fixed various bugs during OPAL-RT tests

server/Makefile.mk

@@ -0,0 +1,52 @@
+TARGETS = server send random receive test
+
+# Common dependencies for all binaries
+OBJS = socket.o if.o utils.o msg.o node.o cfg.o tc.o hooks.o list.o path.o hist.o
+
+VPATH = src
+
+# Default debug level
+V ?= 2
+
+# Compiler and linker flags
+LDLIBS = -pthread -lrt -lm -lconfig
+CFLAGS  = -std=gnu99 -Iinclude/ -MMD -Wall
+CFLAGS += -D_XOPEN_SOURCE=500 -D_GNU_SOURCE -DV=$(V)
+CFLAGS += -D__GIT_REV__='"-$(shell git rev-parse --short HEAD 2> /dev/null)"'
+
+
+# Conditional flags
+ifdef DEBUG
+	CFLAGS += -O0 -g -D_DEBUG
+else
+	CFLAGS += -O3
+endif
+
+# Enable OPAL-RT Asynchronous Process support
+OPALDIR = /usr/opalrt/common
+ifneq (,$(wildcard $(OPALDIR)/include_target/AsyncApi.h))
+	CFLAGS  += -m32 -DENABLE_OPAL_ASYNC -I$(OPALDIR)/include_target
+	LDFLAGS += -m32
+	LDLIBS  += $(addprefix $(OPALDIR)/lib/redhawk/, libOpalAsyncApiCore.a libOpalCore.a libOpalUtils.a libirc.a)
+	OBJS    += opal.o
+endif
+
+.PHONY: all clean
+
+# Default target: build everything
+all: $(TARGETS)
+	chmod 777 $(TARGETS)
+
+# Dependencies for individual binaries
+server: server.o $(OBJS) 
+send: send.o $(OBJS)
+receive: receive.o $(OBJS)
+random: random.o $(OBJS)
+test: test.o $(OBJS)
+
+clean:
+	$(RM) *~ *.o *.d
+	$(RM) $(TARGETS)
+
+# Include auto-generated dependencies
+-include $(wildcard *.d)

server/etc/opal-shmem.conf

@@ -0,0 +1,28 @@
+# Example configuration file for the s2ss server
+
+affinity = 0x01;	# Mask of cores the server should run on
+priority = 99;		# Scheduler priority for the server
+debug = 5;		# The level of verbosity for debug messages
+stats = 1;		# The interval in seconds for path statistics
+
+nodes = {
+	opal = {
+		type = "opal";
+		send_id = 1;
+		recv_id = 1;
+	},
+	acs-s2ss = {
+		type = "udp";
+		local = "*:12000";
+		remote = "134.130.169.31:12000";
+	}
+};
+
+paths = (
+	{
+		in = "opal";
+		out = "acs-s2ss";
+		reverse = true;
+		hook = "print";
+	}
+);

server/include/config.h

@@ -12,6 +12,7 @@
 #define _CONFIG_H_
 
 /** The version number of the s2ss server */
+
 #define VERSION		"v0.4" __GIT_REV__
 
 /** Maximum number of double values in a struct msg */

server/include/hist.h

@@ -76,4 +76,4 @@ void hist_dump(struct hist *h, char *buf, int len);
 /** Prints Matlab struct containing all infos to file. */
 void hist_matlab(struct hist *h, FILE *f);
 
-#endif /* _HIST_H_ */
+#endif /* _HIST_H_ */

server/include/if.h

@@ -17,6 +17,10 @@
 #define IF_NAME_MAX	IFNAMSIZ /**< Maximum length of an interface name */
 #define IF_IRQ_MAX	3	 /**< Maxmimal number of IRQs of an interface */
 
+#ifndef SO_MARK
+#define SO_MARK		36	/**< Workaround: add missing constant for OPAL-RT Redhawk target */
+#endif
+
 struct socket;
 
 /** Interface data structure */

server/include/list.h

@@ -67,4 +67,4 @@ void list_push(struct list *l, void *p);
 
 struct list_elm * list_search(struct list *l, int (*cmp)(void *));
 
