Re: [RTnet-users] [ask] how to send and receive packet with real time network in rtnet

[Ramon R. <mo...@ya...>]

Dear,

I tried that file just now, but when I compile it, there are too many error so it can't be tested. Do you know why is this keep error? I think it is from the included files or the way I include the libraries and included files. It keep get error from the undeclared something or error from the .h's files.

Thanks

===
the command:
gcc -lnative -lrtdk -I /usr/xenomai/include/ -I /usr/local/rtnet/include/ -I /usr/xenomai/include/native/ -I /usr/src/rtnet-0.9.12/stack/include/ -I /usr/xenomai/include/nucleus/ -D _GNU_SOURCE -D_REENTRANT -Wall -pipe -D __XENO__ -L /usr/xenomai/lib/ -lxenomai -lpthread -lnative -lrtdk /home/mon/Desktop/raw-packets.c -o /home/mon/Desktop/raw-packets


===
the errors is something like this:
/home/mon/Desktop/raw-packets.c:25:26: error: linux/module.h: No such file or directory
/home/mon/Desktop/raw-packets.c:38:41: error: missing binary operator before token "("
/home/mon/Desktop/raw-packets.c:41: error: expected ‘)’ before string constant
/home/mon/Desktop/raw-packets.c:43: error: expected ‘)’ before ‘int’
/home/mon/Desktop/raw-packets.c:44: error: expected ‘)’ before string constant
/home/mon/Desktop/raw-packets.c:45: error: expected ‘)’ before string constant
/home/mon/Desktop/raw-packets.c:47: error: expected declaration specifiers or ‘...’ before string constant
/home/mon/Desktop/raw-packets.c:47: warning: data definition has no type or storage class
/home/mon/Desktop/raw-packets.c:47: warning: type defaults to ‘int’ in declaration of ‘MODULE_LICENSE’
/home/mon/Desktop/raw-packets.c: In function ‘send_msg’:
/home/mon/Desktop/raw-packets.c:81: warning: implicit declaration of function ‘printk’
/home/mon/Desktop/raw-packets.c: In function ‘init_module’:
/home/mon/Desktop/raw-packets.c:139: warning: implicit declaration of function ‘htons’
/home/mon/Desktop/raw-packets.c:143: warning: implicit declaration of function ‘rt_eth_aton’
/home/mon/Desktop/raw-packets.c: In function ‘cleanup_module’:
/home/mon/Desktop/raw-packets.c:233: warning: implicit declaration of function ‘set_current_state’
/home/mon/Desktop/raw-packets.c:233: error: ‘TASK_UNINTERRUPTIBLE’ undeclared (first use in this function)
/home/mon/Desktop/raw-packets.c:233: error: (Each undeclared identifier is reported only once
/home/mon/Desktop/raw-packets.c:233: error: for each function it appears in.)
/home/mon/Desktop/raw-packets.c:234: warning: implicit declaration of function ‘schedule_timeout’
===
I am confused with these error:
/home/mon/Desktop/raw-packets.c:25:26: error: linux/module.h: No such file or directory
/home/mon/Desktop/raw-packets.c:38:41: error: missing binary operator before token "("
/home/mon/Desktop/raw-packets.c:41: error: expected ‘)’ before string constant
/home/mon/Desktop/raw-packets.c:43: error: expected ‘)’ before ‘int’
/home/mon/Desktop/raw-packets.c:44: error: expected ‘)’ before string constant
/home/mon/Desktop/raw-packets.c:45: error: expected ‘)’ before string constant
/home/mon/Desktop/raw-packets.c:47: error: expected declaration specifiers or ‘...’ before string constant
==>for the first line error, while I locate the linux/module.h  that is told in the error "no such 
file or directory" and add the located file (maybe 
usr/src/linux-2.6.32.11/include/) to the gcc command, it get more (a lot
 of) errors.
===>I am confused with the others line of error

and the one those looks like

/home/mon/Desktop/raw-packets.c:233: error: ‘TASK_UNINTERRUPTIBLE’ 
undeclared (first use in this function)
==> is there something I miss with the included file/library?


