Xenomai  3.0.8
bufp-readwrite.c
/*
* Copyright (C) 2009 Philippe Gerum <rpm@xenomai.org>.
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*
*
* BUFP-based client/server demo, using the read(2)/write(2)
* system calls to exchange data over a socket.
*
* In this example, two sockets are created. A server thread (reader)
* is bound to a real-time port and receives a stream of bytes sent to
* this port from a client thread (writer).
*/
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <signal.h>
#include <string.h>
#include <pthread.h>
#include <errno.h>
#include <rtdm/ipc.h>
pthread_t svtid, cltid;
#define BUFP_SVPORT 12
static const char *msg[] = {
"Surfing With The Alien",
"Lords of Karma",
"Banana Mango",
"Psycho Monkey",
"Luminous Flesh Giants",
"Moroccan Sunset",
"Satch Boogie",
"Flying In A Blue Dream",
"Ride",
"Summer Song",
"Speed Of Light",
"Crystal Planet",
"Raspberry Jam Delta-V",
"Champagne?",
"Clouds Race Across The Sky",
"Engines Of Creation"
};
static void fail(const char *reason)
{
perror(reason);
exit(EXIT_FAILURE);
}
static void *server(void *arg)
{
struct sockaddr_ipc saddr;
char buf[128];
size_t bufsz;
int ret, s;
s = socket(AF_RTIPC, SOCK_DGRAM, IPCPROTO_BUFP);
if (s < 0)
fail("socket");
/*
* Set a 16k buffer for the server endpoint. This
* configuration must be done prior to binding the socket to a
* port.
*/
bufsz = 16384; /* bytes */
ret = setsockopt(s, SOL_BUFP, BUFP_BUFSZ,
&bufsz, sizeof(bufsz));
if (ret)
fail("setsockopt");
saddr.sipc_family = AF_RTIPC;
saddr.sipc_port = BUFP_SVPORT;
ret = bind(s, (struct sockaddr *)&saddr, sizeof(saddr));
if (ret)
fail("bind");
for (;;) {
ret = read(s, buf, sizeof(buf));
if (ret < 0) {
close(s);
fail("read");
}
printf("%s: received %d bytes, \"%.*s\"\n",
__FUNCTION__, ret, ret, buf);
}
return NULL;
}
static void *client(void *arg)
{
struct sockaddr_ipc svsaddr;
int ret, s, n = 0, len;
struct timespec ts;
s = socket(AF_RTIPC, SOCK_DGRAM, IPCPROTO_BUFP);
if (s < 0)
fail("socket");
memset(&svsaddr, 0, sizeof(svsaddr));
svsaddr.sipc_family = AF_RTIPC;
svsaddr.sipc_port = BUFP_SVPORT;
ret = connect(s, (struct sockaddr *)&svsaddr, sizeof(svsaddr));
if (ret)
fail("connect");
for (;;) {
len = strlen(msg[n]);
ret = write(s, msg[n], len);
if (ret < 0) {
close(s);
fail("write");
}
printf("%s: sent %d bytes, \"%.*s\"\n",
__FUNCTION__, ret, ret, msg[n]);
n = (n + 1) % (sizeof(msg) / sizeof(msg[0]));
/*
* We run in full real-time mode (i.e. primary mode),
* so we have to let the system breathe between two
* iterations.
*/
ts.tv_sec = 0;
ts.tv_nsec = 500000000; /* 500 ms */
clock_nanosleep(CLOCK_REALTIME, 0, &ts, NULL);
}
return NULL;
}
int main(int argc, char **argv)
{
struct sched_param svparam = {.sched_priority = 71 };
struct sched_param clparam = {.sched_priority = 70 };
pthread_attr_t svattr, clattr;
sigset_t set;
int sig;
sigemptyset(&set);
sigaddset(&set, SIGINT);
sigaddset(&set, SIGTERM);
sigaddset(&set, SIGHUP);
pthread_sigmask(SIG_BLOCK, &set, NULL);
pthread_attr_init(&svattr);
pthread_attr_setdetachstate(&svattr, PTHREAD_CREATE_JOINABLE);
pthread_attr_setinheritsched(&svattr, PTHREAD_EXPLICIT_SCHED);
pthread_attr_setschedpolicy(&svattr, SCHED_FIFO);
pthread_attr_setschedparam(&svattr, &svparam);
errno = pthread_create(&svtid, &svattr, &server, NULL);
if (errno)
fail("pthread_create");
pthread_attr_init(&clattr);
pthread_attr_setdetachstate(&clattr, PTHREAD_CREATE_JOINABLE);
pthread_attr_setinheritsched(&clattr, PTHREAD_EXPLICIT_SCHED);
pthread_attr_setschedpolicy(&clattr, SCHED_FIFO);
pthread_attr_setschedparam(&clattr, &clparam);
errno = pthread_create(&cltid, &clattr, &client, NULL);
if (errno)
fail("pthread_create");
sigwait(&set, &sig);
pthread_cancel(svtid);
pthread_cancel(cltid);
pthread_join(svtid, NULL);
pthread_join(cltid, NULL);
return 0;
}