void cmd_server(int argc, char *argv[])
{
int i;
cmd.args.server.period = 1000;
cmd.args.server.burstrate = 4;
cmd.args.server.heartbeat = 1000;
cmd.args.server.threshold = 2;
cmd.args.server.flags = 0;
for (i = 3; i < argc; i++) {
if (strcmp(argv[i], "-p") == 0)
cmd.args.server.period = getintopt(argc, ++i, argv, 1);
else if (strcmp(argv[i], "-b") == 0)
cmd.args.server.burstrate = getintopt(argc, ++i, argv, 1);
else if (strcmp(argv[i], "-h") == 0)
cmd.args.server.heartbeat = getintopt(argc, ++i, argv, 0);
else if (strcmp(argv[i], "-t") == 0)
cmd.args.server.threshold = getintopt(argc, ++i, argv, 1);
else if (strcmp(argv[i], "-r") == 0)
cmd.args.server.flags |= FLAG_READY;
else
help();
}
i = ioctl(f, RTCFG_IOC_SERVER, &cmd);
if (i < 0) {
perror("ioctl");
exit(1);
}
exit(0);
}
void cmd_client(int argc, char *argv[])
{
int i;
cmd.args.client.timeout = 0; /* infinite */
cmd.args.client.buffer_size = 0;
cmd.args.client.max_clients = 32;
for (i = 3; i < argc; i++) {
if (strcmp(argv[i], "-t") == 0)
cmd.args.client.timeout = getintopt(argc, ++i, argv, 1);
else if (strcmp(argv[i], "-c") == 0) {
fprintf(stderr, "Configuration files are not supported yet.\n");
exit(1);
} else if (strcmp(argv[i], "-f") == 0) {
fprintf(stderr, "Configuration files are not supported yet.\n");
exit(1);
} else if (strcmp(argv[i], "-m") == 0)
cmd.args.client.max_clients = getintopt(argc, ++i, argv, 1);
else
help();
}
i = ioctl(f, RTCFG_IOC_CLIENT, &cmd);
if (i < 0) {
perror("ioctl");
exit(1);
}
exit(0);
}
void cmd_announce(int argc, char *argv[])
{
int i;
cmd.args.announce.timeout = 0; /* infinite */
cmd.args.announce.buffer_size = 0;
cmd.args.announce.burstrate = 32;
for (i = 3; i < argc; i++) {
if (strcmp(argv[i], "-t") == 0)
cmd.args.announce.timeout = getintopt(argc, ++i, argv, 1);
else if (strcmp(argv[i], "-c") == 0) {
fprintf(stderr, "Configuration files are not supported yet.\n");
exit(1);
} else if (strcmp(argv[i], "-f") == 0) {
fprintf(stderr, "Configuration files are not supported yet.\n");
exit(1);
} else if (strcmp(argv[i], "-b") == 0)
cmd.args.announce.burstrate = getintopt(argc, ++i, argv, 1);
else
help();
}
i = ioctl(f, RTCFG_IOC_ANNOUNCE, &cmd);
if (i < 0) {
perror("ioctl");
exit(1);
}
exit(0);
}
void do_slave(int argc, char *argv[])
{
int i;
int r;
if (argc < 3)
help();
tdma_cfg.args.slave.cal_rounds = 100;
tdma_cfg.args.slave.max_slot_id = 7;
for (i = 3; i < argc; i++) {
if (strcmp(argv[i], "-c") == 0)
tdma_cfg.args.slave.cal_rounds = getintopt(argc, ++i, argv, 0);
else if (strcmp(argv[i], "-i") == 0)
tdma_cfg.args.slave.max_slot_id = getintopt(argc, ++i, argv, 0);
else
help();
}
r = ioctl(f, TDMA_IOC_SLAVE, &tdma_cfg);
if (r < 0) {
perror("ioctl");
exit(1);
}
exit(0);
}
int main(int argc, char *argv[])
{
const char rtnet_dev[] = "/dev/rtnet";
struct timeval time;
struct itimerval timer = {{0, 0}, {0, 1}};
