I'm trying to use canutils in an android ndk-project.
the package canutils usually compiles to executable files, but i didnt find a way yet to inlude these executables in an ndk-project.
so what im doing at the moment is just loading the shared libraries like this:
static{
System.loadLibrary("cansend");
}
public native void cansend();
that for I've changes the android-mk to build shared libraries instead.
still my c-code looks like this cansend.c as an example :
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <linux/can.h>
#include <linux/can/raw.h>
#include "lib.h"
int main(int argc, char **argv)
{
int s; /* can raw socket */
int required_mtu;
int mtu;
int enable_canfd = 1;
struct sockaddr_can addr;
struct canfd_frame frame;
struct ifreq ifr;
/* check command line options */
if (argc != 3) {
fprintf(stderr, "Usage: %s <device> <can_frame>.\n", argv[0]);
return 1;
}
/* parse CAN frame */
required_mtu = parse_canframe(argv[2], &frame);
if (!required_mtu){
fprintf(stderr, "\nWrong CAN-frame format! Try:\n\n");
fprintf(stderr, " <can_id>#{R|data} for CAN 2.0 frames\n");
fprintf(stderr, " <can_id>##<flags>{data} for CAN FD frames\n\n");
fprintf(stderr, "<can_id> can have 3 (SFF) or 8 (EFF) hex chars\n");
fprintf(stderr, "{data} has 0..8 (0..64 CAN FD) ASCII hex-values (optionally");
fprintf(stderr, " seperated by '.')\n");
fprintf(stderr, "<flags> a single ASCII Hex value (0 .. F) which defines");
fprintf(stderr, " canfd_frame.flags\n\n");
fprintf(stderr, "e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / 5AA# / ");
fprintf(stderr, "123##1 / 213##311\n 1F334455#1122334455667788 / 123#R ");
fprintf(stderr, "for remote transmission request.\n\n");
return 1;
}
/* open socket */
if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
perror("socket");
return 1;
}
addr.can_family = AF_CAN;
strcpy(ifr.ifr_name, argv[1]);
if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
perror("SIOCGIFINDEX");
return 1;
}
addr.can_ifindex = ifr.ifr_ifindex;
if (required_mtu > CAN_MTU) {
/* check if the frame fits into the CAN netdevice */
if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
perror("SIOCGIFMTU");
return 1;
}
mtu = ifr.ifr_mtu;
if (mtu != CANFD_MTU) {
printf("CAN interface ist not CAN FD capable - sorry.\n");
return 1;
}
/* interface is ok - try to switch the socket into CAN FD mode */
if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
&enable_canfd, sizeof(enable_canfd))){
printf("error when enabling CAN FD support\n");
return 1;
}
/* ensure discrete CAN FD length values 0..8, 12, 16, 20, 24, 32, 64 */
frame.len = can_dlc2len(can_len2dlc(frame.len));
}
/* disable default receive filter on this RAW socket */
/* This is obsolete as we do not read from the socket at all, but for */
/* this reason we can remove the receive list in the Kernel to save a */
/* little (really a very little!) CPU usage. */
setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
return 1;
}
/* send frame */
if (write(s, &frame, required_mtu) != required_mtu) {
perror("write");
return 1;
}
close(s);
return 0;
}
I want to be able to use this cansend method in my android-ndk-project.
Do I need to adjust the c-code and make a shared library out of the code or do i need to use the executable and call and include it in my project in a certain way to be able to use it?
Rename your main function or put another wrapper around it.
If you want your native function to be named as cansend(), your wrapper function should be something like this:
#ifdef __cplusplus
extern "C" {
#endif
JNIEXPORT
void
Java_com_aaa_bbb_ccc_cansend( JNIEnv* env, jobject thiz);
#ifdef __cplusplus
}
#endif
Here, com_aaa_bbb_ccc comes from your package name of your java code which contains public native void cansend();.
For example, if your package name is com.example.test, your function name will be:
Java_com_example_test_cansend();
Related
As title, but the measurement result is unreasonable. Let me describe the current status.
I'm using syscall getuid as measurement target, I started by measureing the complete overhead with two clock_gettime bounded around, then measure the entry (what SYSCALL instruction does before executing the actual getuid code) and leaving overhead saparately (with eBPF program hook onto the entry and leaving point).
The result for the complete overhead is ~65ns, and regarding to the entry and leaving overhead, it's ~77ns and ~70ns respectively.
It's obvious that my measurement has some additional overhead except the typical overhead. However, it's weird that since clock_gettime is a vDSO syscall, it should barely have noticeable overhead. And BPF, which is a lightweight instrumental tool (JIT-ed and etc.) these day in Linux, shouldn't have noticeable overhead too.
