Collaboration diagram for User API:

Files
file	rtdm.h
	Real-Time Driver Model for Xenomai, user API header.

Functions
int	rt_dev_open (const char *path, int oflag,...)
	Open a device. More...

int	rt_dev_socket (int protocol_family, int socket_type, int protocol)
	Create a socket. More...

int	rt_dev_close (int fd)
	Close a device or socket. More...

int	rt_dev_ioctl (int fd, int request,...)
	Issue an IOCTL. More...

ssize_t	rt_dev_read (int fd, void *buf, size_t nbyte)
	Read from device. More...

ssize_t	rt_dev_write (int fd, const void *buf, size_t nbyte)
	Write to device. More...

ssize_t	rt_dev_recvmsg (int fd, struct user_msghdr *msg, int flags)
	Receive message from socket. More...

ssize_t	rt_dev_recvfrom (int fd, void buf, size_t len, int flags, struct sockaddr from, socklen_t *fromlen)
	Receive message from socket. More...

ssize_t	rt_dev_recv (int fd, void *buf, size_t len, int flags)
	Receive message from socket. More...

ssize_t	rt_dev_sendmsg (int fd, const struct user_msghdr *msg, int flags)
	Transmit message to socket. More...

ssize_t	rt_dev_sendto (int fd, const void buf, size_t len, int flags, const struct sockaddr to, socklen_t tolen)
	Transmit message to socket. More...

ssize_t	rt_dev_send (int fd, const void *buf, size_t len, int flags)
	Transmit message to socket. More...

int	rt_dev_bind (int fd, const struct sockaddr *my_addr, socklen_t addrlen)
	Bind to local address. More...

int	rt_dev_connect (int fd, const struct sockaddr *serv_addr, socklen_t addrlen)
	Connect to remote address. More...

int	rt_dev_listen (int fd, int backlog)
	Listen for incomming connection requests. More...

int	rt_dev_accept (int fd, struct sockaddr addr, socklen_t addrlen)
	Accept a connection requests. More...

int	rt_dev_shutdown (int fd, int how)
	Shut down parts of a connection. More...

int	rt_dev_getsockopt (int fd, int level, int optname, void optval, socklen_t optlen)
	Get socket option. More...

int	rt_dev_setsockopt (int fd, int level, int optname, const void *optval, socklen_t optlen)
	Set socket option. More...

int	rt_dev_getsockname (int fd, struct sockaddr name, socklen_t namelen)
	Get local socket address. More...

int	rt_dev_getpeername (int fd, struct sockaddr name, socklen_t namelen)
	Get socket destination address. More...

Detailed Description

This is the upper interface of RTDM provided to application programs both in kernel and user space. Note that certain functions may not be implemented by every device. Refer to the Device Profiles for precise information.

Function Documentation

int rt_dev_accept	(	int	fd,
		struct sockaddr *	addr,
		socklen_t *	addrlen
	)

Accept a connection requests.

Parameters

[in]	fd	File descriptor as returned by rt_dev_socket()
[out]	addr	Buffer for remote address
[in,out]	addrlen	Address buffer size

Returns: 0 on success, otherwise negative error code

Environments:

Depends on driver implementation, see Device Profiles.

Rescheduling: possible.

See also: accept() in IEEE Std 1003.1, http://www.opengroup.org/onlinepubs/009695399

int rt_dev_bind	(	int	fd,
		const struct sockaddr *	my_addr,
		socklen_t	addrlen
	)

Bind to local address.

Parameters

[in]	fd	File descriptor as returned by rt_dev_socket()
[in]	my_addr	Address buffer
[in]	addrlen	Address buffer size

Returns: 0 on success, otherwise negative error code

Environments:

Depends on driver implementation, see Device Profiles.

Rescheduling: possible.

See also: bind() in IEEE Std 1003.1, http://www.opengroup.org/onlinepubs/009695399

Examples:: rtcanrecv.c, and rtcansend.c.

int rt_dev_close ( int fd )

Close a device or socket.

Parameters

[in] fd File descriptor as returned by rt_dev_open() or rt_dev_socket()

Returns: 0 on success, otherwise a negative error code.

Note: If the matching rt_dev_open() or rt_dev_socket() call took place in non-real-time context, rt_dev_close() must be issued within non-real-time as well. Otherwise, the call will fail.

Environments:

Depends on driver implementation, see Device Profiles.

Rescheduling: possible.

See also: close() in IEEE Std 1003.1, http://www.opengroup.org/onlinepubs/009695399

int rt_dev_connect	(	int	fd,
		const struct sockaddr *	serv_addr,
		socklen_t	addrlen
	)

Connect to remote address.

Parameters

[in]	fd	File descriptor as returned by rt_dev_socket()
[in]	serv_addr	Address buffer
[in]	addrlen	Address buffer size

Returns: 0 on success, otherwise negative error code

Environments:

Depends on driver implementation, see Device Profiles.

Rescheduling: possible.

