mirror of
https://git.rwth-aachen.de/acs/public/villas/node/
synced 2025-03-09 00:00:00 +01:00
cleanup coding style
This commit is contained in:
parent
df0ee8d98a
commit
f59d2ccf1b
3 changed files with 135 additions and 197 deletions
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@ -17,6 +17,7 @@
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#include <fcntl.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <stdint.h>
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#include <string.h>
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#include <sys/wait.h>
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#include <termios.h>
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@ -43,6 +44,7 @@
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/* This is the message format */
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#include "config.h"
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#include "msg.h"
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#include "msg_format.h"
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#include "socket.h"
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#include "utils.h"
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@ -53,6 +55,7 @@
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#define PRINT_SHMEM_NAME argv[3]
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#ifdef _DEBUG // TODO: workaround
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#define CPU_TICKS 3466948000
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struct msg *msg_send = NULL;
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@ -75,23 +78,22 @@ void Tick(int sig, siginfo_t *si, void *ptr)
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}
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#endif /* _DEBUG */
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static void *SendToIPPort(void *arg)
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static void * SendToIPPort(void *arg)
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{
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unsigned int SendID = 1;
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unsigned int ModelState;
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unsigned int i, n;
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int nbSend = 0;
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unsigned int ModelState, SendID = 1, i, n;
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int nbSend = 0, ret;
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uint32_t seq = 0;
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/* Data from OPAL-RT model */
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double mdldata[MSG_VALUES];
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double mdldata[MAX_VALUES];
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int mdldata_size;
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/* Data from VILLASnode */
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struct msg msg = MSG_INIT(0);
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char buf[MSG_LEN(MAX_VALUES)];
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struct msg *msg = (struct msg *) buf;
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#ifdef _DEBUG // TODO: workaround
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msg_send = &msg;
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msg_send = msg;
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#endif /* _DEBUG */
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OpalPrint("%s: SendToIPPort thread started\n", PROGNAME);
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@ -104,7 +106,8 @@ static void *SendToIPPort(void *arg)
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do {
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/* This call unblocks when the 'Data Ready' line of a send icon is asserted. */
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if ((n = OpalWaitForAsyncSendRequest(&SendID)) != EOK) {
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n = OpalWaitForAsyncSendRequest(&SendID);
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if (n != EOK) {
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ModelState = OpalGetAsyncModelState();
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if ((ModelState != STATE_RESET) && (ModelState != STATE_STOP)) {
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OpalSetAsyncSendIconError(n, SendID);
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@ -119,9 +122,9 @@ static void *SendToIPPort(void *arg)
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/* Get the size of the data being sent by the unblocking SendID */
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OpalGetAsyncSendIconDataLength(&mdldata_size, SendID);
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if (mdldata_size / sizeof(double) > MSG_VALUES) {
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if (mdldata_size / sizeof(double) > MAX_VALUES) {
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OpalPrint("%s: Number of signals for SendID=%d exceeds allowed maximum (%d)\n",
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PROGNAME, SendID, MSG_VALUES);
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PROGNAME, SendID, MAX_VALUES);
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return NULL;
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}
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@ -132,18 +135,19 @@ static void *SendToIPPort(void *arg)
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struct timespec now;
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clock_gettime(CLOCK_REALTIME, &now);
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msg.length = mdldata_size / sizeof(double);
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for (i = 0; i < msg.length; i++)
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msg.data[i].f = (float) mdldata[i];
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msg->length = mdldata_size / sizeof(double);
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for (i = 0; i < msg->length; i++)
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msg->data[i].f = (float) mdldata[i];
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msg.sequence = seq++;
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msg.ts.sec = now.tv_sec;
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msg.ts.nsec = now.tv_nsec;
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msg->sequence = seq++;
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msg->ts.sec = now.tv_sec;