-#endif /* _LIST_H_ */
+#endif /* _LIST_H_ */

server/include/utils.h

@@ -21,23 +21,41 @@
 #endif
 
 /* Some color escape codes for pretty log messages */
-#define GRY(str)	"\e[30m" str "\e[0m" /**< Print str in gray */
-#define RED(str)	"\e[31m" str "\e[0m" /**< Print str in red */
-#define GRN(str)	"\e[32m" str "\e[0m" /**< Print str in green */
-#define YEL(str)	"\e[33m" str "\e[0m" /**< Print str in yellow */
-#define BLU(str)	"\e[34m" str "\e[0m" /**< Print str in blue */
-#define MAG(str)	"\e[35m" str "\e[0m" /**< Print str in magenta */
-#define CYN(str)	"\e[36m" str "\e[0m" /**< Print str in cyan */
-#define WHT(str)	"\e[37m" str "\e[0m" /**< Print str in white */
-#define BLD(str)	"\e[1m"  str "\e[0m" /**< Print str in bold */
+#ifndef ENABLE_OPAL_ASYNC
+ #define GRY(str)	"\e[30m" str "\e[0m" /**< Print str in gray */
+ #define RED(str)	"\e[31m" str "\e[0m" /**< Print str in red */
+ #define GRN(str)	"\e[32m" str "\e[0m" /**< Print str in green */
+ #define YEL(str)	"\e[33m" str "\e[0m" /**< Print str in yellow */
+ #define BLU(str)	"\e[34m" str "\e[0m" /**< Print str in blue */
+ #define MAG(str)	"\e[35m" str "\e[0m" /**< Print str in magenta */
+ #define CYN(str)	"\e[36m" str "\e[0m" /**< Print str in cyan */
+ #define WHT(str)	"\e[37m" str "\e[0m" /**< Print str in white */
+ #define BLD(str)	"\e[1m"  str "\e[0m" /**< Print str in bold */
 
-#define GFX(chr)	"\e(0" chr "\e(B"
-#define UP(n)		"\e[" ## n ## "A"
-#define DOWN(n)	 	"\e[" ## n ## "B"
-#define RIGHT(n)	"\e[" ## n ## "C"
-#define LEFT(n)	 	"\e[" ## n ## "D"
+ #define GFX(chr)	"\e(0" chr "\e(B"
+ #define UP(n)		"\e[" ## n ## "A"
+ #define DOWN(n)	 "\e[" ## n ## "B"
+ #define RIGHT(n)	"\e[" ## n ## "C"
+ #define LEFT(n)	 "\e[" ## n ## "D"
+#else
+ #define GRY(str)	str
+ #define RED(str)	str
+ #define GRN(str)	str
+ #define YEL(str)	str
+ #define BLU(str)	str
+ #define MAG(str)	str
+ #define CYN(str)	str
+ #define WHT(str)	str
+ #define BLD(str)	str
 
-#define ARRAY_LEN(a)	( sizeof a / sizeof a[0] )
+ #define GFX(chr)	" "
+ #define UP(n)		""
+ #define DOWN(n)	""
+ #define RIGHT(n)	""
+ #define LEFT(n)	""
+#endif
+
+#define ARRAY_LEN(a)	( sizeof (a) / sizeof (a)[0] )
 
 #define SWAP(a, b)	do { \
 	 			__typeof__(a) tmp = a; \

server/src/cfg.c

@@ -27,19 +27,16 @@ int config_parse(const char *filename, config_t *cfg, struct settings *set,
 {
 	config_set_auto_convert(cfg, 1);
 
-	FILE *file = (strcmp("-", filename)) ? fopen(filename, "r") : stdin;
-	if (!file)
-		error("Failed to open configuration file: %s", filename);
+	int  ret = strcmp("-", filename) ? config_read_file(cfg, filename)
+					 : config_read(cfg, stdin);
 
-	if (!config_read(cfg, file))
+	if (ret != CONFIG_TRUE)
 		error("Failed to parse configuration: %s in %s:%d",
-			config_error_text(cfg), filename,
+			config_error_text(cfg),
+			config_error_file(cfg) ? config_error_file(cfg) : filename,
 			config_error_line(cfg)
 		);
-
-	if (file != stdin)
-		fclose(file);
-
+	
 	config_setting_t *cfg_root = config_root_setting(cfg);
 
 	/* Parse global settings */
@@ -74,7 +71,7 @@ int config_parse(const char *filename, config_t *cfg, struct settings *set,
 		}
 	}
 
-	return CONFIG_TRUE;
+	return 0;
 }
 
 int config_parse_global(config_setting_t *cfg, struct settings *set)
@@ -88,7 +85,7 @@ int config_parse_global(config_setting_t *cfg, struct settings *set)
 
 	set->cfg = cfg;
 
