drivers/staging/epl/EplSdoUdpu.c - kernel/windcharger - Git at Google

 /****************************************************************************

   (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
       www.systec-electronic.com

   Project:      openPOWERLINK

   Description:  source file for SDO/UDP-Protocolabstractionlayer module

   License:

     Redistribution and use in source and binary forms, with or without
     modification, are permitted provided that the following conditions
     are met:

     1. Redistributions of source code must retain the above copyright
        notice, this list of conditions and the following disclaimer.

     2. Redistributions in binary form must reproduce the above copyright
        notice, this list of conditions and the following disclaimer in the
        documentation and/or other materials provided with the distribution.

     3. Neither the name of SYSTEC electronic GmbH nor the names of its
        contributors may be used to endorse or promote products derived
        from this software without prior written permission. For written
        permission, please contact info@systec-electronic.com.

     THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
     "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
     LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
     FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
     COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
     INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
     BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
     LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
     CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
     LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
     ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
     POSSIBILITY OF SUCH DAMAGE.

     Severability Clause:

         If a provision of this License is or becomes illegal, invalid or
         unenforceable in any jurisdiction, that shall not affect:
         1. the validity or enforceability in that jurisdiction of any other
            provision of this License; or
         2. the validity or enforceability in other jurisdictions of that or
            any other provision of this License.

   -------------------------------------------------------------------------

                 $RCSfile: EplSdoUdpu.c,v $

                 $Author: D.Krueger $

                 $Revision: 1.8 $  $Date: 2008/10/17 15:32:32 $

                 $State: Exp $

                 Build Environment:
                     GCC V3.4

   -------------------------------------------------------------------------

   Revision History:

   2006/06/26 k.t.:   start of the implementation

 ****************************************************************************/

 #include "user/EplSdoUdpu.h"

 #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)

 #include "SocketLinuxKernel.h"
 #include <linux/completion.h>
 #include <linux/sched.h>

 /***************************************************************************/
 /*                                                                         */
 /*                                                                         */
 /*          G L O B A L   D E F I N I T I O N S                            */
 /*                                                                         */
 /*                                                                         */
 /***************************************************************************/

 //---------------------------------------------------------------------------
 // const defines
 //---------------------------------------------------------------------------

 #ifndef EPL_SDO_MAX_CONNECTION_UDP
 #define EPL_SDO_MAX_CONNECTION_UDP  5
 #endif

 //---------------------------------------------------------------------------
 // local types
 //---------------------------------------------------------------------------

 typedef struct {
 	unsigned long m_ulIpAddr;	// in network byte order
 	unsigned int m_uiPort;	// in network byte order

 } tEplSdoUdpCon;

 // instance table
 typedef struct {
 	tEplSdoUdpCon m_aSdoAbsUdpConnection[EPL_SDO_MAX_CONNECTION_UDP];
 	tEplSequLayerReceiveCb m_fpSdoAsySeqCb;
 	SOCKET m_UdpSocket;

 	struct completion m_CompletionUdpThread;
 	int m_ThreadHandle;
 	int m_iTerminateThread;
 } tEplSdoUdpInstance;

 //---------------------------------------------------------------------------
 // modul globale vars
 //---------------------------------------------------------------------------

 static tEplSdoUdpInstance SdoUdpInstance_g;

 //---------------------------------------------------------------------------
 // local function prototypes
 //---------------------------------------------------------------------------

 static int EplSdoUdpThread(void *pArg_p);

 /***************************************************************************/
 /*                                                                         */
 /*                                                                         */
 /*          C L A S S  <EPL-SDO-UDP-Layer>                                 */
 /*                                                                         */
 /*                                                                         */
 /***************************************************************************/
 //
 // Description: Protocolabstraction layer for UDP
 //
 //
 /***************************************************************************/

 //=========================================================================//
 //                                                                         //
 //          P U B L I C   F U N C T I O N S                                //
 //                                                                         //
 //=========================================================================//

 //---------------------------------------------------------------------------
 //
 // Function:    EplSdoUdpuInit
 //
 // Description: init first instance of the module
 //
 //
 //
 // Parameters:  pReceiveCb_p    =   functionpointer to Sdo-Sequence layer
 //                                  callback-function
 //
 //
 // Returns:     tEplKernel  = Errorcode
 //
 //
 // State:
 //
 //---------------------------------------------------------------------------
 tEplKernel EplSdoUdpuInit(tEplSequLayerReceiveCb fpReceiveCb_p)
 {
 	tEplKernel Ret;

 	Ret = EplSdoUdpuAddInstance(fpReceiveCb_p);

 	return Ret;
 }

 //---------------------------------------------------------------------------
 //
 // Function:    EplSdoUdpuAddInstance
 //
 // Description: init additional instance of the module
 //              înit socket and start Listen-Thread
 //
 //
 //
 // Parameters:  pReceiveCb_p    =   functionpointer to Sdo-Sequence layer
 //                                  callback-function
 //
 //
 // Returns:     tEplKernel  = Errorcode
 //
 //
 // State:
 //
 //---------------------------------------------------------------------------
 tEplKernel EplSdoUdpuAddInstance(tEplSequLayerReceiveCb fpReceiveCb_p)
 {
 	tEplKernel Ret;

