodes[dev].socket, &id, sizeof (__po_hi_device_id));
if (ret != sizeof (__po_hi_device_id))
{
__DEBUGMSG ("[DRIVER ETH] Device %d cannot send his id (ret=%d)\n", id, ret);
}
__DEBUGMSG ("[DRIVER ETH] Connection established with device %d, socket=%d (ret=%d)\n", dev, nodes[dev].socket, ret);
break;
}
else
{
__DEBUGMSG ("connect() failed, return=%d\n", ret);
}
#endif
if (close (nodes[dev].socket))
{
__DEBUGMSG ("[DRIVER ETH] Cannot close socket %d\n", nodes[dev].socket);
}
/*
* We wait 500ms each time we try to connect on the
* remote host
*/
__po_hi_get_time (¤t_time);
__po_hi_milliseconds (&tmptime, 500);
__po_hi_add_times (&mytime, ¤t_time, &tmptime);
__DEBUGMSG ("[DRIVER ETH] Cannot connect on device %d, wait 500ms\n", dev);
__po_hi_delay_until (&mytime);
}
}
__DEBUGMSG ("[DRIVER ETH] INITIALIZATION DONE\n");
}
void __po_hi_initialize_transport_low_level ()
{
int i;
int ret;
int reuse;
char *tmp;
__po_hi_uint16_t node;
__po_hi_time_t mytime;
struct sockaddr_in sa;
struct hostent* hostinfo;
/* Initialization of all sockets */
for (node = 0 ; node < __PO_HI_NB_NODES ; node++)
{
nodes[node].socket = -1;
}
/*
* If the current node port has a port number, then it has to
* listen to other nodes. So, we create a socket, bind it and
* listen to other nodes.
*/
if ( node_port[mynode] != __PO_HI_NOPORT )
{
nodes[mynode].socket = socket (AF_INET, SOCK_STREAM, 0);
if (nodes[mynode].socket == -1 )
{
#ifdef __PO_HI_DEBUG
__DEBUGMSG ("Cannot create socket for node %d\n", mynode);
#endif
return;
}
reuse = 1;
setsockopt (nodes[mynode].socket, SOL_SOCKET, SO_REUSEADDR, &reuse, sizeof (reuse));
sa.sin_addr.s_addr = htonl (INADDR_ANY); /* We listen on all adresses */
sa.sin_family = AF_INET;
sa.sin_port = htons (node_port[mynode]); /* Port provided by the generated code */
if( bind( nodes[mynode].socket , ( struct sockaddr * ) &sa , sizeof( struct sockaddr_in ) ) < 0 )
{
#ifdef __PO_HI_DEBUG
__DEBUGMSG ("Unable to bind socket and port on socket %d\n", nodes[mynode].socket);
#endif
}
if( listen( nodes[mynode].socket , __PO_HI_NB_ENTITIES ) < 0 )
{
#ifdef __PO_HI_DEBUG
__DEBUGMSG ("Cannot listen on socket %d\n", nodes[mynode].socket);
#endif
}
/*
* Create the thread which receive all data from other
* nodes. This thread will execute the function
* __po_hi_receiver_task
*/
__po_hi_create_generic_task
(-1, 0,__PO_HI_MAX_PRIORITY, 0, __po_hi_receiver_task);
}
/*
* For each node in the sytem that may communicate with the current
* node we create a socket. This socket will be used to send data.
*/
for (node = 0 ; node < __PO_HI_NB_NODES ; node++ )
{
if ( (node != mynode) && (node_port[node] != __PO_HI_NOPORT) && (nodes[node].socket == -1) )
{
while (1)
{
nodes[node].socket = socket (AF_INET, SOCK_STREAM, 0);
if (nodes[node].socket == -1 )
{
#ifdef __PO_HI_DEBUG
__DEBUGMSG ("Socket for node %d is not created", node);
#endif
return;
}
hostinfo = gethostbyname ((char*)node_addr[node]);
if (hostinfo == NULL )
{
#ifdef __PO_HI_DEBUG
__DEBUGMSG ("Error while getting host informations for node %d\n", node);
#endif
}
sa.sin_port = htons( node_port[node] );
sa.sin_family = AF_INET;
/* The following lines are used to copy the
* hostinfo->h_length to the sa.sin_addr member. Most
* of program use the memcpy to do that, but the
* RT-POSIX profile we use forbid the use of this
* function. We use a loop instead to perform the
* copy. So, these lines replace the code :
*
* memcpy( (char*) &( sa.sin_addr ) , (char*)hostinfo->h_addr , hostinfo->h_length );
*/
tmp = (char*) &(sa.sin_addr);
for (i=0 ; i<hostinfo->h_length ; i++)
{
tmp[i] = hostinfo->h_addr[i];
}
/*
* We try to connect on the remote host. We try every
* second to connect on.
