****************************************************************************/
-
#include "user/EplSdoUdpu.h"
#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)
-#if (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
#include "SocketLinuxKernel.h"
#include <linux/completion.h>
#include <linux/sched.h>
-#endif
-
/***************************************************************************/
/* */
// local types
//---------------------------------------------------------------------------
-typedef struct
-{
- unsigned long m_ulIpAddr; // in network byte order
- unsigned int m_uiPort; // in network byte order
+typedef struct {
+ unsigned long m_ulIpAddr; // in network byte order
+ unsigned int m_uiPort; // in network byte order
} tEplSdoUdpCon;
// instance table
-typedef struct
-{
- tEplSdoUdpCon m_aSdoAbsUdpConnection[EPL_SDO_MAX_CONNECTION_UDP];
- tEplSequLayerReceiveCb m_fpSdoAsySeqCb;
- SOCKET m_UdpSocket;
-
-#if (TARGET_SYSTEM == _WIN32_)
- HANDLE m_ThreadHandle;
- LPCRITICAL_SECTION m_pCriticalSection;
- CRITICAL_SECTION m_CriticalSection;
-
-#elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
- struct completion m_CompletionUdpThread;
- int m_ThreadHandle;
- int m_iTerminateThread;
-#endif
-
+typedef struct {
+ tEplSdoUdpCon m_aSdoAbsUdpConnection[EPL_SDO_MAX_CONNECTION_UDP];
+ tEplSequLayerReceiveCb m_fpSdoAsySeqCb;
+ SOCKET m_UdpSocket;
+
+ struct completion m_CompletionUdpThread;
+ int m_ThreadHandle;
+ int m_iTerminateThread;
} tEplSdoUdpInstance;
//---------------------------------------------------------------------------
// modul globale vars
//---------------------------------------------------------------------------
-static tEplSdoUdpInstance SdoUdpInstance_g;
+static tEplSdoUdpInstance SdoUdpInstance_g;
//---------------------------------------------------------------------------
// local function prototypes
//---------------------------------------------------------------------------
-#if (TARGET_SYSTEM == _WIN32_)
-static DWORD PUBLIC EplSdoUdpThread(LPVOID lpParameter);
-
-#elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
-static int EplSdoUdpThread(void * pArg_p);
-#endif
+static int EplSdoUdpThread(void *pArg_p);
/***************************************************************************/
/* */
//
/***************************************************************************/
-
-
//=========================================================================//
// //
// P U B L I C F U N C T I O N S //
// State:
//
//---------------------------------------------------------------------------
-tEplKernel PUBLIC EplSdoUdpuInit(tEplSequLayerReceiveCb fpReceiveCb_p)
+tEplKernel EplSdoUdpuInit(tEplSequLayerReceiveCb fpReceiveCb_p)
{
-tEplKernel Ret;
-
+ tEplKernel Ret;
- Ret = EplSdoUdpuAddInstance(fpReceiveCb_p);
+ Ret = EplSdoUdpuAddInstance(fpReceiveCb_p);
-return Ret;
+ return Ret;
}
//---------------------------------------------------------------------------
// State:
//
//---------------------------------------------------------------------------
-tEplKernel PUBLIC EplSdoUdpuAddInstance(tEplSequLayerReceiveCb fpReceiveCb_p)
