Hi All, Back at this. My program now compiles. I think I am loading all the correct libraries to do just NIC, UDP and TCP with RTNET: > insmod /usr/realtime/modules/rtai_hal.ko > insmod /usr/realtime/modules/rtai_lxrt.ko > insmod /usr/realtime/modules/rtai_sem.ko > insmod /usr/realtime/modules/rtai_rtdm.ko > rmmod e1000e > insmod /usr/rtnet/modules/rtnet.ko > insmod /usr/rtnet/modules/rtipv4.ko > insmod /usr/rtnet/modules/rtpacket.ko > insmod /usr/rtnet/modules/rt_loopback.ko > insmod /usr/rtnet/modules/rt_e1000.ko > /usr/src/rtnet-0.9.12/tools/./rtifconfig rteth1 up 192.168.0.2 > /usr/src/rtnet-0.9.12/tools/./rtifconfig rtlo up 127.0.0.1 > insmod /usr/rtnet/modules/rtudp.ko > insmod /usr/rtnet/modules/rttcp.ko > ./opener 192.168.0.2 255.255.255.0 192.168.0.1 test.com testdevice 00 0E 8C 9F > 16 09
I current am not connected to a host but am just trying to debug as far as a
I can with this just this side. This all works until the last function:
> /* create a new TCP socket */
> if ((nTCPListener = rt_dev_socket(PF_INET, SOCK_STREAM, 0)) == -1)
> {
> OPENER_TRACE_ERR("error allocating socket stream listener, %d\n",
> errno);
> return EIP_ERROR;
> }
>
> /* create a new UDP socket */
> if ((nUDPListener = rt_dev_socket(PF_INET, SOCK_DGRAM, 0)) == -1)
> {
> OPENER_TRACE_ERR("error allocating udp listener socket, %d\n", errno);
> return EIP_ERROR;
> }
>
> my_addr.sin_family = AF_INET;
> my_addr.sin_port = htons(OPENER_ETHERNET_PORT);
> my_addr.sin_addr.s_addr = htonl(INADDR_ANY);
> memset(&my_addr.sin_zero, 0, sizeof(my_addr.sin_zero));
>
> /* bind the new socket to port 0xAF12 (CIP) */
> if ((rt_dev_bind(nTCPListener, (struct sockaddr *) &my_addr, sizeof(struct
> sockaddr)))
> == -1)
> {
> OPENER_TRACE_ERR("error with bind: %d %s", errno, strerror(errno));
> return EIP_ERROR;
> }
>
> /* enable the udp socket to receive broadcast messages*/
> y = 1;
> if (0 > rt_dev_setsockopt(nUDPListener, SOL_SOCKET, SO_BROADCAST, &y,
> sizeof(int)))
> {
> OPENER_TRACE_ERR("error with setting broadcast receive for udp socket:
> %d %s", errno, strerror(errno));
> return EIP_ERROR;
> }
The above function returns ³38 function not implemented²
Do I need to be connected for this to work?
Are my load modules right?
Is this function really not implemented or am I doing something wrong?
If it is not implemented, is there a work around?
Glen
On 9/28/10 5:35 PM, "Jan Kiszka" <[email protected]> wrote:
> Am 28.09.2010 23:17, Glen Wernersbach wrote:
>> Jan,
>>
>> My basic concern was to keep the data flowing from the NIC to my program as
>> close to hard real time as possible. I know doing Linux calls can break hard
>> real time especially when I want to receive a UDP packet every 1ms.
>
> Is that UDP packet part of your control loop? Why do you need the whole
> opener stack then? Or is there more?
>
>>
>> The only thing Ethernet IP really gives you real time is optional support
>> for the Ethernet 1588 timing standard so you know what the jitter was in
>> receiving the packet over the Ethernet line. The 1588 support is not yet
>> implemented in opener. The rest is just a protocol for handling critical
>> data over TCP and UDP. Unfortunately, I have a device that needs to work on
>> Allen Bradley controllers which only support this real time protocol.
>>
>> All I want to do is replace the Linux calls in networkhandler.c
>> (socket,bind,listen...) with RTAI real time calls.
>
> Additionally, you will have to configure the socket resources, namely
> how many buffers each socket should pre-allocate for its real-time
> operation (that's the major difference to normal networking stack that
> do on-demand allocations). See the examples.
>
> Jan
>
--
Glen Wernersbach
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Jetsoft Development Co.
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