--- On Tue, 2/22/11, Andreas Kasper <a.k...@ka...> wrote:

From: Andreas Kasper <a.k...@ka...>
Subject: Re: [RTnet-users] [ask] how to send and receive packet with real time network in rtnet
To: "Ramon Rusli" <mo...@ya...>
Cc: "rtnet" <rtn...@li...>
Date: Tuesday, February 22, 2011, 7:49 PM

Hi,
  I'm also new to rtnet (and RTAI). Therefore I don't know what you have to change to use this code on xenomai. But there are examples in the rtnet archive. Download the newest archive and look in the following directory:/rtnet-0.9.12/examples/xenomai/native/kernel/

There is a file called raw-packets.c. I think this will help you.

Andreas Kasper

  Zitat Ramon Rusli <mo...@ya...>:
  
    
      
        
          Dear,

Thanks a lot Mr Kasper. From your code, which sections are needed to be changed if I use Xenomai, not RTAI? Because I am using xenomai, not RTAI.

I am sorry if this answer is too be beginner, I am very new with this. Thank you so much.

--- On Tue, 2/22/11, Andreas Kasper <a.k...@ka...> wrote:

            
From: Andreas Kasper <a.k...@ka...>
Subject: Re: [RTnet-users] [ask] how to send and receive packet with real time network in rtnet
To: "Ramon Rusli" <mo...@ya...>
Cc: "rtnet" <rtn...@li...>
Date: Tuesday, February 22, 2011, 7:28 AM


              
                Hello, 
                I think you are looking for the following code: 
                
 
                

#include <stdio.h>
#include <sys/socket.h>
#include <arpa/inet.h>
#include <netinet/in.h>
#include <string.h>

#include <rtai_lxrt.h>
#include <rtnet.h>

#define LXRTTASKID 4444

static struct sockaddr_in net_client;
static struct sockaddr_in net_canrouter;

int main( int argc, char **argv )
{
    RT_TASK *lxrttask;
    int sock;

    RTIME start;
    RTIME end;

    char welcomemessage[] = "Welcome";

    /* init network strutures */
    memset( &net_client, 0, sizeof( struct sockaddr_in ) );
    memset( &net_canrouter, 0, sizeof( struct sockaddr_in ) );


    /* disable paging for the current process */
    if ( -1 == mlockall( MCL_CURRENT | MCL_FUTURE )
 )
    {
        printf("Error: mlockall failed\n");

        exit( EXIT_FAILURE );
    }

    /* local network interface configuration */
    net_client.sin_family = AF_INET;
    net_client.sin_addr.s_addr = INADDR_ANY;
    net_client.sin_port = htons( 333 ); /* local udp port */

    /* udp destinaton configuration */
    net_canrouter.sin_family = AF_INET;
    net_canrouter.sin_addr.s_addr = inet_addr( "192.168.22.1" );
    //printf("INET_ATON: %d\n", inet_aton( "192.168.22.1", &net_canrouter.sin_addr) );
    net_canrouter.sin_port= htons( 333 ); /* remode udp port */

    /* create udp socket */
    if ( ( sock = rt_dev_socket( AF_INET,
 SOCK_DGRAM, 0 ) ) < 0 )
    {
        printf("Error: rt_dev_socket\n");

        exit( EXIT_FAILURE );
    }

    /* init realtime task */
    if ( ( lxrttask = rt_task_init( LXRTTASKID, 1, 0, 0 ) ) == NULL )
    {
        rt_dev_close( sock );
 
        printf("Error: rt_task_init\n");

        exit( EXIT_FAILURE );
    }

    printf("switching to hard real time mode\n");


    /* switch to hard real time mode */
    rt_make_hard_real_time( );


    /* bind local rt socket */
    if ( 0 != rt_dev_bind( sock, (struct sockaddr *) &net_client, sizeof( struct
 sockaddr_in ) ) )
    {
        rt_make_soft_real_time( );

        rt_dev_close( sock );

        rt_task_delete( lxrttask );

        printf("Error: rt_dev_bind\n");

        exit( EXIT_FAILURE );
    }

    /* connect can router */
    if ( 0 != rt_dev_connect( sock, (struct sockaddr *) &net_canrouter, sizeof( struct sockaddr_in ) ) )
    {
        rt_make_soft_real_time( );

        rt_dev_close( sock );

        rt_task_delete( lxrttask );

        printf("Error: rt_dev_connect\n");

        exit(
 EXIT_FAILURE );
    }

    /* rt & network initialization completed */

    printf("send\n");


