git.oblomov.eu Git - linux-2.6/blob - drivers/staging/epl/EplSdoUdpu.c

   1 /****************************************************************************
   2
   3   (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
   4       www.systec-electronic.com
   5
   6   Project:      openPOWERLINK
   7
   8   Description:  source file for SDO/UDP-Protocolabstractionlayer module
   9
  10   License:
  11
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  17        notice, this list of conditions and the following disclaimer.
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  20        notice, this list of conditions and the following disclaimer in the
  21        documentation and/or other materials provided with the distribution.
  22
  23     3. Neither the name of SYSTEC electronic GmbH nor the names of its
  24        contributors may be used to endorse or promote products derived
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  28     THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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  38     ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  39     POSSIBILITY OF SUCH DAMAGE.
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  41     Severability Clause:
  42
  43         If a provision of this License is or becomes illegal, invalid or
  44         unenforceable in any jurisdiction, that shall not affect:
  45         1. the validity or enforceability in that jurisdiction of any other
  46            provision of this License; or
  47         2. the validity or enforceability in other jurisdictions of that or
  48            any other provision of this License.
  49
  50   -------------------------------------------------------------------------
  51
  52                 $RCSfile: EplSdoUdpu.c,v $
  53
  54                 $Author: D.Krueger $
  55
  56                 $Revision: 1.8 $  $Date: 2008/10/17 15:32:32 $
  57
  58                 $State: Exp $
  59
  60                 Build Environment:
  61                     GCC V3.4
  62
  63   -------------------------------------------------------------------------
  64
  65   Revision History:
  66
  67   2006/06/26 k.t.:   start of the implementation
  68
  69 ****************************************************************************/
  70
  71 #include "user/EplSdoUdpu.h"
  72
  73 #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)
  74
  75 #if (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
  76 #include "SocketLinuxKernel.h"
  77 #include <linux/completion.h>
  78 #include <linux/sched.h>
  79 #endif
  80
  81 /***************************************************************************/
  82 /*                                                                         */
  83 /*                                                                         */
  84 /*          G L O B A L   D E F I N I T I O N S                            */
  85 /*                                                                         */
  86 /*                                                                         */
  87 /***************************************************************************/
  88
  89 //---------------------------------------------------------------------------
  90 // const defines
  91 //---------------------------------------------------------------------------
  92
  93 #ifndef EPL_SDO_MAX_CONNECTION_UDP
  94 #define EPL_SDO_MAX_CONNECTION_UDP  5
  95 #endif
  96
  97 //---------------------------------------------------------------------------
  98 // local types
  99 //---------------------------------------------------------------------------
 100
 101 typedef struct {
 102         unsigned long m_ulIpAddr;       // in network byte order
 103         unsigned int m_uiPort;  // in network byte order
 104
 105 } tEplSdoUdpCon;
 106
 107 // instance table
 108 typedef struct {
 109         tEplSdoUdpCon m_aSdoAbsUdpConnection[EPL_SDO_MAX_CONNECTION_UDP];
 110         tEplSequLayerReceiveCb m_fpSdoAsySeqCb;
 111         SOCKET m_UdpSocket;
 112
 113 #if (TARGET_SYSTEM == _WIN32_)
 114         HANDLE m_ThreadHandle;
