drivers/staging/epl/EplSdoUdpu.c

   1 /****************************************************************************
   2
   3   (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
   4       www.systec-electronic.com
   5
   6   Project:      openPOWERLINK
   7
   8   Description:  source file for SDO/UDP-Protocolabstractionlayer module
   9
  10   License:
  11
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  28     THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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  37     LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  38     ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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  41     Severability Clause:
  42
  43         If a provision of this License is or becomes illegal, invalid or
  44         unenforceable in any jurisdiction, that shall not affect:
  45         1. the validity or enforceability in that jurisdiction of any other
  46            provision of this License; or
  47         2. the validity or enforceability in other jurisdictions of that or
  48            any other provision of this License.
  49
  50   -------------------------------------------------------------------------
  51
  52                 $RCSfile: EplSdoUdpu.c,v $
  53
  54                 $Author: D.Krueger $
  55
  56                 $Revision: 1.8 $  $Date: 2008/10/17 15:32:32 $
  57
  58                 $State: Exp $
  59
  60                 Build Environment:
  61                     GCC V3.4
  62
  63   -------------------------------------------------------------------------
  64
  65   Revision History:
  66
  67   2006/06/26 k.t.:   start of the implementation
  68
  69 ****************************************************************************/
  70
  71 #include "user/EplSdoUdpu.h"
  72
  73 #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)
  74
  75 #include "SocketLinuxKernel.h"
  76 #include <linux/completion.h>
  77 #include <linux/sched.h>
  78
  79 /***************************************************************************/
  80 /*                                                                         */
  81 /*                                                                         */
  82 /*          G L O B A L   D E F I N I T I O N S                            */
  83 /*                                                                         */
  84 /*                                                                         */
  85 /***************************************************************************/
  86
  87 //---------------------------------------------------------------------------
  88 // const defines
  89 //---------------------------------------------------------------------------
  90
  91 #ifndef EPL_SDO_MAX_CONNECTION_UDP
  92 #define EPL_SDO_MAX_CONNECTION_UDP  5
  93 #endif
  94
  95 //---------------------------------------------------------------------------
  96 // local types
  97 //---------------------------------------------------------------------------
  98
  99 typedef struct {
 100         unsigned long m_ulIpAddr;       // in network byte order
 101         unsigned int m_uiPort;  // in network byte order
 102
 103 } tEplSdoUdpCon;
 104
 105 // instance table
 106 typedef struct {
 107         tEplSdoUdpCon m_aSdoAbsUdpConnection[EPL_SDO_MAX_CONNECTION_UDP];
 108         tEplSequLayerReceiveCb m_fpSdoAsySeqCb;
 109         SOCKET m_UdpSocket;
 110
 111         struct completion m_CompletionUdpThread;
 112         int m_ThreadHandle;
 113         int m_iTerminateThread;
 114 } tEplSdoUdpInstance;
 115
 116 //---------------------------------------------------------------------------
 117 // modul globale vars
 118 //---------------------------------------------------------------------------
 119
 120 static tEplSdoUdpInstance SdoUdpInstance_g;
 121
 122 //---------------------------------------------------------------------------
 123 // local function prototypes
 124 //---------------------------------------------------------------------------
 125
 126 static int EplSdoUdpThread(void *pArg_p);
 127
