//#--------------------------------------------------------------------------------------------#//
//# hm2_test:
// .c:
int rtapi_app_main(void) {
hm2_test_t *me;
hm2_lowlevel_io_t *this;
int r = 0;
LL_PRINT("loading HostMot2 test driver with test pattern %d\n", test_pattern);
comp_id = hal_init(HM2_LLIO_NAME);
}
static bool use_iptables() {
if(iptables_state == -1) {
if(geteuid() != 0) return (iptables_state = 0);
if(!chain_exists()) {
int res = shell("/sbin/iptables -N " CHAIN);
if(res != EXIT_SUCCESS) {
LL_PRINT("ERROR: Failed to create iptables chain "CHAIN);
return (iptables_state = 0);
}
}
// now add a jump to our chain at the start of the OUTPUT chain if it isn't in the chain already
int res = shell("/sbin/iptables -C OUTPUT -j " CHAIN " || /sbin/iptables -I OUTPUT 1 -j " CHAIN);
if(res != EXIT_SUCCESS) {
LL_PRINT("ERROR: Failed to insert rule in OUTPUT chain");
return (iptables_state = 0);
}
return (iptables_state = 1);
}
return iptables_state;
}
static int install_iptables_rule(const char *fmt, ...) {
char commandbuf[1024], *ptr = commandbuf,
*ebuf = commandbuf + sizeof(commandbuf);
ptr = seprintf(ptr, ebuf, IPTABLES" -A "CHAIN" ");
va_list ap;
va_start(ap, fmt);
ptr = vseprintf(ptr, ebuf, fmt, ap);
va_end(ap);
if(ptr == ebuf)
{
LL_PRINT("ERROR: commandbuf too small\n");
return -ENOSPC;
}
int res = shell(commandbuf);
if(res == EXIT_SUCCESS) return 0;
LL_PRINT("ERROR: Failed to execute '%s'\n", commandbuf);
return -EINVAL;
}
static int close_net(void) {
if(use_iptables()) clear_iptables();
if(req.arp_flags & ATF_PERM) {
int ret = ioctl(sockfd, SIOCDARP, &req);
if(ret < 0) perror("ioctl SIOCDARP");
}
int ret = shutdown(sockfd, SHUT_RDWR);
if (ret < 0)
LL_PRINT("ERROR: can't close socket: %s\n", strerror(errno));
return ret < 0 ? -errno : 0;
}
static int eshellf(char *fmt, ...) {
char commandbuf[1024];
va_list ap;
va_start(ap, fmt);
vsnprintf(commandbuf, sizeof(commandbuf), fmt, ap);
va_end(ap);
int res = shell(commandbuf);
if(res == EXIT_SUCCESS) return 0;
LL_PRINT("ERROR: Failed to execute '%s'\n", commandbuf);
return -EINVAL;
}
static int fetch_hwaddr(int sockfd, unsigned char buf[6]) {
lbp16_cmd_addr packet;
unsigned char response[6];
LBP16_INIT_PACKET4(packet, 0x4983, 0x0002);
int res = eth_socket_send(sockfd, &packet, sizeof(packet), 0);
if(res < 0) return -errno;
int i=0;
do {
res = eth_socket_recv(sockfd, &response, sizeof(response), 0);
} while(++i < 10 && res < 0 && errno == EAGAIN);
if(res < 0) return -errno;
// eeprom order is backwards from arp AF_LOCAL order
for(i=0; i<6; i++) buf[i] = response[5-i];
LL_PRINT("Hardware address: %02x:%02x:%02x:%02x:%02x:%02x\n",
buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]);
return 0;
}
static int init_net(void) {
int ret;
sockfd = socket(PF_INET, SOCK_DGRAM, IPPROTO_IP);
if (sockfd < 0) {
LL_PRINT("ERROR: can't open socket: %s\n", strerror(errno));
return -errno;
}
server_addr.sin_family = AF_INET;
server_addr.sin_port = htons(LBP16_UDP_PORT);
server_addr.sin_addr.s_addr = inet_addr(board_ip);
local_addr.sin_family = AF_INET;
local_addr.sin_addr.s_addr = INADDR_ANY;
ret = connect(sockfd, (struct sockaddr *) &server_addr, sizeof(struct sockaddr_in));
if (ret < 0) {
LL_PRINT("ERROR: can't connect: %s\n", strerror(errno));
return -errno;
}
if(use_iptables()) {
LL_PRINT("Using iptables for exclusive access to network interface\n")
// firewall has to be open in order to successfully arp the board
clear_iptables();
} else {
LL_PRINT(\
"WARNING: Unable to restrict other access to the hm2-eth device.\n"
"This means that other software using the same network interface can violate\n"
"realtime guarantees. See hm2_eth(9) for more information.\n");
}
struct timeval timeout;
timeout.tv_sec = 0;
timeout.tv_usec = RECV_TIMEOUT_US;
ret = setsockopt(sockfd, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
if (ret < 0) {
LL_PRINT("ERROR: can't set socket option: %s\n", strerror(errno));
return -errno;
}
timeout.tv_usec = SEND_TIMEOUT_US;
setsockopt(sockfd, SOL_SOCKET, SO_SNDTIMEO, (char *)&timeout, sizeof(timeout));
if (ret < 0) {
LL_PRINT("ERROR: can't set socket option: %s\n", strerror(errno));
return -errno;
}
memset(&req, 0, sizeof(req));
struct sockaddr_in *sin;
sin = (struct sockaddr_in *) &req.arp_pa;
sin->sin_family = AF_INET;
sin->sin_addr.s_addr = inet_addr(board_ip);
req.arp_ha.sa_family = AF_LOCAL;
req.arp_flags = ATF_PERM | ATF_COM;
ret = fetch_hwaddr( sockfd, (void*)&req.arp_ha.sa_data );
if(ret < 0) {
LL_PRINT("ERROR: Could not retrieve mac address\n");
return ret;
}
ret = ioctl(sockfd, SIOCSARP, &req);
if(ret < 0) {
perror("ioctl SIOCSARP");
req.arp_flags &= ~ATF_PERM;
return -errno;
}
if(use_iptables())
{
ret = install_iptables(sockfd);
if(ret < 0) return ret;
}
return 0;
}
int rtapi_app_main(void) {
int r = 0;
LL_PRINT("loading Mesa AnyIO HostMot2 driver version " HM2_PCI_VERSION "\n");
comp_id = hal_init(HM2_LLIO_NAME);
}
//#--------------------------------------------------------------------------------------------#//
//# hm2_eth:
// .c
int rtapi_app_main(void) {
int ret;
LL_PRINT("loading Mesa AnyIO HostMot2 ethernet driver version " HM2_ETH_VERSION "\n");
ret = hal_init(HM2_LLIO_NAME);
}