 	// set instance variables to 0
 	EPL_MEMSET(&SdoUdpInstance_g, 0x00, sizeof(SdoUdpInstance_g));

 	Ret = kEplSuccessful;

 	// save pointer to callback-function
 	if (fpReceiveCb_p != NULL) {
 		SdoUdpInstance_g.m_fpSdoAsySeqCb = fpReceiveCb_p;
 	} else {
 		Ret = kEplSdoUdpMissCb;
 		goto Exit;
 	}

 	init_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
 	SdoUdpInstance_g.m_iTerminateThread = 0;
 	SdoUdpInstance_g.m_ThreadHandle = 0;
 	SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;

 	Ret = EplSdoUdpuConfig(INADDR_ANY, 0);

       Exit:
 	return Ret;
 }

 //---------------------------------------------------------------------------
 //
 // Function:    EplSdoUdpuDelInstance
 //
 // Description: del instance of the module
 //              del socket and del Listen-Thread
 //
 //
 //
 // Parameters:
 //
 //
 // Returns:     tEplKernel  = Errorcode
 //
 //
 // State:
 //
 //---------------------------------------------------------------------------
 tEplKernel EplSdoUdpuDelInstance(void)
 {
 	tEplKernel Ret;

 	Ret = kEplSuccessful;

 	if (SdoUdpInstance_g.m_ThreadHandle != 0) {	// listen thread was started
 		// close thread
 		SdoUdpInstance_g.m_iTerminateThread = 1;
 		/* kill_proc(SdoUdpInstance_g.m_ThreadHandle, SIGTERM, 1 ); */
 		send_sig(SIGTERM, SdoUdpInstance_g.m_ThreadHandle, 1);
 		wait_for_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
 		SdoUdpInstance_g.m_ThreadHandle = 0;
 	}

 	if (SdoUdpInstance_g.m_UdpSocket != INVALID_SOCKET) {
 		// close socket
 		closesocket(SdoUdpInstance_g.m_UdpSocket);
 		SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
 	}
 	return Ret;
 }

 //---------------------------------------------------------------------------
 //
 // Function:    EplSdoUdpuConfig
 //
 // Description: reconfigurate socket with new IP-Address
 //              -> needed for NMT ResetConfiguration
 //
 // Parameters:  ulIpAddr_p      = IpAddress in platform byte order
 //              uiPort_p        = port number in platform byte order
 //
 //
 // Returns:     tEplKernel  = Errorcode
 //
 //
 // State:
 //
 //---------------------------------------------------------------------------
 tEplKernel EplSdoUdpuConfig(unsigned long ulIpAddr_p, unsigned int uiPort_p)
 {
 	tEplKernel Ret;
 	struct sockaddr_in Addr;
 	int iError;

 	Ret = kEplSuccessful;

 	if (uiPort_p == 0) {	// set UDP port to default port number
 		uiPort_p = EPL_C_SDO_EPL_PORT;
 	} else if (uiPort_p > 65535) {
 		Ret = kEplSdoUdpSocketError;
 		goto Exit;
 	}

 	if (SdoUdpInstance_g.m_ThreadHandle != 0) {	// listen thread was started

 		// close old thread
 		SdoUdpInstance_g.m_iTerminateThread = 1;
 		/* kill_proc(SdoUdpInstance_g.m_ThreadHandle, SIGTERM, 1 ); */
 		send_sig(SIGTERM, SdoUdpInstance_g.m_ThreadHandle, 1);
 		wait_for_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
 		SdoUdpInstance_g.m_iTerminateThread = 0;
 		SdoUdpInstance_g.m_ThreadHandle = 0;
 	}

 	if (SdoUdpInstance_g.m_UdpSocket != INVALID_SOCKET) {
 		// close socket
 		iError = closesocket(SdoUdpInstance_g.m_UdpSocket);
 		SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
 		if (iError != 0) {
 			Ret = kEplSdoUdpSocketError;
 			goto Exit;
 		}
 	}
 	// create Socket
 	SdoUdpInstance_g.m_UdpSocket = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP);
 	if (SdoUdpInstance_g.m_UdpSocket == INVALID_SOCKET) {
 		Ret = kEplSdoUdpNoSocket;
 		EPL_DBGLVL_SDO_TRACE0("EplSdoUdpuConfig: socket() failed\n");
 		goto Exit;
 	}
 	// bind socket
 	Addr.sin_family = AF_INET;
 	Addr.sin_port = htons((unsigned short)uiPort_p);
 	Addr.sin_addr.s_addr = htonl(ulIpAddr_p);
 	iError =
 	    bind(SdoUdpInstance_g.m_UdpSocket, (struct sockaddr *)&Addr,
 		 sizeof(Addr));
 	if (iError < 0) {
 		//iError = WSAGetLastError();
 		EPL_DBGLVL_SDO_TRACE1
 		    ("EplSdoUdpuConfig: bind() finished with %i\n", iError);
 		Ret = kEplSdoUdpNoSocket;
 		goto Exit;
 	}
 	// create Listen-Thread
 	SdoUdpInstance_g.m_ThreadHandle =
 		kernel_thread(EplSdoUdpThread, &SdoUdpInstance_g,
 				CLONE_FS | CLONE_FILES);
 	if (SdoUdpInstance_g.m_ThreadHandle == 0) {
 		Ret = kEplSdoUdpThreadError;
 		goto Exit;
 	}