Is there anyone have idea what additional overhead my measurement incurs?
Following is my measurement code:
userland (measuring the return-from-kernel overhead):
#define _GNU_SOURCE
#include <bpf.h>
#include <libbpf.h>
#include <stdlib.h>
#include <arpa/inet.h>
#include <net/if.h>
#include <string.h>
#include <asm/errno.h>
#include <linux/if_link.h>
#include <errno.h>
#include <sys/resource.h>
#include <unistd.h>
#include <asm/unistd.h>
#include <time.h>
#include <linux/perf_event.h>
#include <linux/hw_breakpoint.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <stdio.h>
#include <sys/ioctl.h>
#include <sched.h>
#define likely(x) __builtin_expect((x),1)
#define unlikely(x) __builtin_expect((x),0)
#define TEST_CNT 1000000
#define BPF_FILE_NAME "mkern.o"
#define BPF_MAP_NAME "msys"
static inline int sys_perf_event_open(struct perf_event_attr *attr, pid_t pid,
int cpu, int group_fd,
unsigned long flags)
{
attr->size = sizeof(*attr);
return syscall(__NR_perf_event_open, attr, pid, cpu, group_fd, flags);
}
static int attach_kprobe(int prog_fd)
{
int err, fd, id;
char buf[32];
struct perf_event_attr attr = {};
err = system("echo 'r:kp_sys_batch __x64_sys_getuid' > /sys/kernel/debug/tracing/kprobe_events");
if (err < 0) {
fprintf(stderr, "Failed to create kprobe, error '%s'\n", strerror(errno));
return -1;
}
fd = open("/sys/kernel/debug/tracing/events/kprobes/kp_sys_batch/id", O_RDONLY, 0);
if (fd < 0) {
fprintf(stderr, "Failed to open event %s\n", "sys_batch");
return -1;
}
err = read(fd, buf, sizeof(buf));
if (err < 0 || err >= sizeof(buf)) {
fprintf(stderr, "read from '%s' failed '%s'\n", "sys_batch", strerror(errno));
return -1;
}
close(fd);
buf[err] = 0;
id = atoi(buf);
attr.config = id;
attr.type = PERF_TYPE_TRACEPOINT;
attr.sample_type = PERF_SAMPLE_RAW;
attr.sample_period = 1;
attr.wakeup_events = 1;
fd = sys_perf_event_open(&attr, 0/*this process*/, -1/*any cpu*/, -1/*group leader*/, 0);
if (fd < 0) {
perror("sys_perf_event_open");
fprintf(stderr, "Failed to open perf_event (id: %llu)\n", attr.config);
return -1;
}
err = ioctl(fd, PERF_EVENT_IOC_ENABLE, 0);
if (err < 0) {
fprintf(stderr, "ioctl PERF_EVENT_IOC_ENABLE failed err %s\n",
strerror(errno));
return -1;
}
err = ioctl(fd, PERF_EVENT_IOC_SET_BPF, prog_fd);
if (err < 0) {
fprintf(stderr, "ioctl PERF_EVENT_IOC_SET_BPF failed: %s\n",
strerror(errno));
return -1;
}
return 0;
}
static void maxi_memlock_rlimit(void)
{
struct rlimit rlim_new = {
.rlim_cur = RLIM_INFINITY,
.rlim_max = RLIM_INFINITY,
};
if (setrlimit(RLIMIT_MEMLOCK, &rlim_new)) {
fprintf(stderr, "Failed to increase RLIMIT_MEMLOCK limit!\n");
exit(-1);
}
}
static int find_map_fd(struct bpf_object *bpf_obj, const char *mapname)
{
struct bpf_map *map;
int map_fd = -1;
map = bpf_object__find_map_by_name(bpf_obj, mapname);
if (!map) {
fprintf(stderr, "Failed finding map by name: %s\n", mapname);
exit(-1);
}
map_fd = bpf_map__fd(map);
return map_fd;
}
int main(int argc, char **argv)
{
int bpf_map_fd;
int bpf_prog_fd = -1;
int err;
int key = 0;
struct timespec tp;
struct bpf_object *bpf_obj;
struct reals map;
struct bpf_prog_load_attr xattr = {
.prog_type = BPF_PROG_TYPE_KPROBE,
.file = BPF_FILE_NAME,
};
maxi_memlock_rlimit();
err = bpf_prog_load_xattr(&xattr, &bpf_obj, &bpf_prog_fd);
if (err) {
fprintf(stderr, "Failed loading bpf object file\n");
exit(-1);
}
if (attach_kprobe(bpf_prog_fd)) {
fprintf(stderr, "Failed attaching kprobe\n");
exit(-1);
}
bpf_map_fd = find_map_fd(bpf_obj, BPF_MAP_NAME);
if (find_map_fd < 0) {
fprintf(stderr, "Failed finding map fd\n");
exit(-1);
}
/* warm up */
for (int i = 0; i < TEST_CNT; i++) {
syscall(__NR_getuid); /* dummy call */
clock_gettime(CLOCK_MONOTONIC, &tp);
if (unlikely(bpf_map_lookup_elem(bpf_map_fd, &key, &map))) {
fprintf(stderr, "Failed to lookup map element\n");
perror("lookup");
exit(-1);
}
}
uint64_t delta = 0;
for (int i = 0; i < TEST_CNT; i++) {
syscall(__NR_getuid); /* dummy call */
clock_gettime(CLOCK_MONOTONIC, &tp);
if (unlikely(bpf_map_lookup_elem(bpf_map_fd, &key, &map))) {
fprintf(stderr, "Failed to lookup map element\n");
perror("lookup");
exit(-1);
}
delta += (1000000000 * tp.tv_sec + tp.tv_nsec) - map.ts;
}
printf("avg: %fns\n", (double) delta / TEST_CNT);
return 0;
}
user land (measuring the enter-kernel overhead, almost same as the above, except what I pointed out):
err = system("echo 'p:kp_sys_batch sys_batch' > /sys/kernel/debug/tracing/kprobe_events");
...