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msg->ts.nsec = now.tv_nsec;
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msg_hton(msg);
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/* Perform the actual write to the ip port */
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if (SendPacket((char *) &msg, MSG_LEN(&msg)) < 0)
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ret = SendPacket((char *) msg, MSG_LEN(msg->length));
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if (ret < 0)
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OpalSetAsyncSendIconError(errno, SendID);
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else
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OpalSetAsyncSendIconError(0, SendID);
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@ -166,19 +170,18 @@ static void *SendToIPPort(void *arg)
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return NULL;
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}
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static void *RecvFromIPPort(void *arg)
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static void * RecvFromIPPort(void *arg)
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{
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unsigned RecvID = 1;
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unsigned i, n;
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int nbRecv = 0;
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unsigned ModelState;
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unsigned int ModelState, RecvID = 1, i, n;
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int nbRecv = 0, ret;
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/* Data from OPAL-RT model */
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double mdldata[MSG_VALUES];
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double mdldata[MAX_VALUES];
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int mdldata_size;
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/* Data from VILLASnode */
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struct msg msg = MSG_INIT(0);
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char buf[MSG_LEN(MAX_VALUES)];
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struct msg *msg = (struct msg *) buf;
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OpalPrint("%s: RecvFromIPPort thread started\n", PROGNAME);
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@ -190,7 +193,7 @@ static void *RecvFromIPPort(void *arg)
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do {
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/* Receive message */
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n = RecvPacket((char *) &msg, sizeof(msg), 1.0);
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n = RecvPacket((char *) msg, sizeof(buf), 1.0);
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if (n < 1) {
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ModelState = OpalGetAsyncModelState();
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if ((ModelState != STATE_RESET) && (ModelState != STATE_STOP)) {
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@ -204,41 +207,32 @@ static void *RecvFromIPPort(void *arg)
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break;
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}
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/* Check message contents */
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if (msg.version != MSG_VERSION) {
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OpalPrint("%s: Received message with unknown version. Skipping..\n", PROGNAME);
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continue;
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}
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msg_ntoh(msg);
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if (msg.type != MSG_TYPE_DATA) {
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OpalPrint("%s: Received no data. Skipping..\n", PROGNAME);
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continue;
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}
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if (n != MSG_LEN(&msg)) {
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OpalPrint("%s: Received incoherent packet (size: %d, complete: %d)\n", PROGNAME, n, MSG_LEN(&msg));
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ret = msg_verify(msg);
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if (ret) {
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OpalPrint("%s: Skipping invalid packet\n", PROGNAME);
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continue;
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}
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/* Update OPAL model */
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OpalSetAsyncRecvIconStatus(msg.sequence, RecvID); /* Set the Status to the message ID */
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OpalSetAsyncRecvIconStatus(msg->sequence, RecvID); /* Set the Status to the message ID */
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OpalSetAsyncRecvIconError(0, RecvID); /* Set the Error to 0 */
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/* Get the number of signals to send back to the model */
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OpalGetAsyncRecvIconDataLength(&mdldata_size, RecvID);
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if (mdldata_size / sizeof(double) > MSG_VALUES) {
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if (mdldata_size / sizeof(double) > MAX_VALUES) {
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OpalPrint("%s: Number of signals for RecvID=%d (%d) exceeds allowed maximum (%d)\n",
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PROGNAME, RecvID, mdldata_size / sizeof(double), MSG_VALUES);
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PROGNAME, RecvID, mdldata_size / sizeof(double), MAX_VALUES);
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return NULL;
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}
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if (mdldata_size / sizeof(double) > msg.length)
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if (mdldata_size / sizeof(double) > msg->length)
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OpalPrint("%s: Number of signals for RecvID=%d (%d) exceeds what was received (%d)\n",
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PROGNAME, RecvID, mdldata_size / sizeof(double), msg.length);
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PROGNAME, RecvID, mdldata_size / sizeof(double), msg->length);