 115         LPCRITICAL_SECTION m_pCriticalSection;
 116         CRITICAL_SECTION m_CriticalSection;
 117
 118 #elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
 119         struct completion m_CompletionUdpThread;
 120         int m_ThreadHandle;
 121         int m_iTerminateThread;
 122 #endif
 123
 124 } tEplSdoUdpInstance;
 125
 126 //---------------------------------------------------------------------------
 127 // modul globale vars
 128 //---------------------------------------------------------------------------
 129
 130 static tEplSdoUdpInstance SdoUdpInstance_g;
 131
 132 //---------------------------------------------------------------------------
 133 // local function prototypes
 134 //---------------------------------------------------------------------------
 135
 136 #if (TARGET_SYSTEM == _WIN32_)
 137 static DWORD PUBLIC EplSdoUdpThread(LPVOID lpParameter);
 138
 139 #elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
 140 static int EplSdoUdpThread(void *pArg_p);
 141 #endif
 142
 143 /***************************************************************************/
 144 /*                                                                         */
 145 /*                                                                         */
 146 /*          C L A S S  <EPL-SDO-UDP-Layer>                                 */
 147 /*                                                                         */
 148 /*                                                                         */
 149 /***************************************************************************/
 150 //
 151 // Description: Protocolabstraction layer for UDP
 152 //
 153 //
 154 /***************************************************************************/
 155
 156 //=========================================================================//
 157 //                                                                         //
 158 //          P U B L I C   F U N C T I O N S                                //
 159 //                                                                         //
 160 //=========================================================================//
 161
 162 //---------------------------------------------------------------------------
 163 //
 164 // Function:    EplSdoUdpuInit
 165 //
 166 // Description: init first instance of the module
 167 //
 168 //
 169 //
 170 // Parameters:  pReceiveCb_p    =   functionpointer to Sdo-Sequence layer
 171 //                                  callback-function
 172 //
 173 //
 174 // Returns:     tEplKernel  = Errorcode
 175 //
 176 //
 177 // State:
 178 //
 179 //---------------------------------------------------------------------------
 180 tEplKernel PUBLIC EplSdoUdpuInit(tEplSequLayerReceiveCb fpReceiveCb_p)
 181 {
 182         tEplKernel Ret;
 183
 184         Ret = EplSdoUdpuAddInstance(fpReceiveCb_p);
 185
 186         return Ret;
 187 }
 188
 189 //---------------------------------------------------------------------------
 190 //
 191 // Function:    EplSdoUdpuAddInstance
 192 //
 193 // Description: init additional instance of the module
 194 //              înit socket and start Listen-Thread
 195 //
 196 //
 197 //
 198 // Parameters:  pReceiveCb_p    =   functionpointer to Sdo-Sequence layer
 199 //                                  callback-function
 200 //
 201 //
 202 // Returns:     tEplKernel  = Errorcode
 203 //
 204 //
 205 // State:
 206 //
 207 //---------------------------------------------------------------------------
 208 tEplKernel PUBLIC EplSdoUdpuAddInstance(tEplSequLayerReceiveCb fpReceiveCb_p)
 209 {
 210         tEplKernel Ret;
 211
 212 #if (TARGET_SYSTEM == _WIN32_)
 213         int iError;
 214         WSADATA Wsa;
 215
 216 #endif
 217
 218         // set instance variables to 0
 219         EPL_MEMSET(&SdoUdpInstance_g, 0x00, sizeof(SdoUdpInstance_g));
 220
 221         Ret = kEplSuccessful;
 222
 223         // save pointer to callback-function
 224         if (fpReceiveCb_p != NULL) {
 225                 SdoUdpInstance_g.m_fpSdoAsySeqCb = fpReceiveCb_p;
 226         } else {
 227                 Ret = kEplSdoUdpMissCb;