+tEplKernel EplSdoUdpuAddInstance(tEplSequLayerReceiveCb fpReceiveCb_p)
{
-tEplKernel Ret;
+ tEplKernel Ret;
-#if (TARGET_SYSTEM == _WIN32_)
-int iError;
-WSADATA Wsa;
+ // set instance variables to 0
+ EPL_MEMSET(&SdoUdpInstance_g, 0x00, sizeof(SdoUdpInstance_g));
-#endif
+ Ret = kEplSuccessful;
- // set instance variables to 0
- EPL_MEMSET(&SdoUdpInstance_g, 0x00, sizeof(SdoUdpInstance_g));
-
- Ret = kEplSuccessful;
-
- // save pointer to callback-function
- if (fpReceiveCb_p != NULL)
- {
- SdoUdpInstance_g.m_fpSdoAsySeqCb = fpReceiveCb_p;
- }
- else
- {
- Ret = kEplSdoUdpMissCb;
- goto Exit;
- }
-
-#if (TARGET_SYSTEM == _WIN32_)
- // start winsock2 for win32
- // windows specific start of socket
- iError = WSAStartup(MAKEWORD(2,0),&Wsa);
- if (iError != 0)
- {
- Ret = kEplSdoUdpNoSocket;
- goto Exit;
- }
-
- // create critical section for acccess of instnace variables
- SdoUdpInstance_g.m_pCriticalSection = &SdoUdpInstance_g.m_CriticalSection;
- InitializeCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
-
-#elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
- init_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
- SdoUdpInstance_g.m_iTerminateThread = 0;
-#endif
+ // save pointer to callback-function
+ if (fpReceiveCb_p != NULL) {
+ SdoUdpInstance_g.m_fpSdoAsySeqCb = fpReceiveCb_p;
+ } else {
+ Ret = kEplSdoUdpMissCb;
+ goto Exit;
+ }
- SdoUdpInstance_g.m_ThreadHandle = 0;
- SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
+ init_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
+ SdoUdpInstance_g.m_iTerminateThread = 0;
+ SdoUdpInstance_g.m_ThreadHandle = 0;
+ SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
- Ret = EplSdoUdpuConfig(INADDR_ANY, 0);
+ Ret = EplSdoUdpuConfig(INADDR_ANY, 0);
-Exit:
- return Ret;
+ Exit:
+ return Ret;
}
-
//---------------------------------------------------------------------------
//
// Function: EplSdoUdpuDelInstance
// State:
//
//---------------------------------------------------------------------------
-tEplKernel PUBLIC EplSdoUdpuDelInstance()
+tEplKernel EplSdoUdpuDelInstance(void)
{
-tEplKernel Ret;
-
-#if (TARGET_SYSTEM == _WIN32_)
-BOOL fTermError;
-#endif
-
- Ret = kEplSuccessful;
-
- if (SdoUdpInstance_g.m_ThreadHandle != 0)
- { // listen thread was started
- // close thread
-#if (TARGET_SYSTEM == _WIN32_)
- fTermError = TerminateThread(SdoUdpInstance_g.m_ThreadHandle, 0);
- if(fTermError == FALSE)
- {
- Ret = kEplSdoUdpThreadError;
- goto Exit;
- }
-
-#elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
- SdoUdpInstance_g.m_iTerminateThread = 1;
- /* kill_proc(SdoUdpInstance_g.m_ThreadHandle, SIGTERM, 1 ); */
- send_sig(SIGTERM, SdoUdpInstance_g.m_ThreadHandle, 1);
- wait_for_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
-#endif
-
- SdoUdpInstance_g.m_ThreadHandle = 0;
- }
-
- if (SdoUdpInstance_g.m_UdpSocket != INVALID_SOCKET)
- {
- // close socket
- closesocket(SdoUdpInstance_g.m_UdpSocket);
- SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
- }
-
-#if (TARGET_SYSTEM == _WIN32_)
- // delete critical section
- DeleteCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
-#endif
-