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for (i = 0; i < msg.length; i++)
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mdldata[i] = (double) msg.data[i].f;
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for (i = 0; i < msg->length; i++)
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mdldata[i] = (double) msg->data[i].f;
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OpalSetAsyncRecvIconData(mdldata, mdldata_size, RecvID);
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@ -254,7 +248,7 @@ static void *RecvFromIPPort(void *arg)
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int main(int argc, char *argv[])
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{
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int err;
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int ret;
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Opal_GenAsyncParam_Ctrl IconCtrlStruct;
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@ -276,24 +270,27 @@ int main(int argc, char *argv[])
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}
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/* Open Share Memory created by the model. */
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if ((OpalOpenAsyncMem(ASYNC_SHMEM_SIZE, ASYNC_SHMEM_NAME)) != EOK) {
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ret = OpalOpenAsyncMem(ASYNC_SHMEM_SIZE, ASYNC_SHMEM_NAME);
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if (ret != EOK) {
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OpalPrint("%s: ERROR: Model shared memory not available\n", PROGNAME);
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exit(EXIT_FAILURE);
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}
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/* For Redhawk, Assign this process to CPU 0 in order to support partial XHP */
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AssignProcToCpu0();
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/* Get IP Controler Parameters (ie: ip address, port number...) and
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* initialize the device on the QNX node. */
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memset(&IconCtrlStruct, 0, sizeof(IconCtrlStruct));
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if ((err = OpalGetAsyncCtrlParameters(&IconCtrlStruct, sizeof(IconCtrlStruct))) != EOK) {
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OpalPrint("%s: ERROR: Could not get controller parameters (%d).\n", PROGNAME, err);
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ret = OpalGetAsyncCtrlParameters(&IconCtrlStruct, sizeof(IconCtrlStruct));
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if (ret != EOK) {
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OpalPrint("%s: ERROR: Could not get controller parameters (%d).\n", PROGNAME, ret);
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exit(EXIT_FAILURE);
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}
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/* Initialize socket */
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if (InitSocket(IconCtrlStruct) != EOK) {
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ret = InitSocket(IconCtrlStruct);
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if (ret != EOK) {
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OpalPrint("%s: ERROR: Initialization failed.\n", PROGNAME);
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exit(EXIT_FAILURE);
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}
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@ -326,16 +323,22 @@ int main(int argc, char *argv[])
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#endif /* _DEBUG */
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/* Start send/receive threads */
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if ((pthread_create(&tid_send, NULL, SendToIPPort, NULL)) == -1)
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ret = pthread_create(&tid_send, NULL, SendToIPPort, NULL);
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if (ret == -1)
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OpalPrint("%s: ERROR: Could not create thread (SendToIPPort), errno %d\n", PROGNAME, errno);
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if ((pthread_create(&tid_recv, NULL, RecvFromIPPort, NULL)) == -1)
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ret = pthread_create(&tid_recv, NULL, RecvFromIPPort, NULL);
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if (ret == -1)
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OpalPrint("%s: ERROR: Could not create thread (RecvFromIPPort), errno %d\n", PROGNAME, errno);
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/* Wait for both threads to finish */
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if ((err = pthread_join(tid_send, NULL)) != 0)
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OpalPrint("%s: ERROR: pthread_join (SendToIPPort), errno %d\n", PROGNAME, err);
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if ((err = pthread_join(tid_recv, NULL)) != 0)
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OpalPrint("%s: ERROR: pthread_join (RecvFromIPPort), errno %d\n", PROGNAME, err);
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ret = pthread_join(tid_send, NULL);
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if (ret != 0)
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OpalPrint("%s: ERROR: pthread_join (SendToIPPort), errno %d\n", PROGNAME, ret);
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ret = pthread_join(tid_recv, NULL);
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if (ret != 0)
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OpalPrint("%s: ERROR: pthread_join (RecvFromIPPort), errno %d\n", PROGNAME, ret);
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/* Close the ip port and shared memories */
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CloseSocket(IconCtrlStruct);
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@ -2,8 +2,7 @@
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*
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* Code example of an asynchronous program. This program is started
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* by the asynchronous controller and demonstrates how to send and
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* receive data to and from the asynchronous icons and a UDP or TCP
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* port.
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* receive data to and from the asynchronous icons and a UDP port.
