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