-	return CONFIG_TRUE;
+	return 0;
 }
 
 int config_parse_path(config_setting_t *cfg,
@@ -108,7 +105,7 @@ int config_parse_path(config_setting_t *cfg,
 	in = config_setting_get_string(cfg_in);
 	p->in = node_lookup_name(in, *nodes);
 	if (!p->in)
-		cerror(cfg_in, "Invalid input node '%s", in);
+		cerror(cfg_in, "Invalid input node '%s'", in);
 
 	/* Output node(s) */
 	struct config_setting_t *cfg_out = config_setting_get_member(cfg, "out");
@@ -257,7 +254,8 @@ int config_parse_node(config_setting_t *cfg, struct node **nodes)
 
 	ret = n->vt->parse(cfg, n);
 
-	list_add(*nodes, n);
+	if (!ret)
+		list_add(*nodes, n);
 
 	return ret;
 }
@@ -268,7 +266,7 @@ extern struct opal_global *og;
 int config_parse_opal(config_setting_t *cfg, struct node *n)
 {	
 	if (!og) {
-		warn("Skipping this node, because this server is not running as an OPAL Async process!");
+		warn("Skipping node '%s', because this server is not running as an OPAL Async process!", n->name);
 		return -1;
 	}
 	
@@ -279,7 +277,7 @@ int config_parse_opal(config_setting_t *cfg, struct node *n)
 	memset(o, 0, sizeof(struct opal));
 	
 	config_setting_lookup_int(cfg, "send_id", &o->send_id);
-	config_setting_lookup_int(cfg, "recv_id", &o->send_id);
+	config_setting_lookup_int(cfg, "recv_id", &o->recv_id);
 	config_setting_lookup_bool(cfg, "reply", &o->reply);
 		
 	/* Search for valid send and recv ids */
@@ -292,7 +290,7 @@ int config_parse_opal(config_setting_t *cfg, struct node *n)
 	if (!sfound)
 		cerror(config_setting_get_member(cfg, "send_id"), "Invalid send_id '%u' for node '%s'", o->send_id, n->name);
 	if (!rfound)
-		cerror(config_setting_get_member(cfg, "send_id"), "Invalid send_id '%u' for node '%s'", o->send_id, n->name);
+		cerror(config_setting_get_member(cfg, "recv_id"), "Invalid recv_id '%u' for node '%s'", o->recv_id, n->name);
 
 	n->opal = o;
 	n->opal->global = og;
@@ -340,7 +338,7 @@ int config_parse_socket(config_setting_t *cfg, struct node *n)
 	
 	n->socket = s;
 
-	return CONFIG_TRUE;
+	return 0;
 }
 
 int config_parse_netem(config_setting_t *cfg, struct netem *em)
@@ -362,5 +360,5 @@ int config_parse_netem(config_setting_t *cfg, struct netem *em)
 
 	/** @todo Validate netem config values */
 
-	return CONFIG_TRUE;
+	return 0;
 }

server/src/opal.c

@@ -22,11 +22,7 @@ int opal_init(int argc, char *argv[])
 	if (argc != 4)
 		return -1;
 
-	struct opal_global *g = (struct opal_global *) malloc(sizeof(struct opal_global));
-	if (!g)
-		error("Failed to allocate memory for global OPAL settings");
-	
-	memset(g, 0, sizeof(struct opal_global));
+	struct opal_global *g = (struct opal_global *) alloc(sizeof(struct opal_global));
 	
 	pthread_mutex_init(&g->lock, NULL);
 	
@@ -48,20 +44,20 @@ int opal_init(int argc, char *argv[])
 	/* Get list of Send and RecvIDs */
 	if ((err = OpalGetNbAsyncSendIcon(&g->send_icons)) != EOK)
 		error("Failed to get number of send blocks (%d)", err);
-	if ((err = OpalGetNbAsyncRecvIcon(&g->recv_icons)) != EOK);
+	if ((err = OpalGetNbAsyncRecvIcon(&g->recv_icons)) != EOK)
 		error("Failed to get number of recv blocks (%d)", err);
 	
-	g->send_ids = (int *) malloc(g->send_icons * sizeof(int));
-	g->recv_ids = (int *) malloc(g->recv_icons * sizeof(int));
-	if (!g->send_ids || !g->recv_ids)
-		error("Failed to allocate memory for OPAL AsyncApi ID list.");
+	g->send_ids = alloc(g->send_icons * sizeof(int));
+	g->recv_ids = alloc(g->recv_icons * sizeof(int));
 	