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*
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* @author Steffen Vogel <stvogel@eonerc.rwth-aachen.de>
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* @author Mathieu Dubé-Dallaire
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@ -35,43 +34,27 @@
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struct sockaddr_in send_ad; /* Send address */
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struct sockaddr_in recv_ad; /* Receive address */
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int sd = -1; /* socket descriptor */
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int proto = UDP_PROTOCOL;
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int InitSocket(Opal_GenAsyncParam_Ctrl IconCtrlStruct)
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{
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struct ip_mreq mreq; /* Multicast group structure */
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int socket_type;
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int socket_proto;
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unsigned char TTL = 1;
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unsigned char LOOP = 0;
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int rc;
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unsigned char TTL = 1, LOOP = 0;
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int rc, proto, ret;
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proto = (int) IconCtrlStruct.FloatParam[0];
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OpalPrint("%s: Version : %s\n", PROGNAME, VERSION);
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switch (proto) {
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case UDP_PROTOCOL: /* Communication using UDP/IP protocol */
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socket_proto = IPPROTO_UDP;
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socket_type = SOCK_DGRAM;
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OpalPrint("%s: Protocol : UDP/IP\n", PROGNAME);
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break;
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case TCP_PROTOCOL: /* Communication using TCP/IP protocol */
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socket_proto = IPPROTO_IP;
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socket_type = SOCK_STREAM;
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OpalPrint("%s: Protocol : TCP/IP\n", PROGNAME);
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break;
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default: /* Protocol is not recognized */
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OpalPrint("%s: ERROR: Protocol (%d) not supported!\n", PROGNAME, proto);
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return EINVAL;
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if (proto != UDP_PROTOCOL) {
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OpalPrint("%s: This version of %s only supports UDP\n", PROGNAME, PROGNAME);
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return EIO;
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}
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OpalPrint("%s: Version : %s\n", PROGNAME, VERSION);
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OpalPrint("%s: Remote Address : %s\n", PROGNAME, IconCtrlStruct.StringParam[0]);
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OpalPrint("%s: Remote Port : %d\n", PROGNAME, (int) IconCtrlStruct.FloatParam[1]);
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/* Initialize the socket */
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if ((sd = socket(AF_INET, socket_type, socket_proto)) < 0) {
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sd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
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if (sd < 0) {
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OpalPrint("%s: ERROR: Could not open socket\n", PROGNAME);
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return EIO;
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}
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@ -89,89 +72,82 @@ int InitSocket(Opal_GenAsyncParam_Ctrl IconCtrlStruct)
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recv_ad.sin_port = htons((u_short)IconCtrlStruct.FloatParam[2]);
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/* Bind local port and address to socket. */
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if (bind(sd, (struct sockaddr *) &recv_ad, sizeof(struct sockaddr_in)) == -1) {
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ret = bind(sd, (struct sockaddr *) &recv_ad, sizeof(struct sockaddr_in));
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if (ret == -1) {
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OpalPrint("%s: ERROR: Could not bind local port to socket\n", PROGNAME);
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return EIO;
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}
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else
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OpalPrint("%s: Local Port : %d\n", PROGNAME, (int) IconCtrlStruct.FloatParam[2]);