int i;
if (argc < 2)
help();
gettimeofday(&time, NULL);
cmd.args.ping.id = time.tv_usec & 0xFFFF;
cmd.args.ping.sequence = 1;
cmd.args.ping.msg_size = 56;
cmd.args.ping.timeout = 500;
for (i = 1; i < argc-1; i++) {
if (strcmp(argv[i], "-c") == 0)
count = getintopt(argc, ++i, argv, 1);
else if (strcmp(argv[i], "-i") == 0)
delay = getintopt(argc, ++i, argv, 1);
else if (strcmp(argv[i], "-s") == 0) {
cmd.args.ping.msg_size = getintopt(argc, ++i, argv, 0);
if (cmd.args.ping.msg_size > 1472)
cmd.args.ping.msg_size = 1472;
} else
help();
}
if (!inet_aton(argv[i], &addr))
help();
f = open(rtnet_dev, O_RDWR);
if (f < 0) {
perror(rtnet_dev);
exit(1);
}
printf("Real-time PING %s %d(%d) bytes of data.\n",
inet_ntoa(addr), cmd.args.ping.msg_size,
cmd.args.ping.msg_size + 28);
signal(SIGINT, terminate);
signal(SIGALRM, ping);
timer.it_interval.tv_sec = delay / 1000;
timer.it_interval.tv_usec = (delay % 1000) * 1000;
setitimer(ITIMER_REAL, &timer, NULL);
while (1) pause();
}
void do_master(int argc, char *argv[])
{
int r;
int i;
if (argc < 4)
help();
if ((sscanf(argv[3], "%u", &r) != 1) || (r <= 0)) {
fprintf(stderr, "invalid cycle period: %s\n", argv[3]);
exit(1);
}
tdma_cfg.args.master.cycle_period = ((uint64_t)r) * 1000;
tdma_cfg.args.master.backup_sync_offset = 0;
tdma_cfg.args.master.cal_rounds = 100;
tdma_cfg.args.master.max_cal_requests = 64;
tdma_cfg.args.master.max_slot_id = 7;
for (i = 4; i < argc; i++) {
if (strcmp(argv[i], "-b") == 0)
tdma_cfg.args.master.backup_sync_offset =
getintopt(argc, ++i, argv, 0) * 1000;
else if (strcmp(argv[i], "-c") == 0)
tdma_cfg.args.master.cal_rounds = getintopt(argc, ++i, argv, 0);
else if (strcmp(argv[i], "-i") == 0)
tdma_cfg.args.master.max_slot_id = getintopt(argc, ++i, argv, 0);
else if (strcmp(argv[i], "-m") == 0)
tdma_cfg.args.master.max_cal_requests =
getintopt(argc, ++i, argv, 1);
else
help();
}
r = ioctl(f, TDMA_IOC_MASTER, &tdma_cfg);
if (r < 0) {
perror("ioctl");
exit(1);
}
exit(0);
}
void cmd_wait(int argc, char *argv[])
{
int i;
cmd.args.wait.timeout = 0; /* infinite */
for (i = 3; i < argc; i++) {
if (strcmp(argv[i], "-t") == 0)
cmd.args.wait.timeout = getintopt(argc, ++i, argv, 1);
else
help();
}
i = ioctl(f, RTCFG_IOC_WAIT, &cmd);
if (i < 0) {
perror("ioctl");
exit(1);
}
exit(0);
}
void cmd_ready(int argc, char *argv[])
{
int i;
cmd.args.ready.timeout = 0; /* infinite */
for (i = 3; i < argc; i++) {
if (strcmp(argv[i], "-t") == 0)
cmd.args.ready.timeout = getintopt(argc, ++i, argv, 0);
else
help();
}
i = ioctl(f, RTCFG_IOC_READY, &cmd);
if (i < 0) {
if (errno != ETIME)
perror("ioctl");
exit(1);
}
exit(0);
}
void cmd_announce(int argc, char *argv[])
{
int i;
int cfg_size;
int cfg_file = -1;
char *cfg_filename = NULL;
size_t buffer_size = 0;
cmd.args.announce.timeout = 0; /* infinite */
cmd.args.announce.buffer_size = 0;
cmd.args.announce.flags = 0;
cmd.args.announce.burstrate = DFLT_CLIENT_BURST_RATE;
for (i = 3; i < argc; i++) {
if (strcmp(argv[i], "-t") == 0)
cmd.args.announce.timeout = getintopt(argc, ++i, argv, 0);
else if (strcmp(argv[i], "-c") == 0) {
cfg_file = 1; /* standard output file descriptor */
buffer_size = DFLT_CLIENT_BURST_RATE * DFLT_PACKET_SIZE;
} else if (strcmp(argv[i], "-f") == 0) {
if (++i >= argc)
help();
cfg_filename = argv[i];
buffer_size = DFLT_CLIENT_BURST_RATE * DFLT_PACKET_SIZE;
} else if (strcmp(argv[i], "-b") == 0)
cmd.args.announce.burstrate = getintopt(argc, ++i, argv, 1);
else if (strcmp(argv[i], "-r") == 0)
cmd.args.announce.flags |= FLAG_READY;
else
help();
}
if (buffer_size > 0) {
cmd.args.announce.buffer = malloc(buffer_size);
if (cmd.args.announce.buffer == NULL) {
fprintf(stderr, "insufficient memory\n");
exit(1);
}
cmd.args.announce.flags |= FLAG_STAGE_2_DATA;
}
cmd.args.announce.buffer_size = buffer_size;
if (cfg_filename != NULL) {
cfg_file = open(cfg_filename, O_CREAT | O_WRONLY | O_TRUNC,
S_IREAD | S_IWRITE);
if (cfg_file < 0) {
perror("create output file");
free(cmd.args.announce.buffer);
exit(1);
}
}
while ((cfg_size = ioctl(f, RTCFG_IOC_ANNOUNCE, &cmd)) > 0) {
i = write(cfg_file, cmd.args.announce.buffer, cfg_size);
if (i < 0) {
perror("write output file");
exit(1);
}
}
if (cmd.args.announce.buffer != NULL)
free(cmd.args.announce.buffer);
if (i < 0) {
if (errno != ETIME)
perror("ioctl");
exit(1);
}
exit(0);
}
void cmd_client(int argc, char *argv[])
{
int i;
int cfg_size;
int cfg_file = -1;
char *cfg_filename = NULL;
int buffer_size = 0;
cmd.args.client.timeout = 0; /* infinite */
cmd.args.client.max_stations = 32;
for (i = 3; i < argc; i++) {
if (strcmp(argv[i], "-t") == 0) {
cmd.args.client.timeout = getintopt(argc, ++i, argv, 0);
} else if (strcmp(argv[i], "-c") == 0) {
cfg_file = 1; /* standard output file descriptor */
buffer_size = DFLT_PACKET_SIZE;
} else if (strcmp(argv[i], "-f") == 0) {
if (++i >= argc)
help();
cfg_filename = argv[i];
buffer_size = DFLT_PACKET_SIZE;
} else if (strcmp(argv[i], "-m") == 0)
cmd.args.client.max_stations = getintopt(argc, ++i, argv, 1);
else
help();
}
if (buffer_size > 0) {
cmd.args.client.buffer = malloc(buffer_size);
if (cmd.args.client.buffer == NULL) {
fprintf(stderr, "insufficient memory\n");
exit(1);
}
}
cmd.args.client.buffer_size = buffer_size;
cfg_size = ioctl(f, RTCFG_IOC_CLIENT, &cmd);
/* Buffer too small? Let's try again! */
if (cfg_size > buffer_size) {
free(cmd.args.client.buffer);
buffer_size = i;
cmd.args.client.buffer = malloc(buffer_size);
if (cmd.args.client.buffer == NULL) {
fprintf(stderr, "insufficient memory\n");
exit(1);
}
cmd.args.client.buffer_size = buffer_size;
cfg_size = ioctl(f, RTCFG_IOC_CLIENT, &cmd);
}
if (cfg_size < 0) {
if (errno != ETIME)
perror("ioctl");
if (cmd.args.client.buffer_size > 0)
free(cmd.args.client.buffer);
exit(1);
}
if (cfg_filename != NULL) {
cfg_file = open(cfg_filename, O_CREAT | O_WRONLY | O_TRUNC,
S_IREAD | S_IWRITE);
if (cfg_file < 0) {
perror("create output file");
free(cmd.args.client.buffer);
exit(1);
}
}
if (cfg_file > 0) {
i = write(cfg_file, cmd.args.client.buffer, cfg_size);
free(cmd.args.client.buffer);
if (i < 0) {
perror("write output file");
exit(1);
}
}
exit(0);
}
void cmd_add(int argc, char *argv[])
{
int i;
struct in_addr ip_addr;
struct ether_addr mac_addr;
const char *stage1_filename = NULL;
const char *stage2_filename = NULL;
int file;
size_t buf_size;
void *new_buf;
if (argc < 4)
help();
if (inet_aton(argv[3], &ip_addr)) {
cmd.args.add.addr_type = RTCFG_ADDR_IP;
cmd.args.add.ip_addr = ip_addr.s_addr;
} else if (ether_aton_r(argv[3], &mac_addr) != NULL) {
cmd.args.add.addr_type = RTCFG_ADDR_MAC;
memcpy(cmd.args.add.mac_addr, mac_addr.ether_addr_octet,
sizeof(mac_addr.ether_addr_octet));
} else {
fprintf(stderr, "invalid IP or physical address: %s\n", argv[3]);
exit(1);
}
cmd.args.add.stage1_data = NULL;
cmd.args.add.stage1_size = 0;
cmd.args.add.stage2_filename = NULL;
cmd.args.add.timeout = 0; /* infinite */
for (i = 4; i < argc; i++) {
if (strcmp(argv[i], "-hw") == 0) {
if ((++i >= argc) || (ether_aton_r(argv[i], &mac_addr) == NULL))
help();
cmd.args.add.addr_type = RTCFG_ADDR_IP | FLAG_ASSIGN_ADDR_BY_MAC;
memcpy(cmd.args.add.mac_addr, mac_addr.ether_addr_octet,
sizeof(mac_addr.ether_addr_octet));
} else if (strcmp(argv[i], "-stage1") == 0) {
if (++i >= argc)
help();
stage1_filename = argv[i];
} else if (strcmp(argv[i], "-stage2") == 0) {
if (++i >= argc)
help();
stage2_filename = argv[i];
} else if (strcmp(argv[i], "-t") == 0)
cmd.args.add.timeout = getintopt(argc, ++i, argv, 0);
else
help();
}
if (stage1_filename != NULL) {
if (strcmp(stage1_filename, "-") == 0)
file = 0; /* stdin */
else {
file = open(stage1_filename, O_RDONLY);
if (file < 0) {
perror("open stage 1 file");
exit(1);
}
}
buf_size = 0;
do {
buf_size += 4096;
new_buf = realloc(cmd.args.add.stage1_data, buf_size);
if (new_buf == NULL) {
fprintf(stderr, "insufficient memory\n");
if (cmd.args.add.stage1_data != NULL)
free(cmd.args.add.stage1_data);
exit(1);
}
cmd.args.add.stage1_data = new_buf;
i = read(file, cmd.args.add.stage1_data+cmd.args.add.stage1_size,
4096);
if (i < 0) {
perror("read stage 1 file");
free(cmd.args.add.stage1_data);
exit(1);
}
cmd.args.add.stage1_size += i;
} while (i == 4096);
close(file);
}
if (stage2_filename != NULL) {
cmd.args.add.stage2_filename = malloc(PATH_MAX);
if (cmd.args.add.stage2_filename == NULL) {
fprintf(stderr, "insufficient memory\n");
if (cmd.args.add.stage1_data != NULL)
free(cmd.args.add.stage1_data);
exit(1);
}
if (realpath(stage2_filename,
(char *)cmd.args.add.stage2_filename) == NULL) {