-#if (TARGET_SYSTEM == _WIN32_)
- // for win 32
- WSACleanup();
-#endif
-
-#if (TARGET_SYSTEM == _WIN32_)
-Exit:
-#endif
- return Ret;
+ tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ if (SdoUdpInstance_g.m_ThreadHandle != 0) { // listen thread was started
+ // close thread
+ SdoUdpInstance_g.m_iTerminateThread = 1;
+ /* kill_proc(SdoUdpInstance_g.m_ThreadHandle, SIGTERM, 1 ); */
+ send_sig(SIGTERM, SdoUdpInstance_g.m_ThreadHandle, 1);
+ wait_for_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
+ SdoUdpInstance_g.m_ThreadHandle = 0;
+ }
+
+ if (SdoUdpInstance_g.m_UdpSocket != INVALID_SOCKET) {
+ // close socket
+ closesocket(SdoUdpInstance_g.m_UdpSocket);
+ SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
+ }
+ return Ret;
}
//---------------------------------------------------------------------------
// State:
//
//---------------------------------------------------------------------------
-tEplKernel PUBLIC EplSdoUdpuConfig(unsigned long ulIpAddr_p, unsigned int uiPort_p)
+tEplKernel EplSdoUdpuConfig(unsigned long ulIpAddr_p, unsigned int uiPort_p)
{
-tEplKernel Ret;
-struct sockaddr_in Addr;
-int iError;
-
-#if (TARGET_SYSTEM == _WIN32_)
-BOOL fTermError;
-unsigned long ulThreadId;
-#endif
-
- Ret = kEplSuccessful;
-
- if (uiPort_p == 0)
- { // set UDP port to default port number
- uiPort_p = EPL_C_SDO_EPL_PORT;
- }
- else if (uiPort_p > 65535)
- {
- Ret = kEplSdoUdpSocketError;
- goto Exit;
- }
-
- if (SdoUdpInstance_g.m_ThreadHandle != 0)
- { // listen thread was started
-
- // close old thread
-#if (TARGET_SYSTEM == _WIN32_)
- fTermError = TerminateThread(SdoUdpInstance_g.m_ThreadHandle, 0);
- if(fTermError == FALSE)
- {
- Ret = kEplSdoUdpThreadError;
- goto Exit;
- }
-
-#elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
- SdoUdpInstance_g.m_iTerminateThread = 1;
- /* kill_proc(SdoUdpInstance_g.m_ThreadHandle, SIGTERM, 1 ); */
- send_sig(SIGTERM, SdoUdpInstance_g.m_ThreadHandle, 1);
- wait_for_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
- SdoUdpInstance_g.m_iTerminateThread = 0;
-#endif
-
- SdoUdpInstance_g.m_ThreadHandle = 0;
- }
-
- if (SdoUdpInstance_g.m_UdpSocket != INVALID_SOCKET)
- {
- // close socket
- iError = closesocket(SdoUdpInstance_g.m_UdpSocket);
- SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
- if(iError != 0)
- {
- Ret = kEplSdoUdpSocketError;
- goto Exit;
- }
- }
-
- // create Socket
- SdoUdpInstance_g.m_UdpSocket = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP);
- if (SdoUdpInstance_g.m_UdpSocket == INVALID_SOCKET)
- {
- Ret = kEplSdoUdpNoSocket;
- EPL_DBGLVL_SDO_TRACE0("EplSdoUdpuConfig: socket() failed\n");
- goto Exit;
- }
-
- // bind socket
- Addr.sin_family = AF_INET;
- Addr.sin_port = htons((unsigned short) uiPort_p);
- Addr.sin_addr.s_addr = htonl(ulIpAddr_p);
- iError = bind(SdoUdpInstance_g.m_UdpSocket, (struct sockaddr*)&Addr, sizeof (Addr));
- if (iError < 0)
- {
- //iError = WSAGetLastError();
- EPL_DBGLVL_SDO_TRACE1("EplSdoUdpuConfig: bind() finished with %i\n", iError);
- Ret = kEplSdoUdpNoSocket;
- goto Exit;
- }
-
- // create Listen-Thread
-#if (TARGET_SYSTEM == _WIN32_)
- // for win32
-