       Exit:
 	return Ret;

 }

 //---------------------------------------------------------------------------
 //
 // Function:    EplSdoUdpuInitCon
 //
 // Description: init a new connect
 //
 //
 //
 // Parameters:  pSdoConHandle_p = pointer for the new connection handle
 //              uiTargetNodeId_p = NodeId of the target node
 //
 //
 // Returns:     tEplKernel  = Errorcode
 //
 //
 // State:
 //
 //---------------------------------------------------------------------------
 tEplKernel EplSdoUdpuInitCon(tEplSdoConHdl *pSdoConHandle_p,
 			     unsigned int uiTargetNodeId_p)
 {
 	tEplKernel Ret;
 	unsigned int uiCount;
 	unsigned int uiFreeCon;
 	tEplSdoUdpCon *pSdoUdpCon;

 	Ret = kEplSuccessful;

 	// get free entry in control structure
 	uiCount = 0;
 	uiFreeCon = EPL_SDO_MAX_CONNECTION_UDP;
 	pSdoUdpCon = &SdoUdpInstance_g.m_aSdoAbsUdpConnection[0];
 	while (uiCount < EPL_SDO_MAX_CONNECTION_UDP) {
 		if ((pSdoUdpCon->m_ulIpAddr & htonl(0xFF)) == htonl(uiTargetNodeId_p)) {	// existing connection to target node found
 			// set handle
 			*pSdoConHandle_p = (uiCount | EPL_SDO_UDP_HANDLE);

 			goto Exit;
 		} else if ((pSdoUdpCon->m_ulIpAddr == 0)
 			   && (pSdoUdpCon->m_uiPort == 0)) {
 			uiFreeCon = uiCount;
 		}
 		uiCount++;
 		pSdoUdpCon++;
 	}

 	if (uiFreeCon == EPL_SDO_MAX_CONNECTION_UDP) {
 		// error no free handle
 		Ret = kEplSdoUdpNoFreeHandle;
 	} else {
 		pSdoUdpCon =
 		    &SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiFreeCon];
 		// save infos for connection
 		pSdoUdpCon->m_uiPort = htons(EPL_C_SDO_EPL_PORT);
 		pSdoUdpCon->m_ulIpAddr = htonl(0xC0A86400 | uiTargetNodeId_p);	// 192.168.100.uiTargetNodeId_p

 		// set handle
 		*pSdoConHandle_p = (uiFreeCon | EPL_SDO_UDP_HANDLE);

 	}

       Exit:
 	return Ret;

 }

 //---------------------------------------------------------------------------
 //
 // Function:    EplSdoUdpuSendData
 //
 // Description: send data using exisiting connection
 //
 //
 //
 // Parameters:  SdoConHandle_p  = connection handle
 //              pSrcData_p      = pointer to data
 //              dwDataSize_p    = number of databyte
 //                                  -> without asend-header!!!
 //
 // Returns:     tEplKernel  = Errorcode
 //
 //
 // State:
 //
 //---------------------------------------------------------------------------
 tEplKernel EplSdoUdpuSendData(tEplSdoConHdl SdoConHandle_p,
 			      tEplFrame *pSrcData_p, u32 dwDataSize_p)
 {
 	tEplKernel Ret;
 	int iError;
 	unsigned int uiArray;
 	struct sockaddr_in Addr;

 	Ret = kEplSuccessful;

 	uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
 	if (uiArray >= EPL_SDO_MAX_CONNECTION_UDP) {
 		Ret = kEplSdoUdpInvalidHdl;
 		goto Exit;
 	}
 	//set message type
 	AmiSetByteToLe(&pSrcData_p->m_le_bMessageType, 0x06);	// SDO
 	// target node id (for Udp = 0)
 	AmiSetByteToLe(&pSrcData_p->m_le_bDstNodeId, 0x00);
 	// set source-nodeid (for Udp = 0)
 	AmiSetByteToLe(&pSrcData_p->m_le_bSrcNodeId, 0x00);

 	// calc size
 	dwDataSize_p += EPL_ASND_HEADER_SIZE;

 	// call sendto
 	Addr.sin_family = AF_INET;
 	Addr.sin_port =
 	    (unsigned short)SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].
 	    m_uiPort;
 	Addr.sin_addr.s_addr =
 	    SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_ulIpAddr;

 	iError = sendto(SdoUdpInstance_g.m_UdpSocket,	// sockethandle
 			(const char *)&pSrcData_p->m_le_bMessageType,	// data to send
 			dwDataSize_p,	// number of bytes to send
 			0,	// flags
 			(struct sockaddr *)&Addr,	// target
 			sizeof(struct sockaddr_in));	// sizeof targetadress
 	if (iError < 0) {
 		EPL_DBGLVL_SDO_TRACE1
 		    ("EplSdoUdpuSendData: sendto() finished with %i\n", iError);
 		Ret = kEplSdoUdpSendError;
 		goto Exit;
 	}

       Exit:
 	return Ret;

 }

 //---------------------------------------------------------------------------
 //
 // Function:    EplSdoUdpuDelCon
 //
 // Description: delete connection from intern structure
 //
 //
 //
 // Parameters:  SdoConHandle_p  = connection handle
 //
 // Returns:     tEplKernel  = Errorcode
 //
 //
 // State:
 //
 //---------------------------------------------------------------------------
 tEplKernel EplSdoUdpuDelCon(tEplSdoConHdl SdoConHandle_p)
 {
 	tEplKernel Ret;
 	unsigned int uiArray;

 	uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);

 	if (uiArray >= EPL_SDO_MAX_CONNECTION_UDP) {
 		Ret = kEplSdoUdpInvalidHdl;
 		goto Exit;
 	} else {
 		Ret = kEplSuccessful;
 	}

 	// delete connection
 	SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_ulIpAddr = 0;
 	SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_uiPort = 0;

       Exit:
 	return Ret;
 }

 //=========================================================================//
 //                                                                         //
 //          P R I V A T E   F U N C T I O N S                              //
 //                                                                         //
 //=========================================================================//

 //---------------------------------------------------------------------------
 //
 // Function:        EplSdoUdpThread
 //
 // Description:     thread check socket for new data
 //
 //
 //
 // Parameters:      lpParameter = pointer to parameter type tEplSdoUdpThreadPara
 //
 //
 // Returns:         u32   =   errorcode
 //
 //
 // State:
 //
 //---------------------------------------------------------------------------
 static int EplSdoUdpThread(void *pArg_p)
 {

 	tEplSdoUdpInstance *pInstance;
 	struct sockaddr_in RemoteAddr;
 	int iError;
 	int iCount;
 	int iFreeEntry;
 	u8 abBuffer[EPL_MAX_SDO_REC_FRAME_SIZE];
 	unsigned int uiSize;
 	tEplSdoConHdl SdoConHdl;

 	pInstance = (tEplSdoUdpInstance *) pArg_p;
 	daemonize("EplSdoUdpThread");
 	allow_signal(SIGTERM);

 	for (; pInstance->m_iTerminateThread == 0;)

 	{
 		// wait for data
 		uiSize = sizeof(struct sockaddr);
 		iError = recvfrom(pInstance->m_UdpSocket,	// Socket
 				  (char *)&abBuffer[0],	// buffer for data
 				  sizeof(abBuffer),	// size of the buffer
 				  0,	// flags
 				  (struct sockaddr *)&RemoteAddr,
 				  (int *)&uiSize);
 		if (iError == -ERESTARTSYS) {
 			break;
 		}
 		if (iError > 0) {
 			// get handle for higher layer
 			iCount = 0;
 			iFreeEntry = 0xFFFF;
 			while (iCount < EPL_SDO_MAX_CONNECTION_UDP) {
 				// check if this connection is already known
 				if ((pInstance->m_aSdoAbsUdpConnection[iCount].
 				     m_ulIpAddr == RemoteAddr.sin_addr.s_addr)
 				    && (pInstance->
 					m_aSdoAbsUdpConnection[iCount].
 					m_uiPort == RemoteAddr.sin_port)) {
 					break;
 				}

 				if ((pInstance->m_aSdoAbsUdpConnection[iCount].
 				     m_ulIpAddr == 0)
 				    && (pInstance->
 					m_aSdoAbsUdpConnection[iCount].
 					m_uiPort == 0)
 				    && (iFreeEntry == 0xFFFF))
 				{
 					iFreeEntry = iCount;
 				}

 				iCount++;
 			}

 			if (iCount == EPL_SDO_MAX_CONNECTION_UDP) {
 				// connection unknown
 				// see if there is a free handle
 				if (iFreeEntry != 0xFFFF) {
 					// save adress infos
 					pInstance->
 					    m_aSdoAbsUdpConnection[iFreeEntry].
 					    m_ulIpAddr =
 					    RemoteAddr.sin_addr.s_addr;
 					pInstance->
 					    m_aSdoAbsUdpConnection[iFreeEntry].
 					    m_uiPort = RemoteAddr.sin_port;
 					// call callback
 					SdoConHdl = iFreeEntry;
 					SdoConHdl |= EPL_SDO_UDP_HANDLE;
 					// offset 4 -> start of SDO Sequence header
 					pInstance->m_fpSdoAsySeqCb(SdoConHdl,
 								   (tEplAsySdoSeq
 								    *) &
 								   abBuffer[4],
 								   (iError -
 								    4));
 				} else {
 					EPL_DBGLVL_SDO_TRACE0
 					    ("Error in EplSdoUdpThread() no free handle\n");
 				}