See also: connect() in IEEE Std 1003.1, http://www.opengroup.org/onlinepubs/009695399

int rt_dev_getpeername	(	int	fd,
		struct sockaddr *	name,
		socklen_t *	namelen
	)

Get socket destination address.

Parameters

[in]	fd	File descriptor as returned by rt_dev_socket()
[out]	name	Address buffer
[in,out]	namelen	Address buffer size

Returns: 0 on success, otherwise negative error code

Environments:

Depends on driver implementation, see Device Profiles.

Rescheduling: possible.

See also: getpeername() in IEEE Std 1003.1, http://www.opengroup.org/onlinepubs/009695399

int rt_dev_getsockname	(	int	fd,
		struct sockaddr *	name,
		socklen_t *	namelen
	)

Get local socket address.

Parameters

[in]	fd	File descriptor as returned by rt_dev_socket()
[out]	name	Address buffer
[in,out]	namelen	Address buffer size

Returns: 0 on success, otherwise negative error code

Environments:

Depends on driver implementation, see Device Profiles.

Rescheduling: possible.

See also: getsockname() in IEEE Std 1003.1, http://www.opengroup.org/onlinepubs/009695399

int rt_dev_getsockopt	(	int	fd,
		int	level,
		int	optname,
		void *	optval,
		socklen_t *	optlen
	)

Get socket option.

Parameters

[in]	fd	File descriptor as returned by rt_dev_socket()
[in]	level	Addressed stack level
[in]	optname	Option name ID
[out]	optval	Value buffer
[in,out]	optlen	Value buffer size

Returns: 0 on success, otherwise negative error code

Environments:

Depends on driver implementation, see Device Profiles.

Rescheduling: possible.

See also: getsockopt() in IEEE Std 1003.1, http://www.opengroup.org/onlinepubs/009695399

int rt_dev_ioctl	(	int	fd,
		int	request,
			...
	)

Issue an IOCTL.

Parameters

[in]	fd	File descriptor as returned by rt_dev_open() or rt_dev_socket()
[in]	request	IOCTL code
	...	Optional third argument, depending on IOCTL function (`void` `*` or `unsigned` `long`)

Returns: Positiv value on success, otherwise negative error code

Environments:

Depends on driver implementation, see Device Profiles.

Rescheduling: possible.

See also: ioctl() in IEEE Std 1003.1, http://www.opengroup.org/onlinepubs/009695399

int rt_dev_listen	(	int	fd,
		int	backlog
	)

Listen for incomming connection requests.

Parameters

[in]	fd	File descriptor as returned by rt_dev_socket()
[in]	backlog	Maximum queue length

Returns: 0 on success, otherwise negative error code

Environments:

Depends on driver implementation, see Device Profiles.

Rescheduling: possible.

See also: lsiten() in IEEE Std 1003.1, http://www.opengroup.org/onlinepubs/009695399

int rt_dev_open	(	const char *	path,
		int	oflag,
			...
	)

Open a device.

Parameters

[in]	path	Device name
[in]	oflag	Open flags
	...	Further parameters will be ignored.

Returns: Positive file descriptor value on success, otherwise a negative error code.

Environments:

Depends on driver implementation, see Device Profiles.

Rescheduling: possible.

See also: open() in IEEE Std 1003.1, http://www.opengroup.org/onlinepubs/009695399

ssize_t rt_dev_read	(	int	fd,
		void *	buf,
		size_t	nbyte
	)

Read from device.

Parameters

[in]	fd	File descriptor as returned by rt_dev_open()
[out]	buf	Input buffer
[in]	nbyte	Number of bytes to read

Returns: Number of bytes read, otherwise negative error code

Environments:

Depends on driver implementation, see Device Profiles.

Rescheduling: possible.

See also: read() in IEEE Std 1003.1, http://www.opengroup.org/onlinepubs/009695399

ssize_t rt_dev_recv	(	int	fd,
		void *	buf,
		size_t	len,
		int	flags
	)

Receive message from socket.

Parameters

[in]	fd	File descriptor as returned by rt_dev_socket()
[out]	buf	Message buffer
[in]	len	Message buffer size
[in]	flags	Message flags

Returns: Number of bytes received, otherwise negative error code

Environments:

Depends on driver implementation, see Device Profiles.

Rescheduling: possible.

See also: recv() in IEEE Std 1003.1, http://www.opengroup.org/onlinepubs/009695399

ssize_t rt_dev_recvfrom	(	int	fd,
		void *	buf,
		size_t	len,
		int	flags,
		struct sockaddr *	from,
		socklen_t *	fromlen
	)

Receive message from socket.

Parameters

[in]	fd	File descriptor as returned by rt_dev_socket()
[out]	buf	Message buffer
[in]	len	Message buffer size
[in]	flags	Message flags
[out]	from	Buffer for message sender address
[in,out]	fromlen	Address buffer size

Returns: Number of bytes received, otherwise negative error code

Environments:

Depends on driver implementation, see Device Profiles.