- // create thread
- SdoUdpInstance_g.m_ThreadHandle = CreateThread(NULL,
- 0,
- EplSdoUdpThread,
- &SdoUdpInstance_g,
- 0,
- &ulThreadId);
- if(SdoUdpInstance_g.m_ThreadHandle == NULL)
- {
- Ret = kEplSdoUdpThreadError;
- goto Exit;
- }
-
-#elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
-
- SdoUdpInstance_g.m_ThreadHandle = kernel_thread(EplSdoUdpThread, &SdoUdpInstance_g, CLONE_KERNEL);
- if(SdoUdpInstance_g.m_ThreadHandle == 0)
- {
- Ret = kEplSdoUdpThreadError;
- goto Exit;
- }
-#endif
-
-
-Exit:
- return Ret;
+ tEplKernel Ret;
+ struct sockaddr_in Addr;
+ int iError;
+
+ Ret = kEplSuccessful;
+
+ if (uiPort_p == 0) { // set UDP port to default port number
+ uiPort_p = EPL_C_SDO_EPL_PORT;
+ } else if (uiPort_p > 65535) {
+ Ret = kEplSdoUdpSocketError;
+ goto Exit;
+ }
+
+ if (SdoUdpInstance_g.m_ThreadHandle != 0) { // listen thread was started
+
+ // close old thread
+ SdoUdpInstance_g.m_iTerminateThread = 1;
+ /* kill_proc(SdoUdpInstance_g.m_ThreadHandle, SIGTERM, 1 ); */
+ send_sig(SIGTERM, SdoUdpInstance_g.m_ThreadHandle, 1);
+ wait_for_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
+ SdoUdpInstance_g.m_iTerminateThread = 0;
+ SdoUdpInstance_g.m_ThreadHandle = 0;
+ }
+
+ if (SdoUdpInstance_g.m_UdpSocket != INVALID_SOCKET) {
+ // close socket
+ iError = closesocket(SdoUdpInstance_g.m_UdpSocket);
+ SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
+ if (iError != 0) {
+ Ret = kEplSdoUdpSocketError;
+ goto Exit;
+ }
+ }
+ // create Socket
+ SdoUdpInstance_g.m_UdpSocket = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP);
+ if (SdoUdpInstance_g.m_UdpSocket == INVALID_SOCKET) {
+ Ret = kEplSdoUdpNoSocket;
+ EPL_DBGLVL_SDO_TRACE0("EplSdoUdpuConfig: socket() failed\n");
+ goto Exit;
+ }
+ // bind socket
+ Addr.sin_family = AF_INET;
+ Addr.sin_port = htons((unsigned short)uiPort_p);
+ Addr.sin_addr.s_addr = htonl(ulIpAddr_p);
+ iError =
+ bind(SdoUdpInstance_g.m_UdpSocket, (struct sockaddr *)&Addr,
+ sizeof(Addr));
+ if (iError < 0) {
+ //iError = WSAGetLastError();
+ EPL_DBGLVL_SDO_TRACE1
+ ("EplSdoUdpuConfig: bind() finished with %i\n", iError);
+ Ret = kEplSdoUdpNoSocket;
+ goto Exit;
+ }
+ // create Listen-Thread
+ SdoUdpInstance_g.m_ThreadHandle =
+ kernel_thread(EplSdoUdpThread, &SdoUdpInstance_g,
+ CLONE_FS | CLONE_FILES);
+ if (SdoUdpInstance_g.m_ThreadHandle == 0) {
+ Ret = kEplSdoUdpThreadError;
+ goto Exit;
+ }
+
+ Exit:
+ return Ret;
}
-
//---------------------------------------------------------------------------
//
// Function: EplSdoUdpuInitCon
// State:
//
//---------------------------------------------------------------------------
-tEplKernel PUBLIC EplSdoUdpuInitCon(tEplSdoConHdl* pSdoConHandle_p,
- unsigned int uiTargetNodeId_p)
+tEplKernel EplSdoUdpuInitCon(tEplSdoConHdl *pSdoConHandle_p,
+ unsigned int uiTargetNodeId_p)
{
-tEplKernel Ret;
-unsigned int uiCount;
-unsigned int uiFreeCon;
-tEplSdoUdpCon* pSdoUdpCon;
-
- Ret = kEplSuccessful;
-
- // get free entry in control structure
- uiCount = 0;
- uiFreeCon = EPL_SDO_MAX_CONNECTION_UDP;
- pSdoUdpCon = &SdoUdpInstance_g.m_aSdoAbsUdpConnection[0];
- while (uiCount < EPL_SDO_MAX_CONNECTION_UDP)