clock_gettime(CLOCK_MONOTONIC, &tp);
syscall(__NR_getuid); /* dummy call */
...
delta += map.ts - (1000000000 * tp.tv_sec + tp.tv_nsec);
kernel land:
SEC("getuid")
int kp_sys_batch(struct pt_regs *ctx)
{
__u32 i = 0;
struct reals *r;
r = bpf_map_lookup_elem(&reals, &i);
if (!r)
return 1;
r->ts = bpf_ktime_get_ns();
return 0;
}
Except the additional overhead I mentioned above, inside the return-from-kernel measurement code, if the echo 'r:kp_sys_batch sys_batch' is changed to echo 'p:kp_sys_batch sys_batch' (which means that the measurement would take the syscall execution overhead into account), the result would be ~48ns, this means that the result includes overhead of syscall execution and return-from-kernel. Any idea why this could be only ~48ns?
Thanks!
I am using USB to RS-232 serial adapters and cannot set the line properties to use custom baud rates on linux (fedora 26 or fedora 32) using:
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include <errno.h>
#include <unistd.h>
#include <fcntl.h>
#include <termio.h>
#include <linux/serial.h>
#include <err.h>
#include "portutils.h"
static int rate_to_constant(int baudrate) {
#define B(x) case x: return B##x
switch(baudrate) {
B(50); B(75); B(110); B(134); B(150);
B(200); B(300); B(600); B(1200); B(1800);
B(2400); B(4800); B(9600); B(19200); B(38400);
B(57600); B(115200); B(230400); B(460800); B(500000);
B(576000); B(921600); B(1000000);B(1152000);B(1500000);
default: return 0;
}
#undef B
}
int main(int argc, char** argv) {
struct termios options;
struct serial_struct serinfo;
int fd;
int speed = 0;
int baudrate = 625000;
char * port_name;
// Check arguments for correct usage
if (argc != 3){
printf("\n Usage: %s port baudrate!\n\n", argv[0]);
return -1;
}
print_bar();
baudrate = atoi(argv[2]);
port_name = argv[1];
/* Open and configure serial port */
if ((fd = open(port_name, O_RDWR|O_NOCTTY)) == -1)
{
printf("\n Could not open port %s\n", port_name);
goto HELL;
}
printf(" Trying to set baud rate to %d\n On port %s\n", baudrate, port_name);
// if you've entered a standard baud the function below will return it
speed = rate_to_constant(baudrate);
if (speed == 0) {
/* Custom divisor */
serinfo.reserved_char[0] = 0;
if (ioctl(fd, TIOCGSERIAL, &serinfo) < 0) {
printf("\n ioctl: Failed to get #1\n serial line information of %s\n", port_name);
goto HELL;
}
serinfo.flags &= ~ASYNC_SPD_MASK;
serinfo.flags |= ASYNC_SPD_CUST;
serinfo.custom_divisor = (serinfo.baud_base + (baudrate / 2)) / baudrate;
if (serinfo.custom_divisor < 1) {
serinfo.custom_divisor = 1;
}
printf(" Baud_base: %d\n", serinfo.baud_base);
printf(" Devisor: %d\n", serinfo.custom_divisor);
printf(" Resulting baudrate: %f\n", serinfo.baud_base/(1.0*serinfo.custom_divisor));
if (ioctl(fd, TIOCSSERIAL, &serinfo) < 0) {
printf("\n ioctl: Failed to set\n serial line information of %s\n", port_name);
goto HELL;
}
if (ioctl(fd, TIOCGSERIAL, &serinfo) < 0) {
printf("\n ioctl: Failed to get #2\n serial line information of %s\n", port_name);
goto HELL;
}
if (serinfo.custom_divisor * baudrate != serinfo.baud_base) {
warnx("actual baudrate is %d / %d = %f",