 228                 goto Exit;
 229         }
 230
 231 #if (TARGET_SYSTEM == _WIN32_)
 232         // start winsock2 for win32
 233         // windows specific start of socket
 234         iError = WSAStartup(MAKEWORD(2, 0), &Wsa);
 235         if (iError != 0) {
 236                 Ret = kEplSdoUdpNoSocket;
 237                 goto Exit;
 238         }
 239         // create critical section for acccess of instnace variables
 240         SdoUdpInstance_g.m_pCriticalSection =
 241             &SdoUdpInstance_g.m_CriticalSection;
 242         InitializeCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
 243
 244 #elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
 245         init_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
 246         SdoUdpInstance_g.m_iTerminateThread = 0;
 247 #endif
 248
 249         SdoUdpInstance_g.m_ThreadHandle = 0;
 250         SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
 251
 252         Ret = EplSdoUdpuConfig(INADDR_ANY, 0);
 253
 254       Exit:
 255         return Ret;
 256 }
 257
 258 //---------------------------------------------------------------------------
 259 //
 260 // Function:    EplSdoUdpuDelInstance
 261 //
 262 // Description: del instance of the module
 263 //              del socket and del Listen-Thread
 264 //
 265 //
 266 //
 267 // Parameters:
 268 //
 269 //
 270 // Returns:     tEplKernel  = Errorcode
 271 //
 272 //
 273 // State:
 274 //
 275 //---------------------------------------------------------------------------
 276 tEplKernel PUBLIC EplSdoUdpuDelInstance()
 277 {
 278         tEplKernel Ret;
 279
 280 #if (TARGET_SYSTEM == _WIN32_)
 281         BOOL fTermError;
 282 #endif
 283
 284         Ret = kEplSuccessful;
 285
 286         if (SdoUdpInstance_g.m_ThreadHandle != 0) {     // listen thread was started
 287                 // close thread
 288 #if (TARGET_SYSTEM == _WIN32_)
 289                 fTermError =
 290                     TerminateThread(SdoUdpInstance_g.m_ThreadHandle, 0);
 291                 if (fTermError == FALSE) {
 292                         Ret = kEplSdoUdpThreadError;
 293                         goto Exit;
 294                 }
 295 #elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
 296                 SdoUdpInstance_g.m_iTerminateThread = 1;
 297                 /* kill_proc(SdoUdpInstance_g.m_ThreadHandle, SIGTERM, 1 ); */
 298                 send_sig(SIGTERM, SdoUdpInstance_g.m_ThreadHandle, 1);
 299                 wait_for_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
 300 #endif
 301
 302                 SdoUdpInstance_g.m_ThreadHandle = 0;
 303         }
 304
 305         if (SdoUdpInstance_g.m_UdpSocket != INVALID_SOCKET) {
 306                 // close socket
 307                 closesocket(SdoUdpInstance_g.m_UdpSocket);
 308                 SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
 309         }
 310 #if (TARGET_SYSTEM == _WIN32_)
 311         // delete critical section
 312         DeleteCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
 313 #endif
 314
 315 #if (TARGET_SYSTEM == _WIN32_)
 316         // for win 32
 317         WSACleanup();
 318 #endif
 319
 320 #if (TARGET_SYSTEM == _WIN32_)
 321       Exit:
 322 #endif
 323         return Ret;
 324 }
 325
 326 //---------------------------------------------------------------------------
 327 //
 328 // Function:    EplSdoUdpuConfig
 329 //
 330 // Description: reconfigurate socket with new IP-Address
 331 //              -> needed for NMT ResetConfiguration
 332 //
 333 // Parameters:  ulIpAddr_p      = IpAddress in platform byte order
 334 //              uiPort_p        = port number in platform byte order
 335 //
 336 //
 337 // Returns:     tEplKernel  = Errorcode
 338 //
 339 //
 340 // State:
 341 //
 342 //---------------------------------------------------------------------------
 343 tEplKernel PUBLIC EplSdoUdpuConfig(unsigned long ulIpAddr_p,
 344                                    unsigned int uiPort_p)
 345 {
 346         tEplKernel Ret;
 347         struct sockaddr_in Addr;
 348         int iError;
 349
 350 #if (TARGET_SYSTEM == _WIN32_)