*/
ret = connect
(nodes[node].socket, ( struct sockaddr* ) &sa , sizeof( struct sockaddr_in ));
if (ret == 0)
{
if (write (nodes[node].socket, &mynode, sizeof (__po_hi_node_t)) != sizeof (__po_hi_node_t))
{
#ifdef __PO_HI_DEBUG
__DEBUGMSG ("Node %d cannot send his node-id\n", node);
#endif
}
break;
}
if (close (nodes[node].socket))
{
#ifdef __PO_HI_DEBUG
__DEBUGMSG ("Cannot close socket %d\n", nodes[node].socket);
#endif
}
/*
* We wait 500ms each time we try to connect on the
* remote host
*/
__po_hi_get_time (&mytime);
__po_hi_delay_until (__po_hi_add_times (mytime, __po_hi_milliseconds (500)));
}
}
}
}
void __po_hi_driver_sockets_init (__po_hi_device_id dev_id)
{
int ret;
#ifdef _WIN32
char FAR reuse;
#else
int reuse;
#endif
struct sockaddr_in sa;
unsigned short ip_port;
__po_hi_c_ip_conf_t* ipconf;
__po_hi_device_id dev;
__po_hi_device_id sent_id;
struct hostent* hostinfo;
__po_hi_time_t mytime;
__po_hi_time_t tmptime;
char *tmp;
__po_hi_time_t current_time;
int i;
__po_hi_c_sockets_listen_socket = -1;
__po_hi_c_sockets_device_id = dev_id;
if (__po_hi_c_sockets_array_init_done == 0)
{
for (dev = 0 ; dev < __PO_HI_NB_DEVICES ; dev++)
{
__po_hi_c_sockets_read_sockets[dev] = -1;
__po_hi_c_sockets_write_sockets[dev] = -1;
}
__po_hi_c_sockets_array_init_done = 1;
}
__po_hi_transport_set_sending_func (dev_id, __po_hi_driver_sockets_send);
ipconf = (__po_hi_c_ip_conf_t*)__po_hi_get_device_configuration (dev_id);
ip_port = ipconf->port;
__DEBUGMSG ("My configuration, addr=%s, port=%d\n", ipconf->address, ip_port );
/*
* If the current node port has a port number, then it has to
* listen to other nodes. So, we create a socket, bind it and
* listen to other nodes.
*/
if (ip_port != 0)
{
__po_hi_c_sockets_listen_socket = socket (AF_INET, SOCK_STREAM, 0);
if (__po_hi_c_sockets_listen_socket == -1 )
{
#ifdef __PO_HI_DEBUG
__DEBUGMSG ("Cannot create socket for device %d\n", dev_id);
#endif
return;
}
__DEBUGMSG ("Socket created for addr=%s, port=%d, socket value=%d\n", ipconf->address, ip_port, __po_hi_c_sockets_listen_socket);
reuse = 1;
if (setsockopt (__po_hi_c_sockets_listen_socket, SOL_SOCKET, SO_REUSEADDR, &reuse, sizeof (reuse)))
{
__DEBUGMSG ("[DRIVER SOCKETS] Error while making the receiving socket reusable\n");
}
sa.sin_addr.s_addr = htonl (INADDR_ANY); /* We listen on all adresses */
sa.sin_family = AF_INET;
sa.sin_port = htons (ip_port); /* Port provided by the generated code */
if( bind (__po_hi_c_sockets_listen_socket, (struct sockaddr *) &sa , sizeof (struct sockaddr_in) ) < 0 )
{
__DEBUGMSG ("Unable to bind socket and port on socket %d\n", __po_hi_c_sockets_listen_socket);
}
if( listen (__po_hi_c_sockets_listen_socket, __PO_HI_NB_DEVICES) < 0 )
{
__DEBUGMSG ("Cannot listen on socket %d\n", __po_hi_c_sockets_listen_socket);
}
/*
* Create the thread which receive all data from other
* nodes. This thread will execute the function
* __po_hi_receiver_task
*/
__po_hi_initialize_add_task ();
__po_hi_create_generic_task
(-1, 0,__PO_HI_MAX_PRIORITY, 0, 0, (void* (*)(void))__po_hi_sockets_poller, &dev_id);
/* For now, we force affinity to 0 */
}
/*
* For each node in the sytem that may communicate with the current
* node we create a socket. This socket will be used to send data.