serinfo.baud_base, serinfo.custom_divisor,
(float)serinfo.baud_base / serinfo.custom_divisor);
}
}
fcntl(fd, F_SETFL, 0);
tcgetattr(fd, &options);
cfsetispeed(&options, speed ?: B38400);
cfsetospeed(&options, speed ?: B38400);
cfmakeraw(&options);
options.c_cflag |= (CLOCAL | CREAD);
options.c_cflag &= ~CRTSCTS;
if (tcsetattr(fd, TCSANOW, &options) != 0)
{
printf("\n Failed to set final attributes of %s\n\n", port_name);
goto HELL;
}
close(fd);
printf(" Success on port %s\n", port_name);
print_bar();
return 0;
HELL:
print_bar();
return -1;
}
I am working with an adapter using an ASIX chip set and one using an FTDI chip set, the FTDI based device has no problems but the other simply returns -1 from ioctl when i try to set it up with the first TIOCSSERIAL command. So is there a way to detect if the TIOCSSERIAL command not is supported by the used driver?
PS! I am using the label HELL: as a common return point on error of my test program ;-)
USB-to-serial adapters do not support nor need those setserial ioctls.
If you want to set a custom speed on a USB-to-serial adapter, you should use the new TCSETS2, TCSETSW2 and TCSETSF2 ioctls, which take a struct termios2 where you should set the BOTHER flag in .c_cflag and use the .c_ispeed and .c_ospeed fields directly. Look at /usr/include/asm-generic/termbits.h.
No divisor setting or other such thing is necessary.
The last time I did that I had to use some #define kludges in order to be able to include those headers (they conflict with the termios headers from glibc).
Example wrappers (from some old sources, UNTESTED):
#include <sys/ioctl.h>
#define termios termios_HIDE
#define termio termio_HIDE
#define winsize winsize_HIDE
#include <asm/termios.h>
#undef termios
#undef termio
#undef winsize
#define termios termios2
#define tcsetattr tcsetattr2
#define tcgetattr tcgetattr2
int tcsetattr2(int fd, int act, struct termios *ts){
return act == TCSANOW ? ioctl(fd, TCSETS2, ts) :
act == TCSADRAIN ? ioctl(fd, TCSETSW2, ts) :
ioctl(fd, TCSETSF2, ts);
}
int tcgetattr2(int fd, struct termios *ts){
return ioctl(fd, TCGETS2, ts);
}
int cfsetspeed(struct termios *ts, speed_t s){
ts->c_cflag |= BOTHER;
ts->c_ispeed = ts->c_ospeed = s;
return 0;
}
My platform:
Ubuntu 17.10 32-bit (Vbox VM)
Qt Creator 3.5.1 (opensource)
Qt 5.5.1 (GCC 4.9.1 20140922 (Red Hat 4.9.1-10), 32 bit
I am trying to invoke a multithreaded program (with arguments) using QProcess.start().
My program runs fine on terminal, i.e. periodically prints on stdout.
Using a TextEdit to log the stdout/stderr of the program I have connected QProcess readyReadStandardOutput/Error signals.
The stdout/stderr that comes from the main thread of the program is correctly shown on the TextEdit, the rest of the output (the one from all the other threads) is not shown.
EDIT
On the main thread an HTTP server is listening.
If a HTTP request is performed by browser at the url "127.0.0.1:32001" (port 32001 is hard coded in the QT code), when the HTTP request is received the program appends the HTTP packet and all the pending output from the other thread (moduleThread) to the TextEdit, so it could be a problem of flushing.