-	if ((err = OpalGetAsyncSendIDList(g->send_ids, g->send_icons)) != EOK)
+	if ((err = OpalGetAsyncSendIDList(g->send_ids, g->send_icons * sizeof(int))) != EOK)
 		error("Failed to get list of send ids (%d)", err);
-	if ((err = OpalGetAsyncRecvIDList(g->recv_ids, g->recv_icons)) != EOK)
+	if ((err = OpalGetAsyncRecvIDList(g->recv_ids, g->recv_icons * sizeof(int))) != EOK)
 		error("Failed to get list of recv ids (%d)", err);
 	
-	info("Started as OPAL async process:");
+	info("Started as OPAL Asynchronous process");
+	info("This is Simulator2Simulator Server (S2SS) %s (built on %s, %s, debug=%d)",
+		VERSION, __DATE__, __TIME__, _debug);
 	opal_print_global(g);
 	
 	og = g;
@@ -73,18 +69,22 @@ int opal_deinit()
 {
 	int err;
 
-	if (og) {
-		if ((err = OpalCloseAsyncMem(og->async_shmem_size, og->async_shmem_name)) != EOK)
-			error("Failed to close shared memory area (%d)", err);
-		if ((err = OpalSystemCtrl_UnRegister(og->print_shmem_name)) != EOK)
-			error("Failed to close shared memory for system control (%d)", err);
+	if (!og)
+		return 0;
+	
+	if ((err = OpalCloseAsyncMem(og->async_shmem_size, og->async_shmem_name)) != EOK)
+		error("Failed to close shared memory area (%d)", err);
+	
+	debug(4, "Closing OPAL shared memory mapping");
+	
+	if ((err = OpalSystemCtrl_UnRegister(og->print_shmem_name)) != EOK)
+		error("Failed to close shared memory for system control (%d)", err);
 		
-		free(og->send_ids);
-		free(og->recv_ids);
-		free(og);
+	free(og->send_ids);
+	free(og->recv_ids);
+	free(og);
 
-		og = NULL;
-	}
+	og = NULL;
 	
 	return 0;
 }
@@ -99,15 +99,15 @@ int opal_print_global(struct opal_global *g)
 	for (int i=0; i<g->recv_icons; i++)
 		strap(rbuf, sizeof(rbuf), "%u ", g->recv_ids[i]);
 	
-	debug(4, "Controller ID: %u", g->params.controllerID);
-	debug(4, "Send Blocks: %s",    sbuf);
-	debug(4, "Receive Blocks: %s", rbuf);
+	debug(2, "Controller ID: %u", g->params.controllerID);
+	debug(2, "Send Blocks: %s",    sbuf);
+	debug(2, "Receive Blocks: %s", rbuf);
 
-	debug(4, "Control Block Parameters:");
+	debug(2, "Control Block Parameters:");
 	for (int i=0; i<GENASYNC_NB_FLOAT_PARAM; i++)
-		debug(4, "FloatParam[]%u] = %f", i, g->params.FloatParam[i]);
+		debug(2, "FloatParam[]%u] = %f", i, g->params.FloatParam[i]);
 	for (int i=0; i<GENASYNC_NB_STRING_PARAM; i++)
-		debug(4, "StringParam[%u] = %s", i, g->params.StringParam[i]);
+		debug(2, "StringParam[%u] = %s", i, g->params.StringParam[i]);
 	
 	return 0;
 }
@@ -151,9 +151,9 @@ int opal_read(struct node *n, struct msg *m)
 	do {
 		if ((ret = OpalWaitForAsyncSendRequest(&id)) != EOK) {
 			state = OpalGetAsyncModelState();
-			if ((state != STATE_RESET) && (state != STATE_STOP)) {
-				OpalSetAsyncSendIconError(ret, id);
-				info("OpalWaitForAsyncSendRequest(), errno %d", ret);
+			if ((state == STATE_RESET) || (state == STATE_STOP)) {
+				info("OpalGetAsyncModelState(): Model stopped or resetted!");
+				exit(0);
 			}
 