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switch (proto) {
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case UDP_PROTOCOL: /* Communication using UDP/IP protocol */
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/* If sending to a multicast address */
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if ((inet_addr(IconCtrlStruct.StringParam[0]) & inet_addr("240.0.0.0")) == inet_addr("224.0.0.0")) {
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if (setsockopt(sd, IPPROTO_IP, IP_MULTICAST_TTL, (char *) &TTL, sizeof(TTL)) == -1) {
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OpalPrint("%s: ERROR: Could not set TTL for multicast send (%d)\n", PROGNAME, errno);
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return EIO;
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}
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if (setsockopt(sd, IPPROTO_IP, IP_MULTICAST_LOOP, (char *)&LOOP, sizeof(LOOP)) == -1) {
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OpalPrint("%s: ERROR: Could not set loopback for multicast send (%d)\n", PROGNAME, errno);
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return EIO;
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}
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/* If sending to a multicast address */
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if ((inet_addr(IconCtrlStruct.StringParam[0]) & inet_addr("240.0.0.0")) == inet_addr("224.0.0.0")) {
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ret = setsockopt(sd, IPPROTO_IP, IP_MULTICAST_TTL, (char *) &TTL, sizeof(TTL));
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if (ret == -1) {
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OpalPrint("%s: ERROR: Could not set TTL for multicast send (%d)\n", PROGNAME, errno);
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return EIO;
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}
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ret = setsockopt(sd, IPPROTO_IP, IP_MULTICAST_LOOP, (char *)&LOOP, sizeof(LOOP));
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if (ret == -1) {
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OpalPrint("%s: ERROR: Could not set loopback for multicast send (%d)\n", PROGNAME, errno);
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return EIO;
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}
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OpalPrint("%s: Configured socket for sending to multicast address\n", PROGNAME);
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}
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OpalPrint("%s: Configured socket for sending to multicast address\n", PROGNAME);
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}
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/* If receiving from a multicast group, register for it. */
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if (inet_addr(IconCtrlStruct.StringParam[1]) > 0) {
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if ((inet_addr(IconCtrlStruct.StringParam[1]) & inet_addr("240.0.0.0")) == inet_addr("224.0.0.0")) {
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mreq.imr_multiaddr.s_addr = inet_addr(IconCtrlStruct.StringParam[1]);
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mreq.imr_interface.s_addr = INADDR_ANY;
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/* If receiving from a multicast group, register for it. */
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if (inet_addr(IconCtrlStruct.StringParam[1]) > 0) {
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if ((inet_addr(IconCtrlStruct.StringParam[1]) & inet_addr("240.0.0.0")) == inet_addr("224.0.0.0")) {
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mreq.imr_multiaddr.s_addr = inet_addr(IconCtrlStruct.StringParam[1]);
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mreq.imr_interface.s_addr = INADDR_ANY;
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/* Have the multicast socket join the multicast group */
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if (setsockopt(sd, IPPROTO_IP, IP_ADD_MEMBERSHIP, (char *) &mreq, sizeof(mreq)) == -1) {
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OpalPrint("%s: ERROR: Could not join multicast group (%d)\n", PROGNAME, errno);
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return EIO;
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}
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OpalPrint("%s: Added process to multicast group (%s)\n",
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PROGNAME, IconCtrlStruct.StringParam[1]);
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}
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else {
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OpalPrint("%s: WARNING: IP address for multicast group is not in multicast range. Ignored\n",
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PROGNAME);
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}
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}
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break;
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case TCP_PROTOCOL: /* Communication using TCP/IP protocol */