 			} else {
 				// known connection
 				// call callback with correct handle
 				SdoConHdl = iCount;
 				SdoConHdl |= EPL_SDO_UDP_HANDLE;
 				// offset 4 -> start of SDO Sequence header
 				pInstance->m_fpSdoAsySeqCb(SdoConHdl,
 							   (tEplAsySdoSeq *) &
 							   abBuffer[4],
 							   (iError - 4));
 			}
 		}		// end of  if(iError!=SOCKET_ERROR)
 	}			// end of for(;;)

 	complete_and_exit(&SdoUdpInstance_g.m_CompletionUdpThread, 0);
 	return 0;
 }

 #endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)

 // EOF
	/****************************************************************************

	(c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
	www.systec-electronic.com

	Project: openPOWERLINK

	Description: source file for SDO/UDP-Protocolabstractionlayer module

	License:

	Redistribution and use in source and binary forms, with or without
	modification, are permitted provided that the following conditions
	are met:

	1. Redistributions of source code must retain the above copyright
	notice, this list of conditions and the following disclaimer.

	2. Redistributions in binary form must reproduce the above copyright
	notice, this list of conditions and the following disclaimer in the
	documentation and/or other materials provided with the distribution.

	3. Neither the name of SYSTEC electronic GmbH nor the names of its
	contributors may be used to endorse or promote products derived
	from this software without prior written permission. For written
	permission, please contact info@systec-electronic.com.

	THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
	"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
	LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
	FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
	COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
	INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
	BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
	LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
	CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
	LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
	ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
	POSSIBILITY OF SUCH DAMAGE.

	Severability Clause:

	If a provision of this License is or becomes illegal, invalid or
	unenforceable in any jurisdiction, that shall not affect:
	1. the validity or enforceability in that jurisdiction of any other
	provision of this License; or
	2. the validity or enforceability in other jurisdictions of that or
	any other provision of this License.

	-------------------------------------------------------------------------

	$RCSfile: EplSdoUdpu.c,v $

	$Author: D.Krueger $

	$Revision: 1.8 $ $Date: 2008/10/17 15:32:32 $

	$State: Exp $

	Build Environment:
	GCC V3.4

	-------------------------------------------------------------------------

	Revision History:

	2006/06/26 k.t.: start of the implementation

	****************************************************************************/

	#include "user/EplSdoUdpu.h"

	#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)

	#include "SocketLinuxKernel.h"
	#include <linux/completion.h>
	#include <linux/sched.h>

	/***************************************************************************/
	/* */
	/* */
	/* G L O B A L D E F I N I T I O N S */
	/* */
	/* */
	/***************************************************************************/

	//---------------------------------------------------------------------------
	// const defines
	//---------------------------------------------------------------------------

	#ifndef EPL_SDO_MAX_CONNECTION_UDP
	#define EPL_SDO_MAX_CONNECTION_UDP 5
	#endif

	//---------------------------------------------------------------------------
	// local types
	//---------------------------------------------------------------------------

	typedef struct {
	unsigned long m_ulIpAddr; // in network byte order
	unsigned int m_uiPort; // in network byte order

	} tEplSdoUdpCon;

	// instance table
	typedef struct {
	tEplSdoUdpCon m_aSdoAbsUdpConnection[EPL_SDO_MAX_CONNECTION_UDP];
	tEplSequLayerReceiveCb m_fpSdoAsySeqCb;
	SOCKET m_UdpSocket;

	struct completion m_CompletionUdpThread;
	int m_ThreadHandle;
	int m_iTerminateThread;
	} tEplSdoUdpInstance;

	//---------------------------------------------------------------------------
	// modul globale vars
	//---------------------------------------------------------------------------

	static tEplSdoUdpInstance SdoUdpInstance_g;

	//---------------------------------------------------------------------------
	// local function prototypes
	//---------------------------------------------------------------------------

	static int EplSdoUdpThread(void *pArg_p);

	/***************************************************************************/
	/* */
	/* */
	/* C L A S S <EPL-SDO-UDP-Layer> */
	/* */
	/* */
	/***************************************************************************/
	//
	// Description: Protocolabstraction layer for UDP
	//
	//
	/***************************************************************************/

	//=========================================================================//
	// //
	// P U B L I C F U N C T I O N S //
	// //
	//=========================================================================//

	//---------------------------------------------------------------------------
	//
	// Function: EplSdoUdpuInit
	//
	// Description: init first instance of the module
	//
	//
	//
	// Parameters: pReceiveCb_p = functionpointer to Sdo-Sequence layer
	// callback-function
	//
	//
	// Returns: tEplKernel = Errorcode
	//
	//
	// State:
	//
	//---------------------------------------------------------------------------
	tEplKernel EplSdoUdpuInit(tEplSequLayerReceiveCb fpReceiveCb_p)
	{
	tEplKernel Ret;

