rtdm.h

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#ifndef _RTDM_H
#define _RTDM_H

#ifdef __KERNEL__

#include <linux/types.h>
#include <linux/fcntl.h>
#include <linux/ioctl.h>
#include <linux/sched.h>
#include <linux/socket.h>
#include <asm/xenomai/wrappers.h>

typedef u32 socklen_t;
typedef struct task_struct rtdm_user_info_t;

#else /* !__KERNEL__ */

#include <fcntl.h>
#include <stddef.h>
#include <stdint.h>
#include <sys/ioctl.h>
#include <sys/socket.h>

#endif /* !__KERNEL__ */

#define RTDM_API_VER                    8

#define RTDM_API_MIN_COMPAT_VER         6

typedef uint64_t nanosecs_abs_t;

typedef int64_t nanosecs_rel_t;

#define RTDM_TIMEOUT_INFINITE           0

#define RTDM_TIMEOUT_NONE               (-1)

#define RTDM_CLASS_PARPORT              1
#define RTDM_CLASS_SERIAL               2
#define RTDM_CLASS_CAN                  3
#define RTDM_CLASS_NETWORK              4
#define RTDM_CLASS_RTMAC                5
#define RTDM_CLASS_TESTING              6
#define RTDM_CLASS_RTIPC                7
/*
#define RTDM_CLASS_USB                  ?
#define RTDM_CLASS_FIREWIRE             ?
#define RTDM_CLASS_INTERBUS             ?
#define RTDM_CLASS_PROFIBUS             ?
#define ...
*/
#define RTDM_CLASS_EXPERIMENTAL         224
#define RTDM_CLASS_MAX                  255

#define RTDM_SUBCLASS_GENERIC           (-1)

#define RTIOC_TYPE_COMMON               0

#define RTDM_MAX_DEVNAME_LEN            31

typedef struct rtdm_device_info {
        int device_flags;

        int device_class;

        int device_sub_class;

        int profile_version;
} rtdm_device_info_t;

#define RTDM_PURGE_RX_BUFFER            0x0001
#define RTDM_PURGE_TX_BUFFER            0x0002

#define RTIOC_DEVICE_INFO \
        _IOR(RTIOC_TYPE_COMMON, 0x00, struct rtdm_device_info)

#define RTIOC_PURGE             _IOW(RTIOC_TYPE_COMMON, 0x10, int)

/* Internally used for mapping socket functions on IOCTLs */
struct _rtdm_getsockopt_args {
        int level;
        int optname;
        void *optval;
        socklen_t *optlen;
};

struct _rtdm_setsockopt_args {
        int level;
        int optname;
        const void *optval;
        socklen_t optlen;
};

struct _rtdm_getsockaddr_args {
        struct sockaddr *addr;
        socklen_t *addrlen;
};

struct _rtdm_setsockaddr_args {
        const struct sockaddr *addr;
        socklen_t addrlen;
};

#define _RTIOC_GETSOCKOPT       _IOW(RTIOC_TYPE_COMMON, 0x20,           \
                                     struct _rtdm_getsockopt_args)
#define _RTIOC_SETSOCKOPT       _IOW(RTIOC_TYPE_COMMON, 0x21,           \
                                     struct _rtdm_setsockopt_args)
#define _RTIOC_BIND             _IOW(RTIOC_TYPE_COMMON, 0x22,           \
                                     struct _rtdm_setsockaddr_args)
#define _RTIOC_CONNECT          _IOW(RTIOC_TYPE_COMMON, 0x23,           \
                                     struct _rtdm_setsockaddr_args)
#define _RTIOC_LISTEN           _IOW(RTIOC_TYPE_COMMON, 0x24,           \
                                     int)
#define _RTIOC_ACCEPT           _IOW(RTIOC_TYPE_COMMON, 0x25,           \
                                     struct _rtdm_getsockaddr_args)
#define _RTIOC_GETSOCKNAME      _IOW(RTIOC_TYPE_COMMON, 0x26,           \
                                     struct _rtdm_getsockaddr_args)
#define _RTIOC_GETPEERNAME      _IOW(RTIOC_TYPE_COMMON, 0x27,           \
                                     struct _rtdm_getsockaddr_args)
#define _RTIOC_SHUTDOWN         _IOW(RTIOC_TYPE_COMMON, 0x28,           \
                                     int)