 351         BOOL fTermError;
 352         unsigned long ulThreadId;
 353 #endif
 354
 355         Ret = kEplSuccessful;
 356
 357         if (uiPort_p == 0) {    // set UDP port to default port number
 358                 uiPort_p = EPL_C_SDO_EPL_PORT;
 359         } else if (uiPort_p > 65535) {
 360                 Ret = kEplSdoUdpSocketError;
 361                 goto Exit;
 362         }
 363
 364         if (SdoUdpInstance_g.m_ThreadHandle != 0) {     // listen thread was started
 365
 366                 // close old thread
 367 #if (TARGET_SYSTEM == _WIN32_)
 368                 fTermError =
 369                     TerminateThread(SdoUdpInstance_g.m_ThreadHandle, 0);
 370                 if (fTermError == FALSE) {
 371                         Ret = kEplSdoUdpThreadError;
 372                         goto Exit;
 373                 }
 374 #elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
 375                 SdoUdpInstance_g.m_iTerminateThread = 1;
 376                 /* kill_proc(SdoUdpInstance_g.m_ThreadHandle, SIGTERM, 1 ); */
 377                 send_sig(SIGTERM, SdoUdpInstance_g.m_ThreadHandle, 1);
 378                 wait_for_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
 379                 SdoUdpInstance_g.m_iTerminateThread = 0;
 380 #endif
 381
 382                 SdoUdpInstance_g.m_ThreadHandle = 0;
 383         }
 384
 385         if (SdoUdpInstance_g.m_UdpSocket != INVALID_SOCKET) {
 386                 // close socket
 387                 iError = closesocket(SdoUdpInstance_g.m_UdpSocket);
 388                 SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
 389                 if (iError != 0) {
 390                         Ret = kEplSdoUdpSocketError;
 391                         goto Exit;
 392                 }
 393         }
 394         // create Socket
 395         SdoUdpInstance_g.m_UdpSocket = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP);
 396         if (SdoUdpInstance_g.m_UdpSocket == INVALID_SOCKET) {
 397                 Ret = kEplSdoUdpNoSocket;
 398                 EPL_DBGLVL_SDO_TRACE0("EplSdoUdpuConfig: socket() failed\n");
 399                 goto Exit;
 400         }
 401         // bind socket
 402         Addr.sin_family = AF_INET;
 403         Addr.sin_port = htons((unsigned short)uiPort_p);
 404         Addr.sin_addr.s_addr = htonl(ulIpAddr_p);
 405         iError =
 406             bind(SdoUdpInstance_g.m_UdpSocket, (struct sockaddr *)&Addr,
 407                  sizeof(Addr));
 408         if (iError < 0) {
 409                 //iError = WSAGetLastError();
 410                 EPL_DBGLVL_SDO_TRACE1
 411                     ("EplSdoUdpuConfig: bind() finished with %i\n", iError);
 412                 Ret = kEplSdoUdpNoSocket;
 413                 goto Exit;
 414         }
 415         // create Listen-Thread
 416 #if (TARGET_SYSTEM == _WIN32_)
 417         // for win32
 418
 419         // create thread
 420         SdoUdpInstance_g.m_ThreadHandle = CreateThread(NULL,
 421                                                        0,
 422                                                        EplSdoUdpThread,
 423                                                        &SdoUdpInstance_g,
 424                                                        0, &ulThreadId);
 425         if (SdoUdpInstance_g.m_ThreadHandle == NULL) {
 426                 Ret = kEplSdoUdpThreadError;
 427                 goto Exit;
 428         }
 429 #elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
 430
 431         SdoUdpInstance_g.m_ThreadHandle =
 432             kernel_thread(EplSdoUdpThread, &SdoUdpInstance_g, CLONE_KERNEL);
 433         if (SdoUdpInstance_g.m_ThreadHandle == 0) {
 434                 Ret = kEplSdoUdpThreadError;
 435                 goto Exit;
 436         }
 437 #endif
 438
 439       Exit:
 440         return Ret;
 441
 442 }
 443
 444 //---------------------------------------------------------------------------
 445 //
 446 // Function:    EplSdoUdpuInitCon
 447 //
 448 // Description: init a new connect
 449 //
 450 //
 451 //
 452 // Parameters:  pSdoConHandle_p = pointer for the new connection handle
