mbx_ovrwr_send.c

rtai-3.1-test3的源代码(Real-Time Application Interface )

/*
  COPYRIGHT (C) 2003  Roberto Bucher ([e-mail])

  This library is free software; you can redistribute it and/or
  modify it under the terms of the GNU Lesser General Public
  License as published by the Free Software Foundation; either
  version 2 of the License, or (at your option) any later version.

  This library is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  Lesser General Public License for more details.

  You should have received a copy of the GNU Lesser General Public
  License along with this library; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/

#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <unistd.h>
#include <netinet/in.h>
#include <arpa/inet.h>

#include <rtai_netrpc.h>
#include <rtai_msg.h>
#include <rtai_mbx.h>

#include "devstruct.h"
#include "rtmain.h"

extern devStr outDevStr[];

void out_mbx_ovrwr_send_init(int port,int nch,char * sName,char * sParam,double p1,
                  double p2, double p3, double p4, double p5)
{
  long Target_Node;
  long Target_Port=0;
  MBX * mbx;
  struct sockaddr_in addr;

    int id=port-1;
    outDevStr[id].nch=nch;
    strcpy(outDevStr[id].sName,sName);
    strcpy(outDevStr[id].sParam,sParam);
    strcpy(outDevStr[id].IOName,"mbx_ovrwr_send out");

    if(!strcmp(sName,"0")) {
      Target_Node = 0;
      Target_Port = 0;
    }
    else {
      inet_aton(sName, &addr.sin_addr);
      Target_Node = addr.sin_addr.s_addr;
      while ((Target_Port = rt_request_port_id(Target_Node,nam2num(sParam))) <= 0 && Target_Port != -EINVAL);
    }

    mbx = (MBX *) RT_typed_named_mbx_init(Target_Node,Target_Port,sParam,nch*sizeof(double),FIFO_Q);

    if(mbx == NULL) {
      fprintf(stderr, "Error in getting %s mailbox address\n", sParam);
      exit_on_error();
    }

    outDevStr[port-1].ptr1 = (void *) mbx;
    outDevStr[id].l1 = Target_Node;
    outDevStr[id].l2 = Target_Port;
}

void out_mbx_ovrwr_send_output(int port, double * u,double t)
{ 
    int id=port-1;
    MBX *mbx = (MBX *) outDevStr[port-1].ptr1;
    int ntraces = outDevStr[port-1].nch;
    struct{
      double u[ntraces];
    } data;
    int i;

    for(i=0;i<ntraces;i++){
      data.u[i] = u[i];
    }
    RT_mbx_ovrwr_send(outDevStr[id].l1, outDevStr[id].l2,mbx,&data,sizeof(data));
}

void out_mbx_ovrwr_send_end(int port)
{
  int id=port-1;
  MBX *mbx;

  mbx = (MBX *) outDevStr[id].ptr1;

  RT_named_mbx_delete(outDevStr[id].l1, outDevStr[id].l2,mbx);
  printf("%s closed\n",outDevStr[id].IOName);
  if(outDevStr[id].l1){
    rt_release_port(outDevStr[id].l1, outDevStr[id].l2);
  }
}