#ifdef __KERNEL__
int __rt_dev_open(rtdm_user_info_t *user_info, const char *path, int oflag);
int __rt_dev_socket(rtdm_user_info_t *user_info, int protocol_family,
                    int socket_type, int protocol);
int __rt_dev_close(rtdm_user_info_t *user_info, int fd);
int __rt_dev_ioctl(rtdm_user_info_t *user_info, int fd, int request, ...);
ssize_t __rt_dev_read(rtdm_user_info_t *user_info, int fd, void *buf,
                      size_t nbyte);
ssize_t __rt_dev_write(rtdm_user_info_t *user_info, int fd, const void *buf,
                       size_t nbyte);
ssize_t __rt_dev_recvmsg(rtdm_user_info_t *user_info, int fd,
                         struct user_msghdr *msg, int flags);
ssize_t __rt_dev_sendmsg(rtdm_user_info_t *user_info, int fd,
                         const struct user_msghdr *msg, int flags);
#endif /* __KERNEL__ */

/* Define RTDM_NO_DEFAULT_USER_API to switch off the default rt_dev_xxx
 * interface when providing a customised user API */
#ifndef RTDM_NO_DEFAULT_USER_API

#ifdef __KERNEL__

#define rt_dev_open(path, oflag, ...)                           \
        __rt_dev_open(NULL, path, oflag)

#define rt_dev_socket(protocol_family, socket_type, protocol)   \
        __rt_dev_socket(NULL, protocol_family, socket_type, protocol)

#define rt_dev_close(fd)                                        \
        __rt_dev_close(NULL, fd)

#define rt_dev_ioctl(fd, request, ...)                          \
        __rt_dev_ioctl(NULL, fd, request, __VA_ARGS__)

#define rt_dev_read(fd, buf, nbyte)                             \
        __rt_dev_read(NULL, fd, buf, nbyte)

#define rt_dev_write(fd, buf, nbyte)                            \
        __rt_dev_write(NULL, fd, buf, nbyte)

#define rt_dev_recvmsg(fd, msg, flags)                          \
        __rt_dev_recvmsg(NULL, fd, msg, flags)

#define rt_dev_sendmsg(fd, msg, flags)                          \
        __rt_dev_sendmsg(NULL, fd, msg, flags)

static inline ssize_t rt_dev_recvfrom(int fd, void *buf, size_t len, int flags,
                                      struct sockaddr *from,
                                      socklen_t *fromlen)
{
        struct iovec iov;
        struct user_msghdr msg;
        int ret;

        iov.iov_base = buf;
        iov.iov_len = len;

        msg.msg_name = from;
        msg.msg_namelen = from ? *fromlen : 0;
        msg.msg_iov = &iov;
        msg.msg_iovlen = 1;
        msg.msg_control = NULL;
        msg.msg_controllen = 0;

        ret = rt_dev_recvmsg(fd, &msg, flags);
        if (ret >= 0 && from)
                *fromlen = msg.msg_namelen;
        return ret;
}

#else /* !__KERNEL__ */

#define user_msghdr msghdr

#ifdef __cplusplus
extern "C" {
#endif

int rt_dev_open(const char *path, int oflag, ...);
int rt_dev_socket(int protocol_family, int socket_type, int protocol);
int rt_dev_close(int fd);
int rt_dev_ioctl(int fd, int request, ...);
ssize_t rt_dev_read(int fd, void *buf, size_t nbyte);
ssize_t rt_dev_write(int fd, const void *buf, size_t nbyte);
ssize_t rt_dev_recvmsg(int fd, struct user_msghdr *msg, int flags);
ssize_t rt_dev_sendmsg(int fd, const struct user_msghdr *msg, int flags);