 453 //              uiTargetNodeId_p = NodeId of the target node
 454 //
 455 //
 456 // Returns:     tEplKernel  = Errorcode
 457 //
 458 //
 459 // State:
 460 //
 461 //---------------------------------------------------------------------------
 462 tEplKernel PUBLIC EplSdoUdpuInitCon(tEplSdoConHdl * pSdoConHandle_p,
 463                                     unsigned int uiTargetNodeId_p)
 464 {
 465         tEplKernel Ret;
 466         unsigned int uiCount;
 467         unsigned int uiFreeCon;
 468         tEplSdoUdpCon *pSdoUdpCon;
 469
 470         Ret = kEplSuccessful;
 471
 472         // get free entry in control structure
 473         uiCount = 0;
 474         uiFreeCon = EPL_SDO_MAX_CONNECTION_UDP;
 475         pSdoUdpCon = &SdoUdpInstance_g.m_aSdoAbsUdpConnection[0];
 476         while (uiCount < EPL_SDO_MAX_CONNECTION_UDP) {
 477                 if ((pSdoUdpCon->m_ulIpAddr & htonl(0xFF)) == htonl(uiTargetNodeId_p)) {        // existing connection to target node found
 478                         // set handle
 479                         *pSdoConHandle_p = (uiCount | EPL_SDO_UDP_HANDLE);
 480
 481                         goto Exit;
 482                 } else if ((pSdoUdpCon->m_ulIpAddr == 0)
 483                            && (pSdoUdpCon->m_uiPort == 0)) {
 484                         uiFreeCon = uiCount;
 485                 }
 486                 uiCount++;
 487                 pSdoUdpCon++;
 488         }
 489
 490         if (uiFreeCon == EPL_SDO_MAX_CONNECTION_UDP) {
 491                 // error no free handle
 492                 Ret = kEplSdoUdpNoFreeHandle;
 493         } else {
 494                 pSdoUdpCon =
 495                     &SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiFreeCon];
 496                 // save infos for connection
 497                 pSdoUdpCon->m_uiPort = htons(EPL_C_SDO_EPL_PORT);
 498                 pSdoUdpCon->m_ulIpAddr = htonl(0xC0A86400 | uiTargetNodeId_p);  // 192.168.100.uiTargetNodeId_p
 499
 500                 // set handle
 501                 *pSdoConHandle_p = (uiFreeCon | EPL_SDO_UDP_HANDLE);
 502
 503         }
 504
 505       Exit:
 506         return Ret;
 507
 508 }
 509
 510 //---------------------------------------------------------------------------
 511 //
 512 // Function:    EplSdoUdpuSendData
 513 //
 514 // Description: send data using exisiting connection
 515 //
 516 //
 517 //
 518 // Parameters:  SdoConHandle_p  = connection handle
 519 //              pSrcData_p      = pointer to data
 520 //              dwDataSize_p    = number of databyte
 521 //                                  -> without asend-header!!!
 522 //
 523 // Returns:     tEplKernel  = Errorcode
 524 //
 525 //
 526 // State:
 527 //
 528 //---------------------------------------------------------------------------
 529 tEplKernel PUBLIC EplSdoUdpuSendData(tEplSdoConHdl SdoConHandle_p,
 530                                      tEplFrame * pSrcData_p, DWORD dwDataSize_p)
 531 {
 532         tEplKernel Ret;
 533         int iError;
 534         unsigned int uiArray;
 535         struct sockaddr_in Addr;
 536
 537         Ret = kEplSuccessful;
 538
 539         uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
 540         if (uiArray >= EPL_SDO_MAX_CONNECTION_UDP) {
 541                 Ret = kEplSdoUdpInvalidHdl;
 542                 goto Exit;
 543         }
 544         //set message type
 545         AmiSetByteToLe(&pSrcData_p->m_le_bMessageType, 0x06);   // SDO
 546         // target node id (for Udp = 0)
 547         AmiSetByteToLe(&pSrcData_p->m_le_bDstNodeId, 0x00);
 548         // set source-nodeid (for Udp = 0)
 549         AmiSetByteToLe(&pSrcData_p->m_le_bSrcNodeId, 0x00);
 550
 551         // calc size
 552         dwDataSize_p += EPL_ASND_HEADER_SIZE;
 553
 554         // call sendto
 555         Addr.sin_family = AF_INET;
 556 #if (TARGET_SYSTEM == _WIN32_)
 557         // enter  critical section for process function
 558         EnterCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
 559 #endif
 560
 561         Addr.sin_port =
 562             (unsigned short)SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].