 128 /***************************************************************************/
 129 /*                                                                         */
 130 /*                                                                         */
 131 /*          C L A S S  <EPL-SDO-UDP-Layer>                                 */
 132 /*                                                                         */
 133 /*                                                                         */
 134 /***************************************************************************/
 135 //
 136 // Description: Protocolabstraction layer for UDP
 137 //
 138 //
 139 /***************************************************************************/
 140
 141 //=========================================================================//
 142 //                                                                         //
 143 //          P U B L I C   F U N C T I O N S                                //
 144 //                                                                         //
 145 //=========================================================================//
 146
 147 //---------------------------------------------------------------------------
 148 //
 149 // Function:    EplSdoUdpuInit
 150 //
 151 // Description: init first instance of the module
 152 //
 153 //
 154 //
 155 // Parameters:  pReceiveCb_p    =   functionpointer to Sdo-Sequence layer
 156 //                                  callback-function
 157 //
 158 //
 159 // Returns:     tEplKernel  = Errorcode
 160 //
 161 //
 162 // State:
 163 //
 164 //---------------------------------------------------------------------------
 165 tEplKernel EplSdoUdpuInit(tEplSequLayerReceiveCb fpReceiveCb_p)
 166 {
 167         tEplKernel Ret;
 168
 169         Ret = EplSdoUdpuAddInstance(fpReceiveCb_p);
 170
 171         return Ret;
 172 }
 173
 174 //---------------------------------------------------------------------------
 175 //
 176 // Function:    EplSdoUdpuAddInstance
 177 //
 178 // Description: init additional instance of the module
 179 //              înit socket and start Listen-Thread
 180 //
 181 //
 182 //
 183 // Parameters:  pReceiveCb_p    =   functionpointer to Sdo-Sequence layer
 184 //                                  callback-function
 185 //
 186 //
 187 // Returns:     tEplKernel  = Errorcode
 188 //
 189 //
 190 // State:
 191 //
 192 //---------------------------------------------------------------------------
 193 tEplKernel EplSdoUdpuAddInstance(tEplSequLayerReceiveCb fpReceiveCb_p)
 194 {
 195         tEplKernel Ret;
 196
 197         // set instance variables to 0
 198         EPL_MEMSET(&SdoUdpInstance_g, 0x00, sizeof(SdoUdpInstance_g));
 199
 200         Ret = kEplSuccessful;
 201
 202         // save pointer to callback-function
 203         if (fpReceiveCb_p != NULL) {
 204                 SdoUdpInstance_g.m_fpSdoAsySeqCb = fpReceiveCb_p;
 205         } else {
 206                 Ret = kEplSdoUdpMissCb;
 207                 goto Exit;
 208         }
 209
 210         init_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
 211         SdoUdpInstance_g.m_iTerminateThread = 0;
 212         SdoUdpInstance_g.m_ThreadHandle = 0;
 213         SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
 214
 215         Ret = EplSdoUdpuConfig(INADDR_ANY, 0);
 216
 217       Exit:
 218         return Ret;
 219 }
 220
 221 //---------------------------------------------------------------------------
 222 //
 223 // Function:    EplSdoUdpuDelInstance
 224 //
 225 // Description: del instance of the module
 226 //              del socket and del Listen-Thread
 227 //
 228 //
 229 //
 230 // Parameters:
 231 //
 232 //
 233 // Returns:     tEplKernel  = Errorcode
 234 //
 235 //
 236 // State:
 237 //
 238 //---------------------------------------------------------------------------
 239 tEplKernel EplSdoUdpuDelInstance(void)
 240 {
 241         tEplKernel Ret;
 242
 243         Ret = kEplSuccessful;
 244
 245         if (SdoUdpInstance_g.m_ThreadHandle != 0) {     // listen thread was started
 246                 // close thread
 247                 SdoUdpInstance_g.m_iTerminateThread = 1;