*/
for (dev = 0 ; dev < __PO_HI_NB_DEVICES ; dev++)
{
if (dev == dev_id)
{
continue;
}
if (__po_hi_transport_share_bus (dev, dev_id) == 0)
{
__DEBUGMSG ("[DRIVER SOCKETS] Device %d and device %d does not share the same bus, skip connecting them\n", dev, dev_id);
continue;
}
__DEBUGMSG ("[DRIVER SOCKETS] Will initialize connection with device %d\n", dev);
ip_port = 0;
ipconf = (__po_hi_c_ip_conf_t*) __po_hi_get_device_configuration (dev);
ip_port = (unsigned short)ipconf->port;
__DEBUGMSG ("[DRIVER SOCKETS] Configuration for device %d, port=%d\n", dev, ip_port);
if (ip_port == 0)
{
__DEBUGMSG ("[DRIVER SOCKETS] Invalid remote port\n");
continue;
}
while (1)
{
__po_hi_c_sockets_write_sockets[dev] = socket (AF_INET, SOCK_STREAM, 0);
if (__po_hi_c_sockets_write_sockets[dev] == -1 )
{
__DEBUGMSG ("[DRIVER SOCKETS] Socket for dev %d is not created\n", dev);
return;
}
int NoDelayFlag = 1;
if(setsockopt(__po_hi_c_sockets_write_sockets[dev],IPPROTO_TCP,TCP_NODELAY,&NoDelayFlag,sizeof(NoDelayFlag))){
__DEBUGMSG ("[DRIVER SOCKETS] Unable to set TCP_NODELAY for dev %d\n", dev);
}
__DEBUGMSG ("[DRIVER SOCKETS] Socket for dev %d created, value=%d\n", dev, __po_hi_c_sockets_write_sockets[dev]);
hostinfo = NULL;
hostinfo = gethostbyname ((char*)ipconf->address);
if (hostinfo == NULL )
{
__DEBUGMSG ("[DRIVER SOCKETS] Error while getting host informations for device %d\n", dev);
}
sa.sin_port = htons (ip_port);
sa.sin_family = AF_INET;
/* The following lines are used to copy the
* hostinfo->h_length to the sa.sin_addr member. Most
* of program use the memcpy to do that, but the
* RT-POSIX profile we use forbid the use of this
* function. We use a loop instead to perform the
* copy. So, these lines replace the code :
*
*
* memcpy( (char*) &( sa.sin_addr ) , (char*)hostinfo->h_addr , hostinfo->h_length );
*/
tmp = (char*) &(sa.sin_addr);
for (i=0 ; i<hostinfo->h_length ; i++)
{
tmp[i] = hostinfo->h_addr[i];
}
/*
* We try to connect on the remote host. We try every
* second to connect on.
*/
__PO_HI_SET_SOCKET_TIMEOUT(__po_hi_c_sockets_write_sockets[dev], 500000);
ret = connect (__po_hi_c_sockets_write_sockets[dev],
(struct sockaddr*) &sa ,
sizeof (struct sockaddr_in));
#ifdef __PO_HI_USE_PROTOCOL_MYPROTOCOL_I
if (ret == 0)
{
__DEBUGMSG ("[DRIVER SOCKETS] Connection established with device %d, socket=%d\n", dev, __po_hi_c_sockets_write_sockets[dev]);
break;
}
else
{
__DEBUGMSG ("connect() failed, return=%d\n", ret);
}
#else
if (ret == 0)
{
__DEBUGMSG ("[DRIVER SOCKETS] Send my id (%d) to device %d through socket %d\n", dev_id, dev , __po_hi_c_sockets_write_sockets[dev]);
sent_id = __po_hi_swap_byte (dev_id);
#ifdef _WIN32
ret = send (__po_hi_c_sockets_write_sockets[dev], (char*) &sent_id, sizeof (__po_hi_device_id), 0);
#else
ret = write (__po_hi_c_sockets_write_sockets[dev], &sent_id, sizeof (__po_hi_device_id));
#endif
if (ret != sizeof (__po_hi_device_id))
{
__DEBUGMSG ("[DRIVER SOCKETS] Device %d cannot send his id, expected size=%d, return value=%d\n", dev_id, sizeof (__po_hi_device_id), ret);
}
else
{
__DEBUGMSG ("[DRIVER SOCKETS] Connection established with device %d, socket=%d\n", dev, __po_hi_c_sockets_write_sockets[dev]);
break;
}
}
else
{
__DEBUGMSG ("connect() failed, return=%d\n", ret);
}
#endif
if (close (__po_hi_c_sockets_write_sockets[dev]))
{
__DEBUGMSG ("[DRIVER SOCKETS] Cannot close socket %d\n", __po_hi_c_sockets_write_sockets[dev]);
}
/*
* We wait 500ms each time we try to connect on the
* remote host
*/
__po_hi_get_time (¤t_time);
__po_hi_milliseconds (&tmptime, 500);
__po_hi_add_times (&mytime, ¤t_time, &tmptime);
__DEBUGMSG ("[DRIVER SOCKETS] Cannot connect on device %d, wait 500ms\n", dev);
__po_hi_delay_until (&mytime);
}
}
__DEBUGMSG ("[DRIVER SOCKETS] INITIALIZATION DONE\n");
}