 563             m_uiPort;
 564         Addr.sin_addr.s_addr =
 565             SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_ulIpAddr;
 566
 567 #if (TARGET_SYSTEM == _WIN32_)
 568         // leave critical section for process function
 569         LeaveCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
 570 #endif
 571
 572         iError = sendto(SdoUdpInstance_g.m_UdpSocket,   // sockethandle
 573                         (const char *)&pSrcData_p->m_le_bMessageType,   // data to send
 574                         dwDataSize_p,   // number of bytes to send
 575                         0,      // flags
 576                         (struct sockaddr *)&Addr,       // target
 577                         sizeof(struct sockaddr_in));    // sizeof targetadress
 578         if (iError < 0) {
 579                 EPL_DBGLVL_SDO_TRACE1
 580                     ("EplSdoUdpuSendData: sendto() finished with %i\n", iError);
 581                 Ret = kEplSdoUdpSendError;
 582                 goto Exit;
 583         }
 584
 585       Exit:
 586         return Ret;
 587
 588 }
 589
 590 //---------------------------------------------------------------------------
 591 //
 592 // Function:    EplSdoUdpuDelCon
 593 //
 594 // Description: delete connection from intern structure
 595 //
 596 //
 597 //
 598 // Parameters:  SdoConHandle_p  = connection handle
 599 //
 600 // Returns:     tEplKernel  = Errorcode
 601 //
 602 //
 603 // State:
 604 //
 605 //---------------------------------------------------------------------------
 606 tEplKernel PUBLIC EplSdoUdpuDelCon(tEplSdoConHdl SdoConHandle_p)
 607 {
 608         tEplKernel Ret;
 609         unsigned int uiArray;
 610
 611         uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
 612
 613         if (uiArray >= EPL_SDO_MAX_CONNECTION_UDP) {
 614                 Ret = kEplSdoUdpInvalidHdl;
 615                 goto Exit;
 616         } else {
 617                 Ret = kEplSuccessful;
 618         }
 619
 620         // delete connection
 621         SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_ulIpAddr = 0;
 622         SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_uiPort = 0;
 623
 624       Exit:
 625         return Ret;
 626 }
 627
 628 //=========================================================================//
 629 //                                                                         //
 630 //          P R I V A T E   F U N C T I O N S                              //
 631 //                                                                         //
 632 //=========================================================================//
 633
 634 //---------------------------------------------------------------------------
 635 //
 636 // Function:        EplSdoUdpThread
 637 //
 638 // Description:     thread check socket for new data
 639 //
 640 //
 641 //
 642 // Parameters:      lpParameter = pointer to parameter type tEplSdoUdpThreadPara
 643 //
 644 //
 645 // Returns:         DWORD   =   errorcode
 646 //
 647 //
 648 // State:
 649 //
 650 //---------------------------------------------------------------------------
 651 #if (TARGET_SYSTEM == _WIN32_)
 652 static DWORD PUBLIC EplSdoUdpThread(LPVOID lpParameter)
 653 #elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
 654 static int EplSdoUdpThread(void *pArg_p)
 655 #endif
 656 {
 657
 658         tEplSdoUdpInstance *pInstance;
 659         struct sockaddr_in RemoteAddr;
 660         int iError;
 661         int iCount;
 662         int iFreeEntry;
 663         BYTE abBuffer[EPL_MAX_SDO_REC_FRAME_SIZE];
 664         unsigned int uiSize;
 665         tEplSdoConHdl SdoConHdl;
 666
 667 #if (TARGET_SYSTEM == _WIN32_)
 668         pInstance = (tEplSdoUdpInstance *) lpParameter;
 669
 670         for (;;)
 671 #elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
 672         pInstance = (tEplSdoUdpInstance *) pArg_p;
 673         daemonize("EplSdoUdpThread");
 674         allow_signal(SIGTERM);
 675
 676         for (; pInstance->m_iTerminateThread == 0;)
 677 #endif
 678
 679         {
 680                 // wait for data
 681                 uiSize = sizeof(struct sockaddr);
 682                 iError = recvfrom(pInstance->m_UdpSocket,       // Socket
 683                                   (char *)&abBuffer[0], // buffer for data
 684                                   sizeof(abBuffer),     // size of the buffer
 685                                   0,    // flags
 686                                   (struct sockaddr *)&RemoteAddr,
 687                                   (int *)&uiSize);
 688 #if (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
 689                 if (iError == -ERESTARTSYS) {
 690                         break;
 691                 }
 692 #endif
 693                 if (iError > 0) {
 694                         // get handle for higher layer
 695                         iCount = 0;
 696                         iFreeEntry = 0xFFFF;
 697 #if (TARGET_SYSTEM == _WIN32_)
 698                         // enter  critical section for process function
 699                         EnterCriticalSection(SdoUdpInstance_g.
 700                                              m_pCriticalSection);
 701 #endif
 702                         while (iCount < EPL_SDO_MAX_CONNECTION_UDP) {
 703                                 // check if this connection is already known
 704                                 if ((pInstance->m_aSdoAbsUdpConnection[iCount].