 248                 /* kill_proc(SdoUdpInstance_g.m_ThreadHandle, SIGTERM, 1 ); */
 249                 send_sig(SIGTERM, SdoUdpInstance_g.m_ThreadHandle, 1);
 250                 wait_for_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
 251                 SdoUdpInstance_g.m_ThreadHandle = 0;
 252         }
 253
 254         if (SdoUdpInstance_g.m_UdpSocket != INVALID_SOCKET) {
 255                 // close socket
 256                 closesocket(SdoUdpInstance_g.m_UdpSocket);
 257                 SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
 258         }
 259         return Ret;
 260 }
 261
 262 //---------------------------------------------------------------------------
 263 //
 264 // Function:    EplSdoUdpuConfig
 265 //
 266 // Description: reconfigurate socket with new IP-Address
 267 //              -> needed for NMT ResetConfiguration
 268 //
 269 // Parameters:  ulIpAddr_p      = IpAddress in platform byte order
 270 //              uiPort_p        = port number in platform byte order
 271 //
 272 //
 273 // Returns:     tEplKernel  = Errorcode
 274 //
 275 //
 276 // State:
 277 //
 278 //---------------------------------------------------------------------------
 279 tEplKernel EplSdoUdpuConfig(unsigned long ulIpAddr_p, unsigned int uiPort_p)
 280 {
 281         tEplKernel Ret;
 282         struct sockaddr_in Addr;
 283         int iError;
 284
 285         Ret = kEplSuccessful;
 286
 287         if (uiPort_p == 0) {    // set UDP port to default port number
 288                 uiPort_p = EPL_C_SDO_EPL_PORT;
 289         } else if (uiPort_p > 65535) {
 290                 Ret = kEplSdoUdpSocketError;
 291                 goto Exit;
 292         }
 293
 294         if (SdoUdpInstance_g.m_ThreadHandle != 0) {     // listen thread was started
 295
 296                 // close old thread
 297                 SdoUdpInstance_g.m_iTerminateThread = 1;
 298                 /* kill_proc(SdoUdpInstance_g.m_ThreadHandle, SIGTERM, 1 ); */
 299                 send_sig(SIGTERM, SdoUdpInstance_g.m_ThreadHandle, 1);
 300                 wait_for_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
 301                 SdoUdpInstance_g.m_iTerminateThread = 0;
 302                 SdoUdpInstance_g.m_ThreadHandle = 0;
 303         }
 304
 305         if (SdoUdpInstance_g.m_UdpSocket != INVALID_SOCKET) {
 306                 // close socket
 307                 iError = closesocket(SdoUdpInstance_g.m_UdpSocket);
 308                 SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
 309                 if (iError != 0) {
 310                         Ret = kEplSdoUdpSocketError;
 311                         goto Exit;
 312                 }
 313         }
 314         // create Socket
 315         SdoUdpInstance_g.m_UdpSocket = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP);
 316         if (SdoUdpInstance_g.m_UdpSocket == INVALID_SOCKET) {
 317                 Ret = kEplSdoUdpNoSocket;
 318                 EPL_DBGLVL_SDO_TRACE0("EplSdoUdpuConfig: socket() failed\n");
 319                 goto Exit;
 320         }
 321         // bind socket
 322         Addr.sin_family = AF_INET;
 323         Addr.sin_port = htons((unsigned short)uiPort_p);
 324         Addr.sin_addr.s_addr = htonl(ulIpAddr_p);
 325         iError =
 326             bind(SdoUdpInstance_g.m_UdpSocket, (struct sockaddr *)&Addr,
 327                  sizeof(Addr));
 328         if (iError < 0) {
 329                 //iError = WSAGetLastError();
 330                 EPL_DBGLVL_SDO_TRACE1
 331                     ("EplSdoUdpuConfig: bind() finished with %i\n", iError);
 332                 Ret = kEplSdoUdpNoSocket;
 333                 goto Exit;
 334         }
 335         // create Listen-Thread
 336         SdoUdpInstance_g.m_ThreadHandle =
 337                 kernel_thread(EplSdoUdpThread, &SdoUdpInstance_g,
 338                                 CLONE_FS | CLONE_FILES);
 339         if (SdoUdpInstance_g.m_ThreadHandle == 0) {
 340                 Ret = kEplSdoUdpThreadError;
 341                 goto Exit;
 342         }
 343
 344       Exit:
 345         return Ret;
 346
 347 }
 348
 349 //---------------------------------------------------------------------------