    /* send welcome message to the can router */
    rt_dev_send( sock, welcomemessage, sizeof( welcomemessage ), 0 );


    printf("=> soft realtime\n");

    rt_make_soft_real_time( );

    printf("=> close\n");

    rt_dev_close( sock );

    printf("=> task_delete\n");

    rt_task_delete( lxrttask );

    printf("=> exit\n");

    printf("start: %g\nende: %g\n", start, end );

    exit( EXIT_SUCCESS );
}

 
                
 
                You have to use the following libraries: 
                -llxrt -lpthread 
                
 
                and the following include pathes: 
                -I/usr/realtime/include -I/usr/local/rtnet/include 
                
 
                
 
                Andreas Kasper
 
                
 
                
 
                
 
                Zitat Ramon Rusli <mo...@ya...>: 
                 
                   
                     
                       
                        Dear,

How can I use rtnet to send or receive packet in c? i am a bit confused because no examples or tutorial to build the program using rtnet while I search it in internet. i want to make a real time packet sending program and a real time packet receiver program using rtnet 0.9.12 and xenomai 2.5.4. the operating system that I use is linux fedora 13 kernel 2.6.32.11. 

Is it just add some include and some lines from standard udp packet server and client program? 

thanks a lot
==========================
//the standard udp packet server that I build (server.c)
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <sys/types.h>
#include <sys/socket.h>
#include
 <mqueue.h>
#include <fcntl.h>
#include <sys/stat.h>
#include <pthread.h>
#include <sys/mman.h>
#include <signal.h>
#include <limits.h>
#define PORT 7788
#define BUFLEN 65000
#define NPACK 10000000

void diep (char *s)
{
    perror (s);
    exit (1);
}

int main (void)
{
    struct sockaddr_in si_me, si_other;
    int s, i, slen=sizeof(si_other);
    char buf[BUFLEN];

    if ((s=socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP))== -1)
    {
        diep("socket");    
    }

    memset ((char *) &si_me, 0, sizeof(si_me));
    si_me.sin_family = AF_INET;
    si_me.sin_port = htons(PORT);
   
 si_me.sin_addr.s_addr = htonl(INADDR_ANY);
    if (bind(s, &si_me, sizeof(si_me)) == -1)
    {
        diep("bind");
    }

    for(i = 0; i < NPACK; i++)
    {
        if(recvfrom(s, buf, BUFLEN, 0, &si_other, &slen) == -1)
        {
            diep("recvfrom()");
        }
        printf("received packet from %s:%d\n Data: %s\n\n", inet_ntoa(si_other.sin_addr), ntohs(si_other.sin_port), buf);
    }
    close(s);
    return 0;
}


=============================
//the standard udp packet client (client.c)
#include <stdlib.h>
#include
 <unistd.h>
#include <string.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <mqueue.h>
#include <fcntl.h>
#include <sys/stat.h>
#include <pthread.h>
#include <sys/mman.h>
#include <signal.h>
#include <limits.h>

#define PORT 7788
#define BUFLEN 65000
#define NPACK 10000000
#define SRV_IP "167.205.34.150"

void diep (char *s)
{
    perror (s);
    exit (1);
}

int main ()
{
    struct sockaddr_in si_other;
    int s, i, slen=sizeof(si_other);
    char buf[BUFLEN];

    if((s=socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1)
    {
        diep("socket");
   
 }

    memset((char *) &si_other, 0, sizeof(si_other));
    si_other.sin_family=AF_INET;
    si_other.sin_port = htons(PORT);
    if(inet_aton(SRV_IP, &si_other.sin_addr)==0)
    {
        fprintf(stderr, "inet_aton () failed\n");
        exit (1);
    }    

    for(i=0; i< NPACK; i++)
    {
        printf("sending packet %d\n", i);
        sprintf(buf, "This is packet %d\n",i);
        if (sendto(s, buf, BUFLEN, 0, &si_other, slen) == -1)
        {
            diep("sendto()");
       
 }
    }
    close(s);
return 0;
}
============================