	Ret = EplSdoUdpuAddInstance(fpReceiveCb_p);

	return Ret;
	}

	//---------------------------------------------------------------------------
	//
	// Function: EplSdoUdpuAddInstance
	//
	// Description: init additional instance of the module
	// înit socket and start Listen-Thread
	//
	//
	//
	// Parameters: pReceiveCb_p = functionpointer to Sdo-Sequence layer
	// callback-function
	//
	//
	// Returns: tEplKernel = Errorcode
	//
	//
	// State:
	//
	//---------------------------------------------------------------------------
	tEplKernel EplSdoUdpuAddInstance(tEplSequLayerReceiveCb fpReceiveCb_p)
	{
	tEplKernel Ret;

	// set instance variables to 0
	EPL_MEMSET(&SdoUdpInstance_g, 0x00, sizeof(SdoUdpInstance_g));

	Ret = kEplSuccessful;

	// save pointer to callback-function
	if (fpReceiveCb_p != NULL) {
	SdoUdpInstance_g.m_fpSdoAsySeqCb = fpReceiveCb_p;
	} else {
	Ret = kEplSdoUdpMissCb;
	goto Exit;
	}

	init_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
	SdoUdpInstance_g.m_iTerminateThread = 0;
	SdoUdpInstance_g.m_ThreadHandle = 0;
	SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;

	Ret = EplSdoUdpuConfig(INADDR_ANY, 0);

	Exit:
	return Ret;
	}

	//---------------------------------------------------------------------------
	//
	// Function: EplSdoUdpuDelInstance
	//
	// Description: del instance of the module
	// del socket and del Listen-Thread
	//
	//
	//
	// Parameters:
	//
	//
	// Returns: tEplKernel = Errorcode
	//
	//
	// State:
	//
	//---------------------------------------------------------------------------
	tEplKernel EplSdoUdpuDelInstance(void)
	{
	tEplKernel Ret;

	Ret = kEplSuccessful;

	if (SdoUdpInstance_g.m_ThreadHandle != 0) { // listen thread was started
	// close thread
	SdoUdpInstance_g.m_iTerminateThread = 1;
	/* kill_proc(SdoUdpInstance_g.m_ThreadHandle, SIGTERM, 1 ); */
	send_sig(SIGTERM, SdoUdpInstance_g.m_ThreadHandle, 1);
	wait_for_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
	SdoUdpInstance_g.m_ThreadHandle = 0;
	}

	if (SdoUdpInstance_g.m_UdpSocket != INVALID_SOCKET) {
	// close socket
	closesocket(SdoUdpInstance_g.m_UdpSocket);
	SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
	}
	return Ret;
	}

	//---------------------------------------------------------------------------
	//
	// Function: EplSdoUdpuConfig
	//
	// Description: reconfigurate socket with new IP-Address
	// -> needed for NMT ResetConfiguration
	//
	// Parameters: ulIpAddr_p = IpAddress in platform byte order
	// uiPort_p = port number in platform byte order
	//
	//
	// Returns: tEplKernel = Errorcode
	//
	//
	// State:
	//
	//---------------------------------------------------------------------------
	tEplKernel EplSdoUdpuConfig(unsigned long ulIpAddr_p, unsigned int uiPort_p)
	{
	tEplKernel Ret;
	struct sockaddr_in Addr;
	int iError;

	Ret = kEplSuccessful;

	if (uiPort_p == 0) { // set UDP port to default port number
	uiPort_p = EPL_C_SDO_EPL_PORT;
	} else if (uiPort_p > 65535) {
	Ret = kEplSdoUdpSocketError;
	goto Exit;
	}

	if (SdoUdpInstance_g.m_ThreadHandle != 0) { // listen thread was started

	// close old thread
	SdoUdpInstance_g.m_iTerminateThread = 1;
	/* kill_proc(SdoUdpInstance_g.m_ThreadHandle, SIGTERM, 1 ); */
	send_sig(SIGTERM, SdoUdpInstance_g.m_ThreadHandle, 1);
	wait_for_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
	SdoUdpInstance_g.m_iTerminateThread = 0;
	SdoUdpInstance_g.m_ThreadHandle = 0;
	}

	if (SdoUdpInstance_g.m_UdpSocket != INVALID_SOCKET) {
	// close socket
	iError = closesocket(SdoUdpInstance_g.m_UdpSocket);
	SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
	if (iError != 0) {
	Ret = kEplSdoUdpSocketError;
	goto Exit;
	}
	}
	// create Socket
	SdoUdpInstance_g.m_UdpSocket = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP);
	if (SdoUdpInstance_g.m_UdpSocket == INVALID_SOCKET) {
	Ret = kEplSdoUdpNoSocket;
	EPL_DBGLVL_SDO_TRACE0("EplSdoUdpuConfig: socket() failed\n");
	goto Exit;
	}
	// bind socket
	Addr.sin_family = AF_INET;
	Addr.sin_port = htons((unsigned short)uiPort_p);
	Addr.sin_addr.s_addr = htonl(ulIpAddr_p);
	iError =
	bind(SdoUdpInstance_g.m_UdpSocket, (struct sockaddr *)&Addr,
	sizeof(Addr));
	if (iError < 0) {
	//iError = WSAGetLastError();
	EPL_DBGLVL_SDO_TRACE1
	("EplSdoUdpuConfig: bind() finished with %i\n", iError);
	Ret = kEplSdoUdpNoSocket;
	goto Exit;
	}
	// create Listen-Thread
	SdoUdpInstance_g.m_ThreadHandle =
	kernel_thread(EplSdoUdpThread, &SdoUdpInstance_g,
	CLONE_FS \| CLONE_FILES);
	if (SdoUdpInstance_g.m_ThreadHandle == 0) {
	Ret = kEplSdoUdpThreadError;
	goto Exit;
	}