 			return -1; // FIXME: correct return value
@@ -193,8 +193,10 @@ int opal_read(struct node *n, struct msg *m)
 	/* Before continuing, we make sure that the real-time model
 	 * has not been stopped. If it has, we quit. */
 	state = OpalGetAsyncModelState();
-	if ((state == STATE_RESET) || (state == STATE_STOP))
-		error("OpalGetAsyncModelState(): Model stopped or resetted!"); // TODO: fixme
+	if ((state == STATE_RESET) || (state == STATE_STOP)) {
+		info("OpalGetAsyncModelState(): Model stopped or resetted!");
+		exit(0);
+	}
 
 	return 0;
 }
@@ -209,8 +211,10 @@ int opal_write(struct node *n, struct msg *m)
 	double data[MSG_VALUES] = { NAN };
 	
 	state = OpalGetAsyncModelState();
-	if ((state == STATE_RESET) || (state == STATE_STOP))
-		return -1;
+	if ((state == STATE_RESET) || (state == STATE_STOP)) {
+		info("OpalGetAsyncModelState(): Model stopped or resetted!");
+		exit(0);
+	}
 
 	OpalSetAsyncRecvIconStatus(m->sequence, o->recv_id);	/* Set the Status to the message ID */
 	OpalSetAsyncRecvIconError(0, o->recv_id);		/* Set the Error to 0 */

server/src/server.c

@@ -56,6 +56,10 @@ static void quit()
 	}
 
 	/** @todo Free nodes */
+	
+#ifdef ENABLE_OPAL_ASYNC
+	opal_deinit();
+#endif
 
 	config_destroy(&config);
 
@@ -71,11 +75,11 @@ void realtime_init()
 	else
 		info("Server is running on a realtime patched kernel");
 
-	/* Use FIFO scheduler with realtime priority */
+	/* Use FIFO scheduler with real time priority */
 	if (settings.priority) {
 		struct sched_param param = { .sched_priority = settings.priority };
 		if (sched_setscheduler(0, SCHED_FIFO, &param))
-			serror("Failed to set realtime priority");
+			serror("Failed to set real time priority");
 		else
 			debug(3, "Set task priority to %u", settings.priority);
 	}
@@ -130,10 +134,8 @@ int main(int argc, char *argv[])
 		usage(argv[0]);
 	
 	epoch_reset();
-	info("This is Simulator2Simulator Server (S2SS) %s (built on %s, %s)",
-		BLD(YEL(VERSION)), BLD(MAG(__DATE__)), BLD(MAG(__TIME__)));
-
-	char *configfile = argv[1];
+	info("This is Simulator2Simulator Server (S2SS) %s (built on %s, %s, debug=%d)",
+		BLD(YEL(VERSION)), BLD(MAG(__DATE__)), BLD(MAG(__TIME__)), _debug);
 
 	/* Check priviledges */
 	if (getuid() != 0)
@@ -150,6 +152,11 @@ int main(int argc, char *argv[])
 #ifdef ENABLE_OPAL_ASYNC
 	/* Check if called as asynchronous process from RT-LAB */
 	opal_init(argc, argv);
+	
+	char *configfile = "opal-shmem.conf";
+#else
+	
+	char *configfile = argv[1];
 #endif
 
 	/* Parse configuration and create nodes/paths */

server/src/socket.c

@@ -230,7 +230,7 @@ int socket_parse_addr(const char *addr, struct sockaddr *sa, enum node_type type
 	else {	/* Format: "192.168.0.10:12001" */
 		struct addrinfo hint = {
 			.ai_flags = flags,
-			.ai_family = AF_UNSPEC
+			.ai_family = AF_INET
 		};
 		
 		/* Split string */

server/src/test.c

@@ -48,7 +48,7 @@ double high = 2e-4;
 /** Histogram resolution. */
 double res = 1e-5;
 
-#define CLOCK_ID	CLOCK_MONOTONIC_RAW
+#define CLOCK_ID	CLOCK_MONOTONIC
 
 /* Prototypes */
 void test_rtt();

server/src/utils.c

@@ -16,6 +16,7 @@
 #include <math.h>
 
 #ifdef ENABLE_OPAL_ASYNC
+#define RTLAB
 #include <OpalPrint.h>
 #endif
 
@@ -89,10 +90,9 @@ void print(enum log_level lvl, const char *fmt, ...)
 	
 	/* Output */
 #ifdef ENABLE_OPAL_ASYNC
-	OpalPrint("%s\n", buf);
-#else
-	fprintf(stderr, "%s\n", buf);
+	OpalPrint("S2SS: %s\n", buf);
 #endif
+	fprintf(stderr, "%s\n", buf);
 }
 
 cpu_set_t to_cpu_set(int set)