Rescheduling: possible.

See also: recvfrom() in IEEE Std 1003.1, http://www.opengroup.org/onlinepubs/009695399

ssize_t rt_dev_recvmsg	(	int	fd,
		struct user_msghdr *	msg,
		int	flags
	)

Receive message from socket.

Parameters

[in]	fd	File descriptor as returned by rt_dev_socket()
[in,out]	msg	Message descriptor
[in]	flags	Message flags

Returns: Number of bytes received, otherwise negative error code

Environments:

Depends on driver implementation, see Device Profiles.

Rescheduling: possible.

See also: recvmsg() in IEEE Std 1003.1, http://www.opengroup.org/onlinepubs/009695399

Examples:: rtcanrecv.c.

ssize_t rt_dev_send	(	int	fd,
		const void *	buf,
		size_t	len,
		int	flags
	)

Transmit message to socket.

Parameters

[in]	fd	File descriptor as returned by rt_dev_socket()
[in]	buf	Message buffer
[in]	len	Message buffer size
[in]	flags	Message flags

Returns: Number of bytes sent, otherwise negative error code

Environments:

Depends on driver implementation, see Device Profiles.

Rescheduling: possible.

See also: send() in IEEE Std 1003.1, http://www.opengroup.org/onlinepubs/009695399

Examples:: rtcansend.c.

ssize_t rt_dev_sendmsg	(	int	fd,
		const struct user_msghdr *	msg,
		int	flags
	)

Transmit message to socket.

Parameters

[in]	fd	File descriptor as returned by rt_dev_socket()
[in]	msg	Message descriptor
[in]	flags	Message flags

Returns: Number of bytes sent, otherwise negative error code

Environments:

Depends on driver implementation, see Device Profiles.

Rescheduling: possible.

See also: sendmsg() in IEEE Std 1003.1, http://www.opengroup.org/onlinepubs/009695399

ssize_t rt_dev_sendto	(	int	fd,
		const void *	buf,
		size_t	len,
		int	flags,
		const struct sockaddr *	to,
		socklen_t	tolen
	)

Transmit message to socket.

Parameters

[in]	fd	File descriptor as returned by rt_dev_socket()
[in]	buf	Message buffer
[in]	len	Message buffer size
[in]	flags	Message flags
[in]	to	Buffer for message destination address
[in]	tolen	Address buffer size

Returns: Number of bytes sent, otherwise negative error code

Environments:

Depends on driver implementation, see Device Profiles.

Rescheduling: possible.

See also: sendto() in IEEE Std 1003.1, http://www.opengroup.org/onlinepubs/009695399

Examples:: rtcansend.c.

int rt_dev_setsockopt	(	int	fd,
		int	level,
		int	optname,
		const void *	optval,
		socklen_t	optlen
	)

Set socket option.

Parameters

[in]	fd	File descriptor as returned by rt_dev_socket()
[in]	level	Addressed stack level
[in]	optname	Option name ID
[in]	optval	Value buffer
[in]	optlen	Value buffer size

Returns: 0 on success, otherwise negative error code

Environments:

Depends on driver implementation, see Device Profiles.

Rescheduling: possible.

See also: setsockopt() in IEEE Std 1003.1, http://www.opengroup.org/onlinepubs/009695399

Examples:: rtcanrecv.c, and rtcansend.c.

int rt_dev_shutdown	(	int	fd,
		int	how
	)

Shut down parts of a connection.

Parameters

[in]	fd	File descriptor as returned by rt_dev_socket()
[in]	how	Specifies the part to be shut down (`SHUT_xxx`)

Returns: 0 on success, otherwise negative error code

Environments:

Depends on driver implementation, see Device Profiles.

Rescheduling: possible.

See also: shutdown() in IEEE Std 1003.1, http://www.opengroup.org/onlinepubs/009695399

int rt_dev_socket	(	int	protocol_family,
		int	socket_type,
		int	protocol
	)

Create a socket.

Parameters

[in]	protocol_family	Protocol family (`PF_xxx`)
[in]	socket_type	Socket type (`SOCK_xxx`)
[in]	protocol	Protocol ID, 0 for default

Returns: Positive file descriptor value on success, otherwise a negative error code.

Environments:

Depends on driver implementation, see Device Profiles.

Rescheduling: possible.

See also: socket() in IEEE Std 1003.1, http://www.opengroup.org/onlinepubs/009695399

ssize_t rt_dev_write	(	int	fd,
		const void *	buf,
		size_t	nbyte
	)

Write to device.

Parameters

[in]	fd	File descriptor as returned by rt_dev_open()
[in]	buf	Output buffer
[in]	nbyte	Number of bytes to write

Returns: Number of bytes written, otherwise negative error code

Environments:

Depends on driver implementation, see Device Profiles.

Rescheduling: possible.

See also: write() in IEEE Std 1003.1, http://www.opengroup.org/onlinepubs/009695399

Files

Functions

Detailed Description

Function Documentation