	Exit:
	return Ret;

	}

	//---------------------------------------------------------------------------
	//
	// Function: EplSdoUdpuInitCon
	//
	// Description: init a new connect
	//
	//
	//
	// Parameters: pSdoConHandle_p = pointer for the new connection handle
	// uiTargetNodeId_p = NodeId of the target node
	//
	//
	// Returns: tEplKernel = Errorcode
	//
	//
	// State:
	//
	//---------------------------------------------------------------------------
	tEplKernel EplSdoUdpuInitCon(tEplSdoConHdl *pSdoConHandle_p,
	unsigned int uiTargetNodeId_p)
	{
	tEplKernel Ret;
	unsigned int uiCount;
	unsigned int uiFreeCon;
	tEplSdoUdpCon *pSdoUdpCon;

	Ret = kEplSuccessful;

	// get free entry in control structure
	uiCount = 0;
	uiFreeCon = EPL_SDO_MAX_CONNECTION_UDP;
	pSdoUdpCon = &SdoUdpInstance_g.m_aSdoAbsUdpConnection[0];
	while (uiCount < EPL_SDO_MAX_CONNECTION_UDP) {
	if ((pSdoUdpCon->m_ulIpAddr & htonl(0xFF)) == htonl(uiTargetNodeId_p)) { // existing connection to target node found
	// set handle
	*pSdoConHandle_p = (uiCount \| EPL_SDO_UDP_HANDLE);

	goto Exit;
	} else if ((pSdoUdpCon->m_ulIpAddr == 0)
	&& (pSdoUdpCon->m_uiPort == 0)) {
	uiFreeCon = uiCount;
	}
	uiCount++;
	pSdoUdpCon++;
	}

	if (uiFreeCon == EPL_SDO_MAX_CONNECTION_UDP) {
	// error no free handle
	Ret = kEplSdoUdpNoFreeHandle;
	} else {
	pSdoUdpCon =
	&SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiFreeCon];
	// save infos for connection
	pSdoUdpCon->m_uiPort = htons(EPL_C_SDO_EPL_PORT);
	pSdoUdpCon->m_ulIpAddr = htonl(0xC0A86400 \| uiTargetNodeId_p); // 192.168.100.uiTargetNodeId_p

	// set handle
	*pSdoConHandle_p = (uiFreeCon \| EPL_SDO_UDP_HANDLE);

	}

	Exit:
	return Ret;

	}

	//---------------------------------------------------------------------------
	//
	// Function: EplSdoUdpuSendData
	//
	// Description: send data using exisiting connection
	//
	//
	//
	// Parameters: SdoConHandle_p = connection handle
	// pSrcData_p = pointer to data
	// dwDataSize_p = number of databyte
	// -> without asend-header!!!
	//
	// Returns: tEplKernel = Errorcode
	//
	//
	// State:
	//
	//---------------------------------------------------------------------------
	tEplKernel EplSdoUdpuSendData(tEplSdoConHdl SdoConHandle_p,
	tEplFrame *pSrcData_p, u32 dwDataSize_p)
	{
	tEplKernel Ret;
	int iError;
	unsigned int uiArray;
	struct sockaddr_in Addr;

	Ret = kEplSuccessful;

	uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
	if (uiArray >= EPL_SDO_MAX_CONNECTION_UDP) {
	Ret = kEplSdoUdpInvalidHdl;
	goto Exit;
	}
	//set message type
	AmiSetByteToLe(&pSrcData_p->m_le_bMessageType, 0x06); // SDO
	// target node id (for Udp = 0)
	AmiSetByteToLe(&pSrcData_p->m_le_bDstNodeId, 0x00);
	// set source-nodeid (for Udp = 0)
	AmiSetByteToLe(&pSrcData_p->m_le_bSrcNodeId, 0x00);

	// calc size
	dwDataSize_p += EPL_ASND_HEADER_SIZE;

	// call sendto
	Addr.sin_family = AF_INET;
	Addr.sin_port =
	(unsigned short)SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].
	m_uiPort;
	Addr.sin_addr.s_addr =
	SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_ulIpAddr;

	iError = sendto(SdoUdpInstance_g.m_UdpSocket, // sockethandle
	(const char *)&pSrcData_p->m_le_bMessageType, // data to send
	dwDataSize_p, // number of bytes to send
	0, // flags
	(struct sockaddr *)&Addr, // target
	sizeof(struct sockaddr_in)); // sizeof targetadress
	if (iError < 0) {
	EPL_DBGLVL_SDO_TRACE1
	("EplSdoUdpuSendData: sendto() finished with %i\n", iError);
	Ret = kEplSdoUdpSendError;
	goto Exit;
	}

