Thank you Andreas and Christophe for helping resolve the rtroute issue.
The messed up routing table was likely as a result of my various attempts
to get it working.
Unfortunately, now that I've hopefully corrected the RTnet routing table,
rtping hangs after printing, "Real-time PING 10.0.0.2 56(84) bytes of
data".
Perhaps related, the receiver side (@10.0.0.2) of a trivial UDP
client/server
utility does not receive the UDP packets the server side is sending (both
when
sent locally to receiver (compiled and linked against cobalt), and when
sent
from 10.0.0.5 - these I can see being sent using wireshark).
I've only configured the rteth0 interface, not rtlo.
# ./rtroute
Host Routing Table
Hash Destination HW Address Device
02 10.0.0.2 5C:F9:DD:74:9C:27 rteth0 - local
Xenomai/RTnet NIC
05 10.0.0.5 D4:BE:D9:1F:88:C2 rteth0 - remote Linux
07 192.168.1.71 98:DE:D0:03:80:CA rteth0 - local 2nd NIC
3F 10.255.255.255 FF:FF:FF:FF:FF:FF rteth0
# ./rtping 10.0.0.2/ - never returns/
Real-time PING 10.0.0.2 56(84) bytes of data.
^C
--- 10.0.0.2 rtping statistics ---
3 packets transmitted, 0 received, 100% packet loss
worst case rtt = 0.0 us
# ./rtping 10.0.0.5/ - and 10.0.0.5 can ping successfully Xenomai/RTnet/
Real-time PING 10.0.0.5 56(84) bytes of data.
64 bytes from 10.0.0.5: icmp_seq=1 time=494.3 us
64 bytes from 10.0.0.5: icmp_seq=2 time=442.9 us
64 bytes from 10.0.0.5: icmp_seq=3 time=600.4 us
^C
--- 10.0.0.5 rtping statistics ---
3 packets transmitted, 3 received, 0% packet loss
worst case rtt = 600.4 us
# ./rtping 192.168.1.71/ - never returns/
Real-time PING 192.168.1.71 56(84) bytes of data.
^C
--- 192.168.1.71 rtping statistics ---
5 packets transmitted, 0 received, 100% packet loss
worst case rtt = 0.0 us
# lsmod
Module Size Used by
rt_loopback 1325 1
rtpacket 6714 0
rtudp 10708 1/ - in use by UDP receiver
app/
rt_e1000e 100022 1
rtipv4 22182 1 rtudp
rtnet 44399 5
rtipv4,rt_loopback,rt_e1000e,rtpacket,rtudp
uio_netx 2273 0
uio 8037 1 uio_netx
x86_pkg_temp_thermal 5495 0
r8169 68092 0
(gdb) r 10.0.0.2
Starting program: udpreceiver 10.0.0.2
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7ffff71ea700 (LWP 18990)]
^C
Program received signal SIGINT, Interrupt.
0x00007ffff7bcbf31 in do_recvmsg () from /usr/xenomai/lib/libcobalt.so.2
(gdb)
# dmesg
*** RTnet for Xenomai v3.0.5 ***
[163539.835443] RTnet: initialising real-time networking
[163539.838668] rt_e1000e: Intel(R) PRO/1000 Network Driver - 1.5.1-k-rt
[163539.838669] rt_e1000e: Copyright(c) 1999 - 2011 Intel Corporation.
[163540.117612] RTnet: registered rteth0
[163540.117614] rt_e1000e: (PCI Express:2.5GT/s:Width x1) 5c:f9:dd:74:9c:27
[163540.117615] rt_e1000e: Intel(R) PRO/1000 Network Connection
[163540.117658] rt_e1000e: MAC: 10, PHY: 11, PBA No: E041FF-0FF
[163540.121339] initializing loopback...