main.c
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <string.h>
#include <errno.h>
#include <unistd.h>
#include <pthread.h>
#include <semaphore.h>
#include <sys/time.h>
#include <sys/signal.h>
#include <sys/stat.h>
#include <sys/types.h>
#include "http_server.h"
static pthread_t moduleThr;
static pthread_attr_t moduleThread_attr;
static bool one_second_elapsed;
static sem_t oneSecondSem;
void *moduleThread(void *arg0)
{
bool one_second_elapsed_local;
while (1)
{
sem_wait(&oneSecondSem);
one_second_elapsed_local = one_second_elapsed;
one_second_elapsed = false;
sem_post(&oneSecondSem);
if (one_second_elapsed_local)
fprintf(stdout, "Hello world each second!\r\n");
usleep(50000);
}
}
static void oneSecElapsed(int signum)
{
sem_wait(&oneSecondSem);
one_second_elapsed = true;
sem_post(&oneSecondSem);
}
static void TIMER_1sec_init(void)
{
struct sigaction sa;
struct itimerval timer;
/* Install timer_handler as the signal handler for SIGALRM. */
memset (&sa, 0, sizeof (sa));
sa.sa_handler = &oneSecElapsed;
sigaction (SIGALRM, &sa, NULL);
/* Configure the timer to expire after 1 sec... */
timer.it_value.tv_sec = 1;
timer.it_value.tv_usec = 0;
/* ... and every 1 sec after that... */
timer.it_interval.tv_sec = 1;
timer.it_interval.tv_usec = 0;
/* Start a virtual timer. It counts down whenever this process is
executing. */
setitimer (ITIMER_REAL, &timer, NULL);
}
/*
* ======== main ========
*/
int main(int argc, char *argv[])
{
const char *tcpport;
if (argc > 2)
{
fprintf(stdout, "id = %s\r\n", argv[1]);
fprintf(stdout, "tcpport = %s\r\n", argv[2]);
tcpport = argv[2];
}
else
exit(-1);
sem_init(&oneSecondSem, 0, 1);
one_second_elapsed = false;
/* Create thread quadro manager */
pthread_attr_init(&moduleThread_attr);
pthread_attr_setstacksize(&moduleThread_attr, 2048);
pthread_create(&moduleThr, &moduleThread_attr, moduleThread, NULL);
TIMER_1sec_init();
HTTPSERVER_init(tcpport);
/* should never return */
return (0);
}
http_server.c
#include <stdio.h>
#include <stdlib.h>
#include <string.h> /* memset() */
#include <stdbool.h>
#include <signal.h>
#include <sys/socket.h>
#include <sys/signal.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <unistd.h>
#include <netdb.h>
#include "module.h"
typedef struct { char *name, *value; } header_t;
static header_t reqhdr[17] = { {"\0", "\0"} };
//#define PORT "32001" /* Port to listen on */
#define BACKLOG 10 /* Passed to listen() */
static char *buf;
static char *method; // "GET" or "POST"
static char *uri; // "/index.html" things before '?'
static char *qs; // "a=1&b=2" things after '?'
static char *prot; // "HTTP/1.1"
static char *payload; // for POST
static int payload_size;
// get request header
char *request_header(const char* name)
{
header_t *h = reqhdr;
while(h->name) {
if (strcmp(h->name, name) == 0) return h->value;
h++;
}
return NULL;
}
void handle(int newsock)
{
//static int count = 0;
/* recv(), send(), close() */
int rcvd;
buf = malloc(65535);
rcvd=recv(newsock, buf, 65535, 0);
if (rcvd<0) // receive error
fprintf(stderr,("recv() error\n"));
else if (rcvd==0) // receive socket closed
fprintf(stderr,"Client disconnected unexpectedly.\n");
else // message received
{
buf[rcvd] = '\0';
//fputs(buf, stdout);
//fprintf(stdout, "count = %d\n", count);
method = strtok(buf, " \t\r\n");
uri = strtok(NULL, " \t");
prot = strtok(NULL, " \t\r\n");
fprintf(stderr, "\x1b[32m + [%s] %s\x1b[0m\n", method, uri);
if ((qs = strchr(uri, '?')))
{
*qs++ = '\0'; //split URI
} else {
qs = uri - 1; //use an empty string
}
header_t *h = reqhdr;
char *t = (char *)reqhdr;
char *t2;
while(h < reqhdr+16) {
char *k,*v;
k = strtok(NULL, "\r\n: \t");
if (!k)
break;
v = strtok(NULL, "\r\n");
while(*v && *v==' ')
v++;
h->name = k;
h->value = v;
h++;
fprintf(stderr, "[H] %s: %s\n", k, v);
t = v + 1 + strlen(v);
if (t[1] == '\r' && t[2] == '\n')
break;
}
t+=2;
t++; // now the *t shall be the beginning of user payload
t2 = request_header("content-length"); // and the related header if there is
payload = t;
payload_size = t2 ? atol(t2) : (rcvd-(t-buf));
fprintf(stdout, "-- payload len = %d >", payload_size);
fputs(payload, stdout);
fprintf(stdout, "<\r\n");
if (strcmp(method, "GET") == 0)
{
fprintf(stdout, "\nit's a GET!\r\n");
}
else if (strcmp(method, "POST") == 0)
{
fprintf(stdout, "\nit's a POST!\r\n");
}
sprintf(buf, "HTTP/1.1 200 OK\r\n\r\n");
send(newsock, buf, strlen(buf), 0);
close(newsock);
free(buf);
}
}
int HTTPSERVER_init(const char *tcpport)
{
int sock;
struct addrinfo hints, *res;
int reuseaddr = 1; /* True */
sigset_t sigset, oldset;
sigfillset(&sigset);
pthread_sigmask(SIG_BLOCK, &sigset, &oldset);
/* Get the address info */
memset(&hints, 0, sizeof hints);
hints.ai_family = AF_INET;
hints.ai_socktype = SOCK_STREAM;
if (getaddrinfo(NULL, tcpport, &hints, &res) != 0) {
perror("getaddrinfo");
return 1;
}
/* Create the socket */
sock = socket(res->ai_family, res->ai_socktype, res->ai_protocol);
if (sock == -1) {
perror("socket");
return 1;
}
/* Enable the socket to reuse the address */
if (setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, &reuseaddr, sizeof(int)) == -1) {
perror("setsockopt");
return 1;
}
/* Bind to the address */
if (bind(sock, res->ai_addr, res->ai_addrlen) == -1) {
perror("bind");
return 1;
}
/* Listen */
if (listen(sock, BACKLOG) == -1) {
perror("listen");
return 1;
}
freeaddrinfo(res);
/* Main loop */
while (1) {
printf("waiting on accept\n");
fflush(stdout);
socklen_t size = sizeof(struct sockaddr_in);
struct sockaddr_in their_addr;
int newsock = accept(sock, (struct sockaddr*)&their_addr, &size);
if (newsock == -1) {
perror("accept");
}
else {
printf("Got a connection from %s on port %d\n",
inet_ntoa(their_addr.sin_addr), htons(their_addr.sin_port));
handle(newsock);
}
}
close(sock);
return 0;
}
As pointed out by #eyllanesc, the pending strings "Hello world each second!\r\n" come out eventually after several seconds.
The moduleThread shoud be a thread and not a different process: this is verified by commadn "ps aux" that shows only "../program/testApp test 32001".
Could any of you kindly give me a hint on what is going on here please?
Thanks for your time,
Francesco
I need to perform RT to NRT communication on a Xenomai machine.
I'm actually able to compile and run the example proposed here
But if try to replace the pthreads with std::thread, as follows:
#include <sys/mman.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <signal.h>
#include <string.h>
#include <malloc.h>
#include <pthread.h>
#include <fcntl.h>
#include <errno.h>
#include <rtdk.h>
#include <rtdm/rtipc.h>
#include <iostream>
#include <thread>
#define XDDP_PORT_LABEL "xddp-demo"
static const char *msg[] = {
"Surfing With The Alien",
"Lords of Karma",
"Banana Mango",
"Psycho Monkey",
"Luminous Flesh Giants",
"Moroccan Sunset",
"Satch Boogie",
"Flying In A Blue Dream",
"Ride",
"Summer Song",
"Speed Of Light",
"Crystal Planet",
"Raspberry Jam Delta-V",
"Champagne?",
"Clouds Race Across The Sky",
"Engines Of Creation"
};
static void fail(const char *reason) {
perror(reason);
exit(EXIT_FAILURE);
}
void realtime_thread1() {
struct rtipc_port_label plabel;
struct sockaddr_ipc saddr;
char buf[128];
int ret, s;
/*
* Get a datagram socket to bind to the RT endpoint. Each
* endpoint is represented by a port number within the XDDP
* protocol namespace.
*/
s = socket(AF_RTIPC, SOCK_DGRAM, IPCPROTO_XDDP);
if (s < 0) {
perror("socket");
exit(EXIT_FAILURE);
}
/*
* Set a port label. This name will be registered when
* binding, in addition to the port number (if given).
*/
strcpy(plabel.label, XDDP_PORT_LABEL);
ret = setsockopt(s, SOL_XDDP, XDDP_LABEL,
&plabel, sizeof(plabel));
if (ret)
fail("setsockopt");
/*
* Bind the socket to the port, to setup a proxy to channel
* traffic to/from the Linux domain. Assign that port a label,
* so that peers may use a descriptive information to locate
* it. For instance, the pseudo-device matching our RT
* endpoint will appear as
* /proc/xenomai/registry/rtipc/xddp/<XDDP_PORT_LABEL> in the
* Linux domain, once the socket is bound.
*
* saddr.sipc_port specifies the port number to use. If -1 is
* passed, the XDDP driver will auto-select an idle port.
*/
memset(&saddr, 0, sizeof(saddr));
saddr.sipc_family = AF_RTIPC;
saddr.sipc_port = -1;
ret = bind(s, (struct sockaddr *)&saddr, sizeof(saddr));
if (ret)
fail("bind");
for (;;) {
/* Get packets relayed by the regular thread */
ret = recvfrom(s, buf, sizeof(buf), 0, NULL, 0);
if (ret <= 0)
fail("recvfrom");
rt_printf("%s: \"%.*s\" relayed by peer\n", __FUNCTION__, ret, buf);
}
}
void realtime_thread2() {
struct rtipc_port_label plabel;
struct sockaddr_ipc saddr;
int ret, s, n = 0, len;
struct timespec ts;
struct timeval tv;
socklen_t addrlen;
s = socket(AF_RTIPC, SOCK_DGRAM, IPCPROTO_XDDP);
if (s < 0) {
perror("socket");
exit(EXIT_FAILURE);
}
/*
* Set the socket timeout; it will apply when attempting to
* connect to a labeled port, and to recvfrom() calls. The
* following setup tells the XDDP driver to wait for at most
* one second until a socket is bound to a port using the same
* label, or return with a timeout error.
*/
tv.tv_sec = 1;
tv.tv_usec = 0;
ret = setsockopt(s, SOL_SOCKET, SO_RCVTIMEO,
&tv, sizeof(tv));
if (ret)
fail("setsockopt");
/*
* Set a port label. This name will be used to find the peer
* when connecting, instead of the port number.
*/
strcpy(plabel.label, XDDP_PORT_LABEL);
ret = setsockopt(s, SOL_XDDP, XDDP_LABEL,
&plabel, sizeof(plabel));
if (ret)
fail("setsockopt");
memset(&saddr, 0, sizeof(saddr));
saddr.sipc_family = AF_RTIPC;
saddr.sipc_port = -1; /* Tell XDDP to search by label. */
ret = connect(s, (struct sockaddr *)&saddr, sizeof(saddr));
if (ret)
fail("connect");
/*
* We succeeded in making the port our default destination
* address by using its label, but we don't know its actual
* port number yet. Use getpeername() to retrieve it.
*/
addrlen = sizeof(saddr);
ret = getpeername(s, (struct sockaddr *)&saddr, &addrlen);
if (ret || addrlen != sizeof(saddr))
fail("getpeername");
rt_printf("%s: NRT peer is reading from /dev/rtp%d\n",
__FUNCTION__, saddr.sipc_port);
for (;;) {
len = strlen(msg[n]);
/*
* Send a datagram to the NRT endpoint via the proxy.
* We may pass a NULL destination address, since the
* socket was successfully assigned the proper default
* address via connect(2).
*/
ret = sendto(s, msg[n], len, 0, NULL, 0);
if (ret != len)
fail("sendto");
rt_printf("%s: sent %d bytes, \"%.*s\"\n",
__FUNCTION__, ret, ret, msg[n]);
n = (n + 1) % (sizeof(msg) / sizeof(msg[0]));
/*
* We run in full real-time mode (i.e. primary mode),
* so we have to let the system breathe between two
* iterations.
*/
ts.tv_sec = 0;
ts.tv_nsec = 500000000; /* 500 ms */
clock_nanosleep(CLOCK_REALTIME, 0, &ts, NULL);
}
}
void regular_thread() {
char buf[128], *devname;
int fd, ret;
if (asprintf(&devname,
"/proc/xenomai/registry/rtipc/xddp/%s",
XDDP_PORT_LABEL) < 0)
fail("asprintf");
fd = open(devname, O_RDWR);
std::cout << "File descriptor regular thread: " << fd << std::endl;
free(devname);
if (fd < 0)
fail("open");
for (;;) {
/* Get the next message from realtime_thread2. */
ret = read(fd, buf, sizeof(buf));
if (ret <= 0)
fail("read");
/* Relay the message to realtime_thread1. */
ret = write(fd, buf, ret);
if (ret <= 0)
fail("write");
}
}
int main(int argc, char **argv) {
std::thread rt1(realtime_thread1);
std::thread rt2(realtime_thread2);
std::thread regth(regular_thread);
rt1.join();
rt2.join();
regth.join();
return 0;
}
I get a failure at the open function, which returns -1.
The reason why I want to use std::thread is that I need to implement the code in C++, and pthread does not understand member function. And I don't want to use global variables.
Also, I need to run the same code on a RT and NRT (without xenomai libraries) machine and I've already prepared the code for that (with conveniently placed #ifdef.
I've figured it out.
I need to wrap my binary with the posix skin of Xenomai.