- {
- if ((pSdoUdpCon->m_ulIpAddr & htonl(0xFF)) == htonl(uiTargetNodeId_p))
- { // existing connection to target node found
- // set handle
- *pSdoConHandle_p = (uiCount | EPL_SDO_UDP_HANDLE);
-
- goto Exit;
- }
- else if ((pSdoUdpCon->m_ulIpAddr == 0)
- && (pSdoUdpCon->m_uiPort == 0))
- {
- uiFreeCon = uiCount;
- }
- uiCount++;
- pSdoUdpCon++;
- }
-
- if (uiFreeCon == EPL_SDO_MAX_CONNECTION_UDP)
- {
- // error no free handle
- Ret = kEplSdoUdpNoFreeHandle;
- }
- else
- {
- pSdoUdpCon = &SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiFreeCon];
- // save infos for connection
- pSdoUdpCon->m_uiPort = htons(EPL_C_SDO_EPL_PORT);
- pSdoUdpCon->m_ulIpAddr = htonl(0xC0A86400 | uiTargetNodeId_p); // 192.168.100.uiTargetNodeId_p
-
- // set handle
- *pSdoConHandle_p = (uiFreeCon | EPL_SDO_UDP_HANDLE);
-
- }
-
-Exit:
- return Ret;
+ tEplKernel Ret;
+ unsigned int uiCount;
+ unsigned int uiFreeCon;
+ tEplSdoUdpCon *pSdoUdpCon;
+
+ Ret = kEplSuccessful;
+
+ // get free entry in control structure
+ uiCount = 0;
+ uiFreeCon = EPL_SDO_MAX_CONNECTION_UDP;
+ pSdoUdpCon = &SdoUdpInstance_g.m_aSdoAbsUdpConnection[0];
+ while (uiCount < EPL_SDO_MAX_CONNECTION_UDP) {
+ if ((pSdoUdpCon->m_ulIpAddr & htonl(0xFF)) == htonl(uiTargetNodeId_p)) { // existing connection to target node found
+ // set handle
+ *pSdoConHandle_p = (uiCount | EPL_SDO_UDP_HANDLE);
+
+ goto Exit;
+ } else if ((pSdoUdpCon->m_ulIpAddr == 0)
+ && (pSdoUdpCon->m_uiPort == 0)) {
+ uiFreeCon = uiCount;
+ }
+ uiCount++;
+ pSdoUdpCon++;
+ }
+
+ if (uiFreeCon == EPL_SDO_MAX_CONNECTION_UDP) {
+ // error no free handle
+ Ret = kEplSdoUdpNoFreeHandle;
+ } else {
+ pSdoUdpCon =
+ &SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiFreeCon];
+ // save infos for connection
+ pSdoUdpCon->m_uiPort = htons(EPL_C_SDO_EPL_PORT);
+ pSdoUdpCon->m_ulIpAddr = htonl(0xC0A86400 | uiTargetNodeId_p); // 192.168.100.uiTargetNodeId_p
+
+ // set handle
+ *pSdoConHandle_p = (uiFreeCon | EPL_SDO_UDP_HANDLE);
+
+ }
+
+ Exit:
+ return Ret;
}
// State:
//
//---------------------------------------------------------------------------
-tEplKernel PUBLIC EplSdoUdpuSendData(tEplSdoConHdl SdoConHandle_p,
- tEplFrame * pSrcData_p,
- DWORD dwDataSize_p)
+tEplKernel EplSdoUdpuSendData(tEplSdoConHdl SdoConHandle_p,
+ tEplFrame *pSrcData_p, u32 dwDataSize_p)
{
-tEplKernel Ret;
-int iError;
-unsigned int uiArray;
-struct sockaddr_in Addr;
-
- Ret = kEplSuccessful;
-
- uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
- if(uiArray >= EPL_SDO_MAX_CONNECTION_UDP)
- {
- Ret = kEplSdoUdpInvalidHdl;
- goto Exit;
- }
- //set message type
- AmiSetByteToLe(&pSrcData_p->m_le_bMessageType, 0x06); // SDO
- // target node id (for Udp = 0)
- AmiSetByteToLe(&pSrcData_p->m_le_bDstNodeId, 0x00);
- // set source-nodeid (for Udp = 0)
- AmiSetByteToLe(&pSrcData_p->m_le_bSrcNodeId, 0x00);
-
- // calc size
- dwDataSize_p += EPL_ASND_HEADER_SIZE;
-
- // call sendto
- Addr.sin_family = AF_INET;
-#if (TARGET_SYSTEM == _WIN32_)
- // enter critical section for process function
- EnterCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
-#endif
-
