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new 429befe1e examples/netpkt: add ethercat test example for robot
429befe1e is described below
commit 429befe1ed4b60e83e835598fee6cb35c80a776e
Author: zhanghongyu <zhanghon...@xiaomi.com>
AuthorDate: Wed Aug 14 14:14:42 2024 +0800
examples/netpkt: add ethercat test example for robot
add a simple example to test ethercat's sending and receiving
Signed-off-by: zhanghongyu <zhanghon...@xiaomi.com>
---
examples/netpkt/CMakeLists.txt | 10 +++
examples/netpkt/Makefile | 4 +-
examples/netpkt/netpkt_ethercat.c | 125 ++++++++++++++++++++++++++++++++++++++
3 files changed, 137 insertions(+), 2 deletions(-)
diff --git a/examples/netpkt/CMakeLists.txt b/examples/netpkt/CMakeLists.txt
index f41203266..0550d3af4 100644
--- a/examples/netpkt/CMakeLists.txt
+++ b/examples/netpkt/CMakeLists.txt
@@ -28,4 +28,14 @@ if(CONFIG_EXAMPLES_NETPKT)
${CONFIG_EXAMPLES_NETPKT}
SRCS
netpkt_main.c)
+
+ nuttx_add_application(
+ NAME
+ netpkt_ethercat
+ STACKSIZE
+ ${CONFIG_DEFAULT_TASK_STACKSIZE}
+ MODULE
+ ${CONFIG_EXAMPLES_NETPKT}
+ SRCS
+ netpkt_ethercat.c)
endif()
diff --git a/examples/netpkt/Makefile b/examples/netpkt/Makefile
index da915f388..d9f1e11ab 100644
--- a/examples/netpkt/Makefile
+++ b/examples/netpkt/Makefile
@@ -22,13 +22,13 @@ include $(APPDIR)/Make.defs
# Network packet socket example
-PROGNAME = netpkt
+PROGNAME = netpkt netpkt_ethercat
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = $(CONFIG_DEFAULT_TASK_STACKSIZE)
MODULE = $(CONFIG_EXAMPLES_NETPKT)
# MDIO tool
-MAINSRC = netpkt_main.c
+MAINSRC = netpkt_main.c netpkt_ethercat.c
include $(APPDIR)/Application.mk
diff --git a/examples/netpkt/netpkt_ethercat.c
b/examples/netpkt/netpkt_ethercat.c
new file mode 100644
index 000000000..8899db84c
--- /dev/null
+++ b/examples/netpkt/netpkt_ethercat.c
@@ -0,0 +1,125 @@
+/****************************************************************************
+ * apps/examples/netpkt/netpkt_ethercat.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <time.h>
+
+#include <net/if.h>
+#include <netinet/ip.h>
+#include <netpacket/packet.h>
+#include <sys/socket.h>
+
+#include <nuttx/clock.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static void usage(void)
+{
+ printf("usage: netpkt_ethercat <[ifname] <times>>\n");
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+int main(int argc, FAR const char *argv[])
+{
+ struct timespec send_time;
+ struct timespec recv_time;
+ struct sockaddr_ll addr;
+ uint8_t sendbuff[60] =
+ {
+ 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x9c, 0x7f, 0x81, 0x3c, 0x1e, 0x8e,
+ 0x88, 0xa4, 0x0e, 0x10, 0x07, 0x4a, 0x00, 0x00, 0x30, 0x01, 0x02, 0x00,
+ };
+
+ uint8_t recvbuff[100];
+ FAR const char *ifname = "eth0";
+ int repeat = 10;
+ int num_packets = 0;
+ int len;
+ int ifindex;
+ int sockfd = socket(AF_PACKET, SOCK_RAW, IPPROTO_RAW);
+
+ if (sockfd == -1)
+ {
+ perror("ERROR: creating socket failed");
+ return -errno;
+ }
+
+ if (argc >= 2)
+ {
+ ifname = argv[1];
+ }
+
+ ifindex = if_nametoindex(ifname);
+
+ if (argc >= 3)
+ {
+ repeat = atoi(argv[2]);
+ }
+
+ if (ifindex == 0)
+ {
+ printf("Failed to get index of device %s\n", ifname);
+ close(sockfd);
+ usage();
+ return -errno;
+ }
+
+ addr.sll_family = AF_PACKET;
+ addr.sll_ifindex = ifindex;
+ if (bind(sockfd, (FAR const struct sockaddr *)&addr, sizeof(addr)) < 0)
+ {
+ perror("ERROR: binding socket failed");
+ close(sockfd);
+ usage();
+ return -errno;
+ }
+
+ for (num_packets = 0; num_packets < repeat; num_packets++)
+ {
+ clock_gettime(CLOCK_REALTIME, &send_time);
+ if (sendto(sockfd, sendbuff, 60, 0, NULL, 0) < 0)
+ {
+ perror("ERROR: sendto socket failed");
+ continue;
+ }
+
+ len = recvfrom(sockfd, recvbuff, 100, 0, NULL, NULL);
+ clock_gettime(CLOCK_REALTIME, &recv_time);
+ printf("Data recv: %d bytes, spent time %ld ns\n", len,
+ (recv_time.tv_sec - send_time.tv_sec) * NSEC_PER_SEC +
+ recv_time.tv_nsec - send_time.tv_nsec);
+ usleep(1000);
+ }
+
+ close(sockfd);
+
+ return 0;
+}