 350 //
 351 // Function:    EplSdoUdpuInitCon
 352 //
 353 // Description: init a new connect
 354 //
 355 //
 356 //
 357 // Parameters:  pSdoConHandle_p = pointer for the new connection handle
 358 //              uiTargetNodeId_p = NodeId of the target node
 359 //
 360 //
 361 // Returns:     tEplKernel  = Errorcode
 362 //
 363 //
 364 // State:
 365 //
 366 //---------------------------------------------------------------------------
 367 tEplKernel EplSdoUdpuInitCon(tEplSdoConHdl *pSdoConHandle_p,
 368                              unsigned int uiTargetNodeId_p)
 369 {
 370         tEplKernel Ret;
 371         unsigned int uiCount;
 372         unsigned int uiFreeCon;
 373         tEplSdoUdpCon *pSdoUdpCon;
 374
 375         Ret = kEplSuccessful;
 376
 377         // get free entry in control structure
 378         uiCount = 0;
 379         uiFreeCon = EPL_SDO_MAX_CONNECTION_UDP;
 380         pSdoUdpCon = &SdoUdpInstance_g.m_aSdoAbsUdpConnection[0];
 381         while (uiCount < EPL_SDO_MAX_CONNECTION_UDP) {
 382                 if ((pSdoUdpCon->m_ulIpAddr & htonl(0xFF)) == htonl(uiTargetNodeId_p)) {        // existing connection to target node found
 383                         // set handle
 384                         *pSdoConHandle_p = (uiCount | EPL_SDO_UDP_HANDLE);
 385
 386                         goto Exit;
 387                 } else if ((pSdoUdpCon->m_ulIpAddr == 0)
 388                            && (pSdoUdpCon->m_uiPort == 0)) {
 389                         uiFreeCon = uiCount;
 390                 }
 391                 uiCount++;
 392                 pSdoUdpCon++;
 393         }
 394
 395         if (uiFreeCon == EPL_SDO_MAX_CONNECTION_UDP) {
 396                 // error no free handle
 397                 Ret = kEplSdoUdpNoFreeHandle;
 398         } else {
 399                 pSdoUdpCon =
 400                     &SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiFreeCon];
 401                 // save infos for connection
 402                 pSdoUdpCon->m_uiPort = htons(EPL_C_SDO_EPL_PORT);
 403                 pSdoUdpCon->m_ulIpAddr = htonl(0xC0A86400 | uiTargetNodeId_p);  // 192.168.100.uiTargetNodeId_p
 404
 405                 // set handle
 406                 *pSdoConHandle_p = (uiFreeCon | EPL_SDO_UDP_HANDLE);
 407
 408         }
 409
 410       Exit:
 411         return Ret;
 412
 413 }
 414
 415 //---------------------------------------------------------------------------
 416 //
 417 // Function:    EplSdoUdpuSendData
 418 //
 419 // Description: send data using exisiting connection
 420 //
 421 //
 422 //
 423 // Parameters:  SdoConHandle_p  = connection handle
 424 //              pSrcData_p      = pointer to data
 425 //              dwDataSize_p    = number of databyte
 426 //                                  -> without asend-header!!!
 427 //
 428 // Returns:     tEplKernel  = Errorcode
 429 //
 430 //
 431 // State:
 432 //
 433 //---------------------------------------------------------------------------
 434 tEplKernel EplSdoUdpuSendData(tEplSdoConHdl SdoConHandle_p,
 435                               tEplFrame *pSrcData_p, u32 dwDataSize_p)
 436 {
 437         tEplKernel Ret;
 438         int iError;
 439         unsigned int uiArray;
 440         struct sockaddr_in Addr;
 441
 442         Ret = kEplSuccessful;
 443
 444         uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
 445         if (uiArray >= EPL_SDO_MAX_CONNECTION_UDP) {
 446                 Ret = kEplSdoUdpInvalidHdl;
 447                 goto Exit;
 448         }
 449         //set message type
 450         AmiSetByteToLe(&pSrcData_p->m_le_bMessageType, 0x06);   // SDO
 451         // target node id (for Udp = 0)
 452         AmiSetByteToLe(&pSrcData_p->m_le_bDstNodeId, 0x00);
 453         // set source-nodeid (for Udp = 0)
 454         AmiSetByteToLe(&pSrcData_p->m_le_bSrcNodeId, 0x00);
 455
 456         // calc size
 457         dwDataSize_p += EPL_ASND_HEADER_SIZE;
 458
 459         // call sendto
 460         Addr.sin_family = AF_INET;
 461         Addr.sin_port =
 462             (unsigned short)SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].