 705                                      m_ulIpAddr == RemoteAddr.sin_addr.s_addr)
 706                                     && (pInstance->
 707                                         m_aSdoAbsUdpConnection[iCount].
 708                                         m_uiPort == RemoteAddr.sin_port)) {
 709                                         break;
 710                                 }
 711
 712                                 if ((pInstance->m_aSdoAbsUdpConnection[iCount].
 713                                      m_ulIpAddr == 0)
 714                                     && (pInstance->
 715                                         m_aSdoAbsUdpConnection[iCount].
 716                                         m_uiPort == 0)
 717                                     && (iFreeEntry == 0xFFFF))
 718                                 {
 719                                         iFreeEntry = iCount;
 720                                 }
 721
 722                                 iCount++;
 723                         }
 724
 725                         if (iCount == EPL_SDO_MAX_CONNECTION_UDP) {
 726                                 // connection unknown
 727                                 // see if there is a free handle
 728                                 if (iFreeEntry != 0xFFFF) {
 729                                         // save adress infos
 730                                         pInstance->
 731                                             m_aSdoAbsUdpConnection[iFreeEntry].
 732                                             m_ulIpAddr =
 733                                             RemoteAddr.sin_addr.s_addr;
 734                                         pInstance->
 735                                             m_aSdoAbsUdpConnection[iFreeEntry].
 736                                             m_uiPort = RemoteAddr.sin_port;
 737 #if (TARGET_SYSTEM == _WIN32_)
 738                                         // leave critical section for process function
 739                                         LeaveCriticalSection(SdoUdpInstance_g.
 740                                                              m_pCriticalSection);
 741 #endif
 742                                         // call callback
 743                                         SdoConHdl = iFreeEntry;
 744                                         SdoConHdl |= EPL_SDO_UDP_HANDLE;
 745                                         // offset 4 -> start of SDO Sequence header
 746                                         pInstance->m_fpSdoAsySeqCb(SdoConHdl,
 747                                                                    (tEplAsySdoSeq
 748                                                                     *) &
 749                                                                    abBuffer[4],
 750                                                                    (iError -
 751                                                                     4));
 752                                 } else {
 753                                         EPL_DBGLVL_SDO_TRACE0
 754                                             ("Error in EplSdoUdpThread() no free handle\n");
 755 #if (TARGET_SYSTEM == _WIN32_)
 756                                         // leave critical section for process function
 757                                         LeaveCriticalSection(SdoUdpInstance_g.
 758                                                              m_pCriticalSection);
 759 #endif
 760                                 }
 761
 762                         } else {
 763                                 // known connection
 764                                 // call callback with correct handle
 765                                 SdoConHdl = iCount;
 766                                 SdoConHdl |= EPL_SDO_UDP_HANDLE;
 767 #if (TARGET_SYSTEM == _WIN32_)
 768                                 // leave critical section for process function
 769                                 LeaveCriticalSection(SdoUdpInstance_g.
 770                                                      m_pCriticalSection);
 771 #endif
 772                                 // offset 4 -> start of SDO Sequence header
 773                                 pInstance->m_fpSdoAsySeqCb(SdoConHdl,
 774                                                            (tEplAsySdoSeq *) &
 775                                                            abBuffer[4],
 776                                                            (iError - 4));
 777                         }
 778                 }               // end of  if(iError!=SOCKET_ERROR)
 779         }                       // end of for(;;)
 780
 781 #if (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
 782         complete_and_exit(&SdoUdpInstance_g.m_CompletionUdpThread, 0);
 783 #endif
 784
 785         return 0;
 786 }
 787
 788 #endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)
 789
 790 // EOF