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OpalPrint("%s: Calling connect()\n", PROGNAME);
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/* Connect to server to start data transmission */
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rc = connect(sd, (struct sockaddr *) &send_ad, sizeof(send_ad));
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if (rc < 0) {
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OpalPrint("%s: ERROR: Call to connect() failed\n", PROGNAME);
|
||||
/* Have the multicast socket join the multicast group */
|
||||
ret = setsockopt(sd, IPPROTO_IP, IP_ADD_MEMBERSHIP, (char *) &mreq, sizeof(mreq));
|
||||
if (ret == -1) {
|
||||
OpalPrint("%s: ERROR: Could not join multicast group (%d)\n", PROGNAME, errno);
|
||||
return EIO;
|
||||
}
|
||||
break;
|
||||
|
||||
OpalPrint("%s: Added process to multicast group (%s)\n",
|
||||
PROGNAME, IconCtrlStruct.StringParam[1]);
|
||||
}
|
||||
else {
|
||||
OpalPrint("%s: WARNING: IP address for multicast group is not in multicast range. Ignored\n",
|
||||
PROGNAME);
|
||||
}
|
||||
}
|
||||
|
||||
return EOK;
|
||||
}
|
||||
|
||||
int CloseSocket(Opal_GenAsyncParam_Ctrl IconCtrlStruct)
|
||||
{
|
||||
if (sd < 0) {
|
||||
shutdown(sd, SHUT_RDWR);
|
||||
close(sd);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int SendPacket(char* DataSend, int datalength)
|
||||
{
|
||||
int err;
|
||||
|
||||
if(sd < 0)
|
||||
if (sd < 0)
|
||||
return -1;
|
||||
|
||||
/* Send the packet */
|
||||
if (proto == TCP_PROTOCOL)
|
||||
err = send(sd, DataSend, datalength, 0);
|
||||
else
|
||||
err = sendto(sd, DataSend, datalength, 0, (struct sockaddr *)&send_ad, sizeof(send_ad));
|
||||
|
||||
return err;
|
||||
return sendto(sd, DataSend, datalength, 0, (struct sockaddr *)&send_ad, sizeof(send_ad));
|
||||
}
|
||||
|
||||
int RecvPacket(char* DataRecv, int datalength, double timeout)
|
||||
{
|
||||
int len;
|
||||
int len, ret;
|
||||
struct sockaddr_in client_ad;
|
||||
struct timeval tv;
|
||||
socklen_t client_ad_size = sizeof(client_ad);
|
||||
fd_set sd_set;
|
||||
struct timeval tv;
|
||||
|
||||
if (sd < 0)
|
||||
return -1;
|
||||
|
|
@ -188,7 +164,8 @@ int RecvPacket(char* DataRecv, int datalength, double timeout)
|
|||
* necessary when reseting the model so we don't wait indefinitely
|
||||
* and prevent the process from exiting and freeing the port for
|
||||
* a future instance (model load). */
|
||||
switch (select(sd+1, &sd_set, (fd_set *) 0, (fd_set *) 0, &tv)) {
|
||||
ret = select(sd+1, &sd_set, (fd_set *) 0, (fd_set *) 0, &tv);
|
||||
switch (ret) {
|
||||
case -1: /* Error */
|
||||
return -1;
|
||||
case 0: /* We hit the timeout */
|
||||
|
|
@ -206,20 +183,5 @@ int RecvPacket(char* DataRecv, int datalength, double timeout)
|
|||
memset(DataRecv, 0, datalength);
|
||||
|
||||
/* Perform the reception */
|
||||
if (proto == TCP_PROTOCOL)
|
||||
len = recv(sd, DataRecv, datalength, 0);
|
||||
else
|
||||
len = recvfrom(sd, DataRecv, datalength, 0, (struct sockaddr *) &client_ad, &client_ad_size);
|
||||
|
||||
return len;
|
||||
}
|
||||
|
||||
int CloseSocket(Opal_GenAsyncParam_Ctrl IconCtrlStruct)
|
||||
{
|
||||
if (sd < 0) {
|
||||
shutdown(sd, SHUT_RDWR);
|
||||
close(sd);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
return recvfrom(sd, DataRecv, datalength, 0, (struct sockaddr *) &client_ad, &client_ad_size);
|
||||
}
|
||||
|
|
@ -18,57 +18,30 @@
|
|||
#include "utils.h"
|
||||
|
||||
#if defined(__QNXNTO__)
|
||||
# include <process.h>
|
||||
# include <sys/sched.h>
|
||||
# include <devctl.h>
|
||||
# include <sys/dcmd_chr.h>
|
||||
#include <process.h>
|
||||
#include <sys/sched.h>
|
||||
#include <devctl.h>
|
||||
#include <sys/dcmd_chr.h>
|
||||
#elif defined(__linux__)
|
||||
# define _GNU_SOURCE 1
|
||||
# include <sched.h>
|
||||
# if defined(__redhawk__)
|
||||
# include <cpuset.h>
|
||||
# include <mpadvise.h>
|
||||
# endif
|
||||
#define _GNU_SOURCE 1
|
||||
#include <sched.h>
|
||||
#endif
|
||||
|
||||
int AssignProcToCpu0(void)
|
||||
{
|
||||
#if defined(__linux__)
|
||||
#if defined(__redhawk__)
|
||||
int rc;
|
||||
pid_t pid = getpid();
|
||||
cpuset_t *pCpuset;
|
||||
|
||||
pCpuset = cpuset_alloc();
|
||||
if (NULL == pCpuset) {
|
||||
OpalPrint("Error allocating a cpuset\n");
|
||||
return ENOMEM;
|
||||
}
|
||||
|
||||
cpuset_init(pCpuset);
|
||||
cpuset_set_cpu(pCpuset, 0, 1);
|
||||
|
||||
rc = mpadvise(MPA_PRC_SETBIAS, MPA_TID, pid, pCpuset);
|
||||
if (MPA_FAILURE == rc) {
|
||||
rc = errno;
|
||||
OpalPrint("Error from mpadvise, %d %s, for pid %d\n", errno, strerror(errno), pid);
|
||||
cpuset_free(pCpuset);
|
||||
return rc;
|
||||
}
|
||||
|
||||
cpuset_free(pCpuset);
|
||||
#else
|
||||
#ifdef __linux__
|
||||
int ret;
|
||||
cpu_set_t bindSet;
|
||||
CPU_ZERO(&bindSet);
|
||||
CPU_SET(0, &bindSet);
|
||||
|
||||
/* changing process cpu affinity */
|
||||
if (sched_setaffinity(0, sizeof(cpu_set_t), &bindSet) != 0) {
|
||||
/* Changing process cpu affinity */
|
||||
ret = sched_setaffinity(0, sizeof(cpu_set_t), &bindSet);
|
||||
if (ret != 0) {
|
||||
OpalPrint("Unable to bind the process to CPU 0. (sched_setaffinity errno %d)\n", errno);
|
||||
return EINVAL;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
return EOK;
|
||||
#endif /* __linux__ */
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue