static void sender(long nothing)
{
int diff = 0, warmup = 1000000000/WORKCYCLE;
RTIME t, tb;
struct sample { unsigned long cnt; RTIME tx, rx; } samp = { 0, 0, 0 };
rt_printk("RtnetTest: Transmitter task initialised\n");
tb = t = rt_get_real_time_ns();
while(!end) {
slen = sprintf(buffer_out, "%lld", t);
slen = rt_dev_sendto(sock, buffer_out, slen, 0, (struct sockaddr*)&tx_addr, sizeof(tx_addr));
if (slen < 0) {
rt_printk("RtnetTest: Packet send failed! Errno %d\n", -slen);
return;
}
rt_task_wait_period();
t = rt_get_real_time_ns();
if (!warmup) {
diff = abs((int)(t - tb - WORKCYCLE));
samp.cnt++;
tb = t;
if (diff > samp.rx) samp.rx = diff;
rt_mbx_send_if(mbx, &samp, sizeof(samp));
} else {
tb = rt_get_real_time_ns();
warmup--;
}
}
}
GDC_return_codes GDCNetwork::sendMessage(GDCMsg & message, int card_number)
{
ssize_t size;
const char* payload;
int length;
if(card_number >= (int)gdc_card_states_.size())
{
printf("GDCNetwork::sendMessage>> ERROR trying to send a message to an invalid card, number = %d\n", card_number);
return SDC_CARD_UNDEFINED;
}
payload = message.getMessageToSend(&length);
if (payload == NULL)
{
printf("GDCNetwork::sendMessage>> ERROR: gdcMsg payload is not valid (%p)\n", payload);
return UDP_PAYLOAD_ERROR;
}
if (length <= 0 || length > MAX_MSG_SIZE)
{
printf("GDCNetwork::sendMessage>> ERROR: gdcMsg length is not valid (%i)\n", length);
return UDP_MSG_LENGTH_ERROR;
}
size = rt_dev_sendto(sender_socket_, payload, length, 0,
(struct sockaddr*) (&remote_ip_address_[card_number]), sizeof(sockaddr_in));
if(size != length)
{
if ((size == -EWOULDBLOCK) | (size == -EAGAIN))
{
printf("GDCNetwork::sendMessage>> ERROR timeout\n");
return UDP_SEND_TIMEOUT;
}
else if (size < 0)
{
printf("GDCNetwork::sendMessage>> ERROR length=%i payload=%p port=%i ip=%s\n",
length, payload, remote_ip_address_[card_number].sin_port,
inet_ntoa(remote_ip_address_[card_number].sin_addr));
printf("GDCNetwork::sendMessage>> ERROR: socket send sys call error: %d\n", (int)size);
return UDP_SEND_SYSCALL_ERROR;
}
else
{
printf("GDCNetwork::sendMessage>> ERROR: socket did not sent enough bytes, payload length %d, sent %d\n", length, (int)size);
return UDP_SEND_SIZE_ERROR;
}
}
return SUCCESS;
}
int PipeBase::sendToNrtRawData(const void* pData, int size)
{
#ifdef UNIX
if (pData == nullptr)
{
throw std::runtime_error("SendRTtoNRT:Invalid pointer");
}
return rt_dev_sendto(pImp->FD_RT, pData, size, 0, NULL, 0);
#endif
#ifdef WIN32
return 0;
#endif
}
GDC_return_codes GDCNetwork::sendMultiCastMessage(GDCMsg & message)
{
ssize_t size;
const char* payload;
int length;
payload = message.getMessageToSend(&length);
if (payload == NULL)
{
printf("GDCNetwork::sendMultiCastMessage>> ERROR: gdcMsg payload is not valid (%p)\n", payload);
return UDP_PAYLOAD_ERROR;
}
if (length <= 0 || length > MAX_MSG_SIZE)
{
printf("GDCNetwork::sendMultiCastMessage>> ERROR: gdcMsg length is not valid (%i)\n", length);
return UDP_MSG_LENGTH_ERROR;
}
size = rt_dev_sendto(sender_socket_, payload, length, 0,
(struct sockaddr*) (&(multi_cast_ip_address_)), sizeof(sockaddr_in));
if((int)size != length)
{
if ((size == -EWOULDBLOCK) | (size == -EAGAIN))
{
printf("GDCNetwork::sendMultiCastMessage>> ERROR timeout\n");
return UDP_SEND_TIMEOUT;
}
else if (size < 0)
{
printf("GDCNetwork::sendMultiCastMessage>> length=%d payload=%s port=%d ip=%s\n",
length, payload, multi_cast_ip_address_.sin_port, inet_ntoa(multi_cast_ip_address_.sin_addr));
printf("GDCNetwork::sendMultiCastMessage>> ERROR: socket send sys call error: %d\n", (int)size);
return UDP_SEND_SYSCALL_ERROR;
}
else
{
printf("GDCNetwork::sendMultiCastMessage>> ERROR: socket did not sent enough bytes, payload length %d, sent %d\n", length, (int)size);
return UDP_SEND_SIZE_ERROR;
}
}
return SUCCESS;
}
static void rt_task(void)
{
int i, j, ret;
for (i = 0; i < loops; i++) {
rt_task_sleep(rt_timer_ns2ticks(delay));
if (count)
memcpy(&frame.data[0], &i, sizeof(i));
/* Note: sendto avoids the definiton of a receive filter list */
if (use_send)
ret = rt_dev_send(s, (void *)&frame, sizeof(can_frame_t), 0);
else
ret = rt_dev_sendto(s, (void *)&frame, sizeof(can_frame_t), 0,
(struct sockaddr *)&to_addr, sizeof(to_addr));
if (ret < 0) {
switch (ret) {
case -ETIMEDOUT:
if (verbose)
printf("rt_dev_send(to): timed out");
break;
case -EBADF:
if (verbose)
printf("rt_dev_send(to): aborted because socket was closed");
break;
default:
fprintf(stderr, "rt_dev_send: %s\n", strerror(-ret));
break;
}
i = loops; /* abort */
break;
}
if (verbose && (i % print) == 0) {
if (frame.can_id & CAN_EFF_FLAG)
printf("<0x%08x>", frame.can_id & CAN_EFF_MASK);
else
printf("<0x%03x>", frame.can_id & CAN_SFF_MASK);
printf(" [%d]", frame.can_dlc);
for (j = 0; j < frame.can_dlc; j++) {
printf(" %02x", frame.data[j]);
}
printf("\n");
}
}
}