- Addr.sin_port = (unsigned short) SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_uiPort;
- Addr.sin_addr.s_addr = SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_ulIpAddr;
-
-#if (TARGET_SYSTEM == _WIN32_)
- // leave critical section for process function
- LeaveCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
-#endif
-
- iError = sendto (SdoUdpInstance_g.m_UdpSocket, // sockethandle
- (const char*) &pSrcData_p->m_le_bMessageType, // data to send
- dwDataSize_p, // number of bytes to send
- 0, // flags
- (struct sockaddr*)&Addr, // target
- sizeof(struct sockaddr_in)); // sizeof targetadress
- if(iError < 0)
- {
- EPL_DBGLVL_SDO_TRACE1("EplSdoUdpuSendData: sendto() finished with %i\n", iError);
- Ret = kEplSdoUdpSendError;
- goto Exit;
- }
-
-Exit:
- return Ret;
+ tEplKernel Ret;
+ int iError;
+ unsigned int uiArray;
+ struct sockaddr_in Addr;
+
+ Ret = kEplSuccessful;
+
+ uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
+ if (uiArray >= EPL_SDO_MAX_CONNECTION_UDP) {
+ Ret = kEplSdoUdpInvalidHdl;
+ goto Exit;
+ }
+ //set message type
+ AmiSetByteToLe(&pSrcData_p->m_le_bMessageType, 0x06); // SDO
+ // target node id (for Udp = 0)
+ AmiSetByteToLe(&pSrcData_p->m_le_bDstNodeId, 0x00);
+ // set source-nodeid (for Udp = 0)
+ AmiSetByteToLe(&pSrcData_p->m_le_bSrcNodeId, 0x00);
+
+ // calc size
+ dwDataSize_p += EPL_ASND_HEADER_SIZE;
+
+ // call sendto
+ Addr.sin_family = AF_INET;
+ Addr.sin_port =
+ (unsigned short)SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].
+ m_uiPort;
+ Addr.sin_addr.s_addr =
+ SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_ulIpAddr;
+
+ iError = sendto(SdoUdpInstance_g.m_UdpSocket, // sockethandle
+ (const char *)&pSrcData_p->m_le_bMessageType, // data to send
+ dwDataSize_p, // number of bytes to send
+ 0, // flags
+ (struct sockaddr *)&Addr, // target
+ sizeof(struct sockaddr_in)); // sizeof targetadress
+ if (iError < 0) {
+ EPL_DBGLVL_SDO_TRACE1
+ ("EplSdoUdpuSendData: sendto() finished with %i\n", iError);
+ Ret = kEplSdoUdpSendError;
+ goto Exit;
+ }
+
+ Exit:
+ return Ret;
}
-
//---------------------------------------------------------------------------
//
// Function: EplSdoUdpuDelCon
// State:
//
//---------------------------------------------------------------------------
-tEplKernel PUBLIC EplSdoUdpuDelCon(tEplSdoConHdl SdoConHandle_p)
+tEplKernel EplSdoUdpuDelCon(tEplSdoConHdl SdoConHandle_p)
{
-tEplKernel Ret;
-unsigned int uiArray;
+ tEplKernel Ret;
+ unsigned int uiArray;
+ uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
- uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
+ if (uiArray >= EPL_SDO_MAX_CONNECTION_UDP) {
+ Ret = kEplSdoUdpInvalidHdl;
+ goto Exit;
+ } else {
+ Ret = kEplSuccessful;
+ }
- if(uiArray >= EPL_SDO_MAX_CONNECTION_UDP)
- {
- Ret = kEplSdoUdpInvalidHdl;
- goto Exit;
- }
- else
- {
- Ret = kEplSuccessful;
- }
+ // delete connection
+ SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_ulIpAddr = 0;
+ SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_uiPort = 0;
-
- // delete connection
- SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_ulIpAddr = 0;
- SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_uiPort = 0;
-
-Exit:
- return Ret;
+ Exit:
+ return Ret;
}
//=========================================================================//
// Parameters: lpParameter = pointer to parameter type tEplSdoUdpThreadPara
//
//
-// Returns: DWORD = errorcode
+// Returns: u32 = errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
-#if (TARGET_SYSTEM == _WIN32_)
-static DWORD PUBLIC EplSdoUdpThread(LPVOID lpParameter)
-#elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
-static int EplSdoUdpThread(void * pArg_p)
-#endif
+static int EplSdoUdpThread(void *pArg_p)
{
-tEplSdoUdpInstance* pInstance;
-struct sockaddr_in RemoteAddr;
-int iError;
-int iCount;
-int iFreeEntry;
-BYTE abBuffer[EPL_MAX_SDO_REC_FRAME_SIZE];
-unsigned int uiSize;
-tEplSdoConHdl SdoConHdl;
-
-#if (TARGET_SYSTEM == _WIN32_)
- pInstance = (tEplSdoUdpInstance*)lpParameter;
-
- for (;;)
-
-#elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
- pInstance = (tEplSdoUdpInstance*)pArg_p;
- daemonize("EplSdoUdpThread");
- allow_signal( SIGTERM );
-
- for (;pInstance->m_iTerminateThread == 0;)
-#endif
-
- {
- // wait for data
- uiSize = sizeof(struct sockaddr);
- iError = recvfrom(pInstance->m_UdpSocket, // Socket
- (char *)&abBuffer[0], // buffer for data
- sizeof(abBuffer), // size of the buffer
- 0, // flags
- (struct sockaddr*)&RemoteAddr,
- (int*)&uiSize);
-#if (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
- if (iError == -ERESTARTSYS)
- {
- break;
- }
-#endif
- if (iError > 0)
- {
- // get handle for higher layer
- iCount = 0;
- iFreeEntry = 0xFFFF;
-#if (TARGET_SYSTEM == _WIN32_)
- // enter critical section for process function
- EnterCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
-#endif
- while (iCount < EPL_SDO_MAX_CONNECTION_UDP)
- {
- // check if this connection is already known
- if((pInstance->m_aSdoAbsUdpConnection[iCount].m_ulIpAddr == RemoteAddr.sin_addr.s_addr)
- && (pInstance->m_aSdoAbsUdpConnection[iCount].m_uiPort == RemoteAddr.sin_port))
- {
- break;
- }
-
- if((pInstance->m_aSdoAbsUdpConnection[iCount].m_ulIpAddr == 0)
- && (pInstance->m_aSdoAbsUdpConnection[iCount].m_uiPort == 0)
- && (iFreeEntry == 0xFFFF))
-
- {
- iFreeEntry = iCount;
- }
-
- iCount++;
- }
-
- if (iCount == EPL_SDO_MAX_CONNECTION_UDP)
- {
- // connection unknown
- // see if there is a free handle
- if (iFreeEntry != 0xFFFF)
- {
- // save adress infos
- pInstance->m_aSdoAbsUdpConnection[iFreeEntry].m_ulIpAddr =
- RemoteAddr.sin_addr.s_addr;
- pInstance->m_aSdoAbsUdpConnection[iFreeEntry].m_uiPort =
- RemoteAddr.sin_port;
-#if (TARGET_SYSTEM == _WIN32_)
- // leave critical section for process function
- LeaveCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
-#endif
- // call callback
- SdoConHdl = iFreeEntry;
- SdoConHdl |= EPL_SDO_UDP_HANDLE;
- // offset 4 -> start of SDO Sequence header
- pInstance->m_fpSdoAsySeqCb(SdoConHdl, (tEplAsySdoSeq*)&abBuffer[4], (iError - 4));
- }
- else
- {
- EPL_DBGLVL_SDO_TRACE0("Error in EplSdoUdpThread() no free handle\n");
-#if (TARGET_SYSTEM == _WIN32_)
- // leave critical section for process function
- LeaveCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