In CMAKE:
set(xeno_cflags_params "--skin=posix" "--cflags")
execute_process(
COMMAND xeno-config ${xeno_cflags_params}
OUTPUT_VARIABLE xeno_cflags
OUTPUT_STRIP_TRAILING_WHITESPACE)
set(xeno_ldflags_params "--skin=posix" "--ldflags")
execute_process(
COMMAND xeno-config ${xeno_ldflags_params}
OUTPUT_VARIABLE xeno_ldflags
OUTPUT_STRIP_TRAILING_WHITESPACE)
# Compiler and linker options
set(CMAKE_C_FLAGS "${CMAKE_CXX_FLAGS} ${xeno_cflags}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${xeno_cflags}")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${xeno_ldflags}")
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} ${xeno_ldflags}")
I am writing a program on a Linux system using Lazarus IDE. The program is supposed to connect to the Internet or Intranet. So, I want to display to the user list of all the available network connections that they can use to connect to the Internet or Intranet like wifi, if there are two active network cards on the system, then this program should display their available connections.
At the moment, I don't know where to start or what tool(s) to use.
Any hints, clues or advice will be greatly appreciated.
You can use ifconfig to list all available network interfaces and their status.
Edit: For doing it programmatically you have to use function ioctl with SIOCGIFCONF.
#include <sys/types.h>
#include <sys/socket.h>
#include <net/if.h>
#include <stdio.h>
#include <stdlib.h>
#include <sys/ioctl.h>
#include <errno.h>
#include <string.h>
#include <arpa/inet.h>
int main()
{
int sockfd, len, lastlen;
char *ptr, *buf;
struct ifconf ifc;
struct ifreq *ifr;
char ifname[IFNAMSIZ + 1];
char str[INET6_ADDRSTRLEN];
sockfd = socket(AF_INET, SOCK_DGRAM, 0);
lastlen = 0;
len = 100 * sizeof(struct ifreq); /* initial buffer size guess */
for ( ; ; )
{
buf = malloc(len);
ifc.ifc_len = len;
ifc.ifc_buf = buf;
if (ioctl(sockfd, SIOCGIFCONF, &ifc) < 0)
{
if (errno != EINVAL || lastlen != 0)
exit(-1);
}
else
{
if (ifc.ifc_len == lastlen)
break; /* success, len has not changed */
lastlen = ifc.ifc_len;
}
len += 10 * sizeof(struct ifreq); /* increment */
free(buf);
}
printf("LEN: %d\n", ifc.ifc_len);
for (ptr = buf; ptr < buf + ifc.ifc_len; )
{
ifr = (struct ifreq *) ptr;
ptr += sizeof(struct ifreq); /* for next one in buffer */
memcpy(ifname, ifr->ifr_name, IFNAMSIZ);
printf("Interface name: %s\n", ifname);
const char *res;
switch (ifr->ifr_addr.sa_family)
{
case AF_INET6:
res = inet_ntop(ifr->ifr_addr.sa_family, &(((struct sockaddr_in6 *)&ifr->ifr_addr)->sin6_addr), str, INET6_ADDRSTRLEN);
break;
case AF_INET:
res = inet_ntop(ifr->ifr_addr.sa_family, &(((struct sockaddr_in *)&ifr->ifr_addr)->sin_addr), str, INET_ADDRSTRLEN);
break;
default:
printf("OTHER\n");
str[0] = 0;
res = 0;
}
if (res != 0)
{
printf("IP Address: %s\n", str);
}
else
{
printf("ERROR\n");
}
}
return 0;
}
ioctl SIOCGIFCONF will return, if success, a struct ifconf which has a pointer to an array of struct ifreq.
These structs are defined in net/if.h
Using this code, from ifc.ifc_req you can get all interfaces, please look at the declaration of struct ifreq in order to determine the length and type of each array element. I think from here you can continue alone, if not please let me know.
The following code does work on my Linux system. It outputs all the available connection point through which you can connect to the Internet or intranet. I modified the code to print out its name and ip address.
#include <ifaddrs.h>
#include <stdio.h>
#include <stdlib.h>
#include <arpa/inet.h>
// you may need to include other headers
int main()
{
struct ifaddrs* interfaces = NULL;
struct ifaddrs* temp_addr = NULL;
int success;
char *name;
char *address;
// retrieve the current interfaces - returns 0 on success
success = getifaddrs(&interfaces);
if (success == 0)
{
// Loop through linked list of interfaces
temp_addr = interfaces;
while (temp_addr != NULL)
{
if (temp_addr->ifa_addr->sa_family == AF_INET) // internetwork only
{
name = temp_addr->ifa_name;
address = inet_ntoa(((struct sockaddr_in *)temp_addr->ifa_addr)->sin_addr);
printf("%s %s\n",name,address);
}
temp_addr = temp_addr->ifa_next;
}
}
// Free memory
freeifaddrs(interfaces);
}