 463             m_uiPort;
 464         Addr.sin_addr.s_addr =
 465             SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_ulIpAddr;
 466
 467         iError = sendto(SdoUdpInstance_g.m_UdpSocket,   // sockethandle
 468                         (const char *)&pSrcData_p->m_le_bMessageType,   // data to send
 469                         dwDataSize_p,   // number of bytes to send
 470                         0,      // flags
 471                         (struct sockaddr *)&Addr,       // target
 472                         sizeof(struct sockaddr_in));    // sizeof targetadress
 473         if (iError < 0) {
 474                 EPL_DBGLVL_SDO_TRACE1
 475                     ("EplSdoUdpuSendData: sendto() finished with %i\n", iError);
 476                 Ret = kEplSdoUdpSendError;
 477                 goto Exit;
 478         }
 479
 480       Exit:
 481         return Ret;
 482
 483 }
 484
 485 //---------------------------------------------------------------------------
 486 //
 487 // Function:    EplSdoUdpuDelCon
 488 //
 489 // Description: delete connection from intern structure
 490 //
 491 //
 492 //
 493 // Parameters:  SdoConHandle_p  = connection handle
 494 //
 495 // Returns:     tEplKernel  = Errorcode
 496 //
 497 //
 498 // State:
 499 //
 500 //---------------------------------------------------------------------------
 501 tEplKernel EplSdoUdpuDelCon(tEplSdoConHdl SdoConHandle_p)
 502 {
 503         tEplKernel Ret;
 504         unsigned int uiArray;
 505
 506         uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
 507
 508         if (uiArray >= EPL_SDO_MAX_CONNECTION_UDP) {
 509                 Ret = kEplSdoUdpInvalidHdl;
 510                 goto Exit;
 511         } else {
 512                 Ret = kEplSuccessful;
 513         }
 514
 515         // delete connection
 516         SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_ulIpAddr = 0;
 517         SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_uiPort = 0;
 518
 519       Exit:
 520         return Ret;
 521 }
 522
 523 //=========================================================================//
 524 //                                                                         //
 525 //          P R I V A T E   F U N C T I O N S                              //
 526 //                                                                         //
 527 //=========================================================================//
 528
 529 //---------------------------------------------------------------------------
 530 //
 531 // Function:        EplSdoUdpThread
 532 //
 533 // Description:     thread check socket for new data
 534 //
 535 //
 536 //
 537 // Parameters:      lpParameter = pointer to parameter type tEplSdoUdpThreadPara
 538 //
 539 //
 540 // Returns:         u32   =   errorcode
 541 //
 542 //
 543 // State:
 544 //
 545 //---------------------------------------------------------------------------
 546 static int EplSdoUdpThread(void *pArg_p)
 547 {
 548
 549         tEplSdoUdpInstance *pInstance;
 550         struct sockaddr_in RemoteAddr;
 551         int iError;
 552         int iCount;
 553         int iFreeEntry;
 554         u8 abBuffer[EPL_MAX_SDO_REC_FRAME_SIZE];
 555         unsigned int uiSize;
 556         tEplSdoConHdl SdoConHdl;
 557
 558         pInstance = (tEplSdoUdpInstance *) pArg_p;
 559         daemonize("EplSdoUdpThread");
 560         allow_signal(SIGTERM);
 561
 562         for (; pInstance->m_iTerminateThread == 0;)
 563
 564         {
 565                 // wait for data
 566                 uiSize = sizeof(struct sockaddr);
 567                 iError = recvfrom(pInstance->m_UdpSocket,       // Socket
 568                                   (char *)&abBuffer[0], // buffer for data
 569                                   sizeof(abBuffer),     // size of the buffer
 570                                   0,    // flags
 571                                   (struct sockaddr *)&RemoteAddr,
 572                                   (int *)&uiSize);
 573                 if (iError == -ERESTARTSYS) {
 574                         break;
 575                 }
 576                 if (iError > 0) {
 577                         // get handle for higher layer
 578                         iCount = 0;
 579                         iFreeEntry = 0xFFFF;
 580                         while (iCount < EPL_SDO_MAX_CONNECTION_UDP) {
 581                                 // check if this connection is already known
 582                                 if ((pInstance->m_aSdoAbsUdpConnection[iCount].
 583                                      m_ulIpAddr == RemoteAddr.sin_addr.s_addr)
 584                                     && (pInstance->
 585                                         m_aSdoAbsUdpConnection[iCount].
 586                                         m_uiPort == RemoteAddr.sin_port)) {
 587                                         break;
 588                                 }
 589
 590                                 if ((pInstance->m_aSdoAbsUdpConnection[iCount].
 591                                      m_ulIpAddr == 0)
 592                                     && (pInstance->
 593                                         m_aSdoAbsUdpConnection[iCount].
 594                                         m_uiPort == 0)
 595                                     && (iFreeEntry == 0xFFFF))
 596                                 {
 597                                         iFreeEntry = iCount;
 598                                 }
 599
 600                                 iCount++;
 601                         }
 602
 603                         if (iCount == EPL_SDO_MAX_CONNECTION_UDP) {
 604                                 // connection unknown
 605                                 // see if there is a free handle
 606                                 if (iFreeEntry != 0xFFFF) {
 607                                         // save adress infos
 608                                         pInstance->
 609                                             m_aSdoAbsUdpConnection[iFreeEntry].
 610                                             m_ulIpAddr =
 611                                             RemoteAddr.sin_addr.s_addr;
 612                                         pInstance->
 613                                             m_aSdoAbsUdpConnection[iFreeEntry].
 614                                             m_uiPort = RemoteAddr.sin_port;
 615                                         // call callback
 616                                         SdoConHdl = iFreeEntry;
 617                                         SdoConHdl |= EPL_SDO_UDP_HANDLE;
 618                                         // offset 4 -> start of SDO Sequence header
 619                                         pInstance->m_fpSdoAsySeqCb(SdoConHdl,
 620                                                                    (tEplAsySdoSeq
 621                                                                     *) &
 622                                                                    abBuffer[4],
 623                                                                    (iError -
 624                                                                     4));
 625                                 } else {
 626                                         EPL_DBGLVL_SDO_TRACE0
 627                                             ("Error in EplSdoUdpThread() no free handle\n");
 628                                 }
 629
 630                         } else {
 631                                 // known connection
 632                                 // call callback with correct handle
 633                                 SdoConHdl = iCount;
 634                                 SdoConHdl |= EPL_SDO_UDP_HANDLE;
 635                                 // offset 4 -> start of SDO Sequence header
 636                                 pInstance->m_fpSdoAsySeqCb(SdoConHdl,
 637                                                            (tEplAsySdoSeq *) &
 638                                                            abBuffer[4],
 639                                                            (iError - 4));
 640                         }
 641                 }               // end of  if(iError!=SOCKET_ERROR)
 642         }                       // end of for(;;)
 643
 644         complete_and_exit(&SdoUdpInstance_g.m_CompletionUdpThread, 0);
 645         return 0;
 646 }
 647
 648 #endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)
 649
 650 // EOF