[163540.121346] RTnet: registered rtlo
[163542.116317] e1000e: rteth0 NIC Link is Up 100 Mbps Full Duplex, Flow
Control: Rx/Tx
[163542.116318] rt_e1000e: 10/100 speed: disabling TSO
[170147.661471] RTnet: host 10.0.0.5 unreachable
[170148.662587] RTnet: host 10.0.0.5 unreachable
[170149.663781] RTnet: host 10.0.0.5 unreachable
[170150.664909] RTnet: host 10.0.0.5 unreachable
[170151.666105] RTnet: host 10.0.0.5 unreachable
[170152.667286] RTnet: host 10.0.0.5 unreachable
# lsmod
Module Size Used by
rt_loopback 1325 1
rtpacket 6714 0
rtudp 10708 1
rt_e1000e 100022 1
rtipv4 22182 1 rtudp
rtnet 44399 5
rtipv4,rt_loopback,rt_e1000e,rtpacket,rtudp
uio_netx 2273 0
uio 8037 1 uio_netx
x86_pkg_temp_thermal 5495 0
r8169 68092 0
# strace ./rtping 10.0.0.2
execve("./rtping", ["./rtping", "10.0.0.2"], [/* 44 vars */]) = 0
brk(0) =
0x14b3000
access("/etc/ld.so.nohwcap", F_OK) = -1 ENOENT (No such file or
directory)
mmap(NULL, 8192, PROT_READ|PROT_WRITE, MAP_PRIVATE|MAP_ANONYMOUS, -1, 0) =
0x7f2bd17d0000
access("/etc/ld.so.preload", R_OK) = -1 ENOENT (No such file or
directory)
open("/etc/ld.so.cache", O_RDONLY|O_CLOEXEC) = 3
fstat(3, {st_mode=S_IFREG|0644, st_size=114787, ...}) = 0
mmap(NULL, 114787, PROT_READ, MAP_PRIVATE, 3, 0) = 0x7f2bd17b3000
close(3) = 0
access("/etc/ld.so.nohwcap", F_OK) = -1 ENOENT (No such file or
directory)
open("/lib/x86_64-linux-gnu/libc.so.6", O_RDONLY|O_CLOEXEC) = 3
read(3,
"\177ELF\2\1\1\3\0\0\0\0\0\0\0\0\3\0>\0\1\0\0\0P\34\2\0\0\0\0\0"...,
832) = 832
fstat(3, {st_mode=S_IFREG|0755, st_size=1738176, ...}) = 0
mmap(NULL, 3844640, PROT_READ|PROT_EXEC, MAP_PRIVATE|MAP_DENYWRITE, 3, 0) =
0x7f2bd1207000
mprotect(0x7f2bd13a8000, 2097152, PROT_NONE) = 0
mmap(0x7f2bd15a8000, 24576, PROT_READ|PROT_WRITE, MAP_PRIVATE|MAP_FIXED|
MAP_DENYWRITE, 3, 0x1a1000) = 0x7f2bd15a8000
mmap(0x7f2bd15ae000, 14880, PROT_READ|PROT_WRITE, MAP_PRIVATE|MAP_FIXED|
MAP_ANONYMOUS, -1, 0) = 0x7f2bd15ae000
close(3) = 0
mmap(NULL, 4096, PROT_READ|PROT_WRITE, MAP_PRIVATE|MAP_ANONYMOUS, -1, 0) =
0x7f2bd17b2000
mmap(NULL, 4096, PROT_READ|PROT_WRITE, MAP_PRIVATE|MAP_ANONYMOUS, -1, 0) =
0x7f2bd17b1000
mmap(NULL, 4096, PROT_READ|PROT_WRITE, MAP_PRIVATE|MAP_ANONYMOUS, -1, 0) =
0x7f2bd17b0000
arch_prctl(ARCH_SET_FS, 0x7f2bd17b1700) = 0
mprotect(0x7f2bd15a8000, 16384, PROT_READ) = 0
mprotect(0x7f2bd17d2000, 4096, PROT_READ) = 0
munmap(0x7f2bd17b3000, 114787) = 0
open("/dev/rtnet", O_RDWR) = 3
fstat(1, {st_mode=S_IFCHR|0620, st_rdev=makedev(136, 0), ...}) = 0
mmap(NULL, 4096, PROT_READ|PROT_WRITE, MAP_PRIVATE|MAP_ANONYMOUS, -1, 0) =
0x7f2bd17cf000
write(1, "Real-time PING 10.0.0.2 56(84) b"..., 46Real-time PING 10.0.0.2
56(84)
bytes of data.