perror("resolve stage 2 file");
free((void *)cmd.args.add.stage2_filename);
if (cmd.args.add.stage1_data != NULL)
free(cmd.args.add.stage1_data);
exit(1);
}
}
i = ioctl(f, RTCFG_IOC_ADD, &cmd);
if (cmd.args.add.stage1_data != NULL)
free(cmd.args.add.stage1_data);
if (cmd.args.add.stage2_filename != NULL)
free((void *)cmd.args.add.stage2_filename);
if (i < 0) {
switch (errno) {
case ESTAGE1SIZE:
fprintf(stderr, "stage 1 file too big\n");
break;
case EEXIST:
fprintf(stderr, "client entry already exists\n");
break;
default:
perror("ioctl (add)");
}
exit(1);
}
exit(0);
}
void do_slot(int argc, char *argv[])
{
char *log_filename = NULL;
int result_size = 0;
unsigned int ioc;
int r;
int i;
if (argc < 4)
help();
if ((sscanf(argv[3], "%u", &r) != 1) || (r < 0)) {
fprintf(stderr, "invalid slot id: %s\n", argv[3]);
exit(1);
}
if (argc > 4) {
tdma_cfg.args.set_slot.id = r;
if ((sscanf(argv[4], "%u", &r) != 1) || (r < 0)) {
fprintf(stderr, "invalid slot offset: %s\n", argv[4]);
exit(1);
}
tdma_cfg.args.set_slot.offset = ((uint64_t)r) * 1000;
tdma_cfg.args.set_slot.period = 1;
tdma_cfg.args.set_slot.phasing = 0;
tdma_cfg.args.set_slot.size = 0;
tdma_cfg.args.set_slot.cal_timeout = 0;
tdma_cfg.args.set_slot.joint_slot = -1;
tdma_cfg.args.set_slot.cal_results = NULL;
for (i = 5; i < argc; i++) {
if (strcmp(argv[i], "-l") == 0) {
if (++i >= argc)
help();
log_filename = argv[i];
} else if (strcmp(argv[i], "-p") == 0) {
if (++i >= argc)
help();
if ((sscanf(argv[i], "%u/%u",
&tdma_cfg.args.set_slot.phasing,
&tdma_cfg.args.set_slot.period) != 2) ||
(tdma_cfg.args.set_slot.phasing < 1) ||
(tdma_cfg.args.set_slot.period < 1) ||
(tdma_cfg.args.set_slot.phasing >
tdma_cfg.args.set_slot.period)) {
fprintf(stderr, "invalid parameter: %s %s\n", argv[i-1],
argv[i]);
exit(1);
}
tdma_cfg.args.set_slot.phasing--;
} else if (strcmp(argv[i], "-s") == 0)
tdma_cfg.args.set_slot.size =
getintopt(argc, ++i, argv, MIN_SLOT_SIZE);
else if (strcmp(argv[i], "-t") == 0)
tdma_cfg.args.set_slot.cal_timeout =
getintopt(argc, ++i, argv, 0);
else if (strcmp(argv[i], "-j") == 0)
tdma_cfg.args.set_slot.joint_slot =
getintopt(argc, ++i, argv, 0);
else
help();
}
if (log_filename) {
/* note: we can reuse tdma_cfg here as the head is the same and
* will remain unmodified */
result_size = ioctl(f, TDMA_IOC_CAL_RESULT_SIZE, &tdma_cfg);
if (result_size > 0) {
tdma_cfg.args.set_slot.cal_results =
(__u64 *)malloc(result_size * sizeof(__u64));
if (!tdma_cfg.args.set_slot.cal_results) {
fprintf(stderr, "insufficient memory\n");
exit(1);
}
} else
log_filename = NULL;
}
ioc = TDMA_IOC_SET_SLOT;
} else {
tdma_cfg.args.remove_slot.id = r;
ioc = TDMA_IOC_REMOVE_SLOT;
}
r = ioctl(f, ioc, &tdma_cfg);
if (r < 0) {
perror("ioctl");
exit(1);
}
if (log_filename)
write_calibration_log(log_filename, result_size,
tdma_cfg.args.set_slot.cal_results);
exit(0);
}