-#endif
- }
-
- }
- else
- {
- // known connection
- // call callback with correct handle
- SdoConHdl = iCount;
- SdoConHdl |= EPL_SDO_UDP_HANDLE;
-#if (TARGET_SYSTEM == _WIN32_)
- // leave critical section for process function
- LeaveCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
-#endif
- // offset 4 -> start of SDO Sequence header
- pInstance->m_fpSdoAsySeqCb(SdoConHdl, (tEplAsySdoSeq*)&abBuffer[4], (iError - 4));
- }
- } // end of if(iError!=SOCKET_ERROR)
- }// end of for(;;)
-
-#if (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
- complete_and_exit(&SdoUdpInstance_g.m_CompletionUdpThread, 0);
-#endif
-
- return 0;
+ tEplSdoUdpInstance *pInstance;
+ struct sockaddr_in RemoteAddr;
+ int iError;
+ int iCount;
+ int iFreeEntry;
+ u8 abBuffer[EPL_MAX_SDO_REC_FRAME_SIZE];
+ unsigned int uiSize;
+ tEplSdoConHdl SdoConHdl;
+
+ pInstance = (tEplSdoUdpInstance *) pArg_p;
+ daemonize("EplSdoUdpThread");
+ allow_signal(SIGTERM);
+
+ for (; pInstance->m_iTerminateThread == 0;)
+
+ {
+ // wait for data
+ uiSize = sizeof(struct sockaddr);
+ iError = recvfrom(pInstance->m_UdpSocket, // Socket
+ (char *)&abBuffer[0], // buffer for data
+ sizeof(abBuffer), // size of the buffer
+ 0, // flags
+ (struct sockaddr *)&RemoteAddr,
+ (int *)&uiSize);
+ if (iError == -ERESTARTSYS) {
+ break;
+ }
+ if (iError > 0) {
+ // get handle for higher layer
+ iCount = 0;
+ iFreeEntry = 0xFFFF;
+ while (iCount < EPL_SDO_MAX_CONNECTION_UDP) {
+ // check if this connection is already known
+ if ((pInstance->m_aSdoAbsUdpConnection[iCount].
+ m_ulIpAddr == RemoteAddr.sin_addr.s_addr)
+ && (pInstance->
+ m_aSdoAbsUdpConnection[iCount].
+ m_uiPort == RemoteAddr.sin_port)) {
+ break;
+ }
+
+ if ((pInstance->m_aSdoAbsUdpConnection[iCount].
+ m_ulIpAddr == 0)
+ && (pInstance->
+ m_aSdoAbsUdpConnection[iCount].
+ m_uiPort == 0)
+ && (iFreeEntry == 0xFFFF))
+ {
+ iFreeEntry = iCount;
+ }
+
+ iCount++;
+ }
+
+ if (iCount == EPL_SDO_MAX_CONNECTION_UDP) {
+ // connection unknown
+ // see if there is a free handle
+ if (iFreeEntry != 0xFFFF) {
+ // save adress infos
+ pInstance->
+ m_aSdoAbsUdpConnection[iFreeEntry].
+ m_ulIpAddr =
+ RemoteAddr.sin_addr.s_addr;
+ pInstance->
+ m_aSdoAbsUdpConnection[iFreeEntry].
+ m_uiPort = RemoteAddr.sin_port;
+ // call callback
+ SdoConHdl = iFreeEntry;
+ SdoConHdl |= EPL_SDO_UDP_HANDLE;
+ // offset 4 -> start of SDO Sequence header
+ pInstance->m_fpSdoAsySeqCb(SdoConHdl,
+ (tEplAsySdoSeq
+ *) &
+ abBuffer[4],
+ (iError -
+ 4));
+ } else {
+ EPL_DBGLVL_SDO_TRACE0
+ ("Error in EplSdoUdpThread() no free handle\n");
+ }
+
+ } else {
+ // known connection
+ // call callback with correct handle
+ SdoConHdl = iCount;
+ SdoConHdl |= EPL_SDO_UDP_HANDLE;
+ // offset 4 -> start of SDO Sequence header
+ pInstance->m_fpSdoAsySeqCb(SdoConHdl,
+ (tEplAsySdoSeq *) &
+ abBuffer[4],
+ (iError - 4));
+ }
+ } // end of if(iError!=SOCKET_ERROR)
+ } // end of for(;;)
+
+ complete_and_exit(&SdoUdpInstance_g.m_CompletionUdpThread, 0);
+ return 0;
}
#endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)
// EOF
-
git://ftp.safe.ca / safe / jmp / linux-2.6 / blobdiff