) = 46
rt_sigaction(SIGINT, {0x400b13, [INT], SA_RESTORER|SA_RESTART,
0x7f2bd123c0e0},
{SIG_DFL, [], 0}, 8) = 0
rt_sigaction(SIGALRM, {0x400b2a, [ALRM], SA_RESTORER|SA_RESTART,
0x7f2bd123c0e0}
, {SIG_DFL, [], 0}, 8) = 0
setitimer(ITIMER_REAL, {it_interval={1, 0}, it_value={0, 1}}, NULL) = 0
--- SIGALRM {si_signo=SIGALRM, si_code=SI_KERNEL} ---
ioctl(3, 0xc0500285, 0x601640) = -1 ETIME (Timer expired)
rt_sigreturn() = 0
pause() = ?
ERESTARTNOHAND
(To be restarted if no handler)
--- SIGALRM {si_signo=SIGALRM, si_code=SI_KERNEL} ---
ioctl(3, 0xc0500285, 0x601640) = -1 ETIME (Timer expired)
rt_sigreturn() = -1 EINTR
(Interrupted system call)
pause() = ?
ERESTARTNOHAND
(To be restarted if no handler)
--- SIGALRM {si_signo=SIGALRM, si_code=SI_KERNEL} ---
ioctl(3, 0xc0500285, 0x601640) = -1 ETIME (Timer expired)
rt_sigreturn() = -1 EINTR
(Interrupted system call)
pause() = ?
ERESTARTNOHAND
(To be restarted if no handler)
--- SIGALRM {si_signo=SIGALRM, si_code=SI_KERNEL} ---
ioctl(3, 0xc0500285^CProcess 18738 detached
<detached ...>
Quoting Christophe Carton <[email protected]>:
Le 10/08/2017 à 15:36, Andreas Glatz a écrit :
# ./rtping 10.0.0.1
Real-time PING 10.0.0.1 56(84) bytes of data.
ioctl: No route to host
You should populate your RTnet routing table with some meaningful
combinations of IP address and MAC address after bringing it up.
The other non-persistent option is to ping your RTnet device from a
non-RTnet device, which auto populates the RTnet routing table with
the IP & mac pair of the sender. After that you can rtping the other
device as well.
However, if I use 'rtnet start', rtping succeeds :-
# ./rtping 10.0.0.1
Real-time PING 10.0.0.1 56(84) bytes of data.
64 bytes from 127.0.0.1: icmp_seq=1 time=4.8 us
64 bytes from 127.0.0.1: icmp_seq=2 time=4.4 us
64 bytes from 127.0.0.1: icmp_seq=3 time=3.4 us
64 bytes from 127.0.0.1: icmp_seq=4 time=3.7 us
64 bytes from 127.0.0.1: icmp_seq=5 time=4.2 us
Somehow your rtnet start script does not populate the routing table
properly. Hence if you ping 10.0.0.1, you actually get a reply from
localhost (127.0.0.1).
# ./rtroute
Host Routing Table
Hash?? ?Destination?? ?HW Address?? ??? ?Device
00?? ?0.0.0.0 ??? ?00:00:00:00:00:00?? ?rtlo
01?? ?127.0.0.1 ??? ?00:00:00:00:00:00?? ?rtlo
02?? ?10.0.0.2 ??? ?00:00:00:00:00:00?? ?rtlo
3F?? ?10.255.255.255?? ?FF:FF:FF:FF:FF:FF?? ?rteth0
See:
rtroute --help
E.g (assuming that 02:00:00:00:01:02 is the MAC of 10.0.0.1):
rtroute add 10.0.0.1 02:00:00:00:01:02 dev rteth0
... after that rtping should work.
If you do not know the MAC of 10.0.0.1 you may also execute:
rtroute solicit 10.0.0.1 dev rteht0 #See: rtroute --help
This will force an ARP exchange.
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--
*Christophe*
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