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

#ifdef __cplusplus
}
#endif

#endif /* !__KERNEL__ */

#ifdef __cplusplus
extern "C" {
#endif

static inline ssize_t rt_dev_recv(int fd, void *buf, size_t len, int flags)
{
        return rt_dev_recvfrom(fd, buf, len, flags, NULL, NULL);
}

static inline ssize_t rt_dev_sendto(int fd, const void *buf, size_t len,
                                    int flags, const struct sockaddr *to,
                                    socklen_t tolen)
{
        struct iovec iov;
        struct user_msghdr msg;

        iov.iov_base = (void *)buf;
        iov.iov_len = len;

        msg.msg_name = (struct sockaddr *)to;
        msg.msg_namelen = tolen;
        msg.msg_iov = &iov;
        msg.msg_iovlen = 1;
        msg.msg_control = NULL;
        msg.msg_controllen = 0;

        return rt_dev_sendmsg(fd, &msg, flags);
}

static inline ssize_t rt_dev_send(int fd, const void *buf, size_t len,
                                  int flags)
{
        return rt_dev_sendto(fd, buf, len, flags, NULL, 0);
}

static inline int rt_dev_getsockopt(int fd, int level, int optname,
                                    void *optval, socklen_t *optlen)
{
        struct _rtdm_getsockopt_args args =
                { level, optname, optval, optlen };

        return rt_dev_ioctl(fd, _RTIOC_GETSOCKOPT, &args);
}

static inline int rt_dev_setsockopt(int fd, int level, int optname,
                                    const void *optval, socklen_t optlen)
{
        struct _rtdm_setsockopt_args args =
                { level, optname, (void *)optval, optlen };

        return rt_dev_ioctl(fd, _RTIOC_SETSOCKOPT, &args);
}

static inline int rt_dev_bind(int fd, const struct sockaddr *my_addr,
                              socklen_t addrlen)
{
        struct _rtdm_setsockaddr_args args = { my_addr, addrlen };

        return rt_dev_ioctl(fd, _RTIOC_BIND, &args);
}

static inline int rt_dev_connect(int fd, const struct sockaddr *serv_addr,
                                 socklen_t addrlen)
{
        struct _rtdm_setsockaddr_args args = { serv_addr, addrlen };

        return rt_dev_ioctl(fd, _RTIOC_CONNECT, &args);
}

static inline int rt_dev_listen(int fd, int backlog)
{
        return rt_dev_ioctl(fd, _RTIOC_LISTEN, backlog);
}

static inline int rt_dev_accept(int fd, struct sockaddr *addr,
                                socklen_t *addrlen)
{
        struct _rtdm_getsockaddr_args args = { addr, addrlen };

        return rt_dev_ioctl(fd, _RTIOC_ACCEPT, &args);
}

static inline int rt_dev_getsockname(int fd, struct sockaddr *name,
                                     socklen_t *namelen)
{
        struct _rtdm_getsockaddr_args args = { name, namelen };

        return rt_dev_ioctl(fd, _RTIOC_GETSOCKNAME, &args);
}

static inline int rt_dev_getpeername(int fd, struct sockaddr *name,
                                     socklen_t *namelen)
{
        struct _rtdm_getsockaddr_args args = { name, namelen };

        return rt_dev_ioctl(fd, _RTIOC_GETPEERNAME, &args);
}

static inline int rt_dev_shutdown(int fd, int how)
{
        return rt_dev_ioctl(fd, _RTIOC_SHUTDOWN, how);
}

#ifdef __cplusplus
}
#endif

#endif /* RTDM_NO_DEFAULT_USER_API */

#endif /* _RTDM_H */