	Exit:
	return Ret;

	}

	//---------------------------------------------------------------------------
	//
	// Function: EplSdoUdpuDelCon
	//
	// Description: delete connection from intern structure
	//
	//
	//
	// Parameters: SdoConHandle_p = connection handle
	//
	// Returns: tEplKernel = Errorcode
	//
	//
	// State:
	//
	//---------------------------------------------------------------------------
	tEplKernel EplSdoUdpuDelCon(tEplSdoConHdl SdoConHandle_p)
	{
	tEplKernel Ret;
	unsigned int uiArray;

	uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);

	if (uiArray >= EPL_SDO_MAX_CONNECTION_UDP) {
	Ret = kEplSdoUdpInvalidHdl;
	goto Exit;
	} else {
	Ret = kEplSuccessful;
	}

	// delete connection
	SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_ulIpAddr = 0;
	SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_uiPort = 0;

	Exit:
	return Ret;
	}

	//=========================================================================//
	// //
	// P R I V A T E F U N C T I O N S //
	// //
	//=========================================================================//

	//---------------------------------------------------------------------------
	//
	// Function: EplSdoUdpThread
	//
	// Description: thread check socket for new data
	//
	//
	//
	// Parameters: lpParameter = pointer to parameter type tEplSdoUdpThreadPara
	//
	//
	// Returns: u32 = errorcode
	//
	//
	// State:
	//
	//---------------------------------------------------------------------------
	static int EplSdoUdpThread(void *pArg_p)
	{

	tEplSdoUdpInstance *pInstance;
	struct sockaddr_in RemoteAddr;
	int iError;
	int iCount;
	int iFreeEntry;
	u8 abBuffer[EPL_MAX_SDO_REC_FRAME_SIZE];
	unsigned int uiSize;
	tEplSdoConHdl SdoConHdl;

	pInstance = (tEplSdoUdpInstance *) pArg_p;
	daemonize("EplSdoUdpThread");
	allow_signal(SIGTERM);

	for (; pInstance->m_iTerminateThread == 0;)

	{
	// wait for data
	uiSize = sizeof(struct sockaddr);
	iError = recvfrom(pInstance->m_UdpSocket, // Socket
	(char *)&abBuffer[0], // buffer for data
	sizeof(abBuffer), // size of the buffer
	0, // flags
	(struct sockaddr *)&RemoteAddr,
	(int *)&uiSize);
	if (iError == -ERESTARTSYS) {
	break;
	}
	if (iError > 0) {
	// get handle for higher layer
	iCount = 0;
	iFreeEntry = 0xFFFF;
	while (iCount < EPL_SDO_MAX_CONNECTION_UDP) {
	// check if this connection is already known
	if ((pInstance->m_aSdoAbsUdpConnection[iCount].
	m_ulIpAddr == RemoteAddr.sin_addr.s_addr)
	&& (pInstance->
	m_aSdoAbsUdpConnection[iCount].
	m_uiPort == RemoteAddr.sin_port)) {
	break;
	}

	if ((pInstance->m_aSdoAbsUdpConnection[iCount].
	m_ulIpAddr == 0)
	&& (pInstance->
	m_aSdoAbsUdpConnection[iCount].
	m_uiPort == 0)
	&& (iFreeEntry == 0xFFFF))
	{
	iFreeEntry = iCount;
	}

	iCount++;
	}

	if (iCount == EPL_SDO_MAX_CONNECTION_UDP) {
	// connection unknown
	// see if there is a free handle
	if (iFreeEntry != 0xFFFF) {
	// save adress infos
	pInstance->
	m_aSdoAbsUdpConnection[iFreeEntry].
	m_ulIpAddr =
	RemoteAddr.sin_addr.s_addr;
	pInstance->
	m_aSdoAbsUdpConnection[iFreeEntry].
	m_uiPort = RemoteAddr.sin_port;
	// call callback
	SdoConHdl = iFreeEntry;
	SdoConHdl \|= EPL_SDO_UDP_HANDLE;
	// offset 4 -> start of SDO Sequence header
	pInstance->m_fpSdoAsySeqCb(SdoConHdl,
	(tEplAsySdoSeq
	*) &
	abBuffer[4],
	(iError -
	4));
	} else {
	EPL_DBGLVL_SDO_TRACE0
	("Error in EplSdoUdpThread() no free handle\n");
	}

	} else {
	// known connection
	// call callback with correct handle
	SdoConHdl = iCount;
	SdoConHdl \|= EPL_SDO_UDP_HANDLE;
	// offset 4 -> start of SDO Sequence header
	pInstance->m_fpSdoAsySeqCb(SdoConHdl,
	(tEplAsySdoSeq *) &
	abBuffer[4],
	(iError - 4));
	}
	} // end of if(iError!=SOCKET_ERROR)
	} // end of for(;;)

	complete_and_exit(&SdoUdpInstance_g.m_CompletionUdpThread, 0);
	return 0;
